Forklift manipulator for automatic recycling of pallets

Abstract

This application discloses an automatic pallet retrieval forklift robot, relating to the field of forklift technology. The application includes a mounting frame fixedly connected to a forklift; the front of the mounting frame is provided with an inserting component for picking up pallets, a pushing component for pushing goods, and a pressing component for securing goods; the inserting component includes a slide plate fixedly connected to the lower edge of the front of the mounting frame, with two sliders slidably connected inside the slide plate, and forks fixedly connected to the outside of each slider; an adjusting screw is rotatably connected inside the slide plate, and an adjusting motor is fixedly connected to one end of the slide plate; the pushing component includes two fixed frames fixedly connected to the front of the mounting frame, with scissor pushers fixedly connected to the side of the two fixed frames facing away from the mounting frame, and a pushing frame fixedly connected to the movable end of the scissor pushers. This application achieves automatic pallet retrieval by clamping the pallet with two forks and then pushing the goods with the pushing frame, thus improving pallet retrieval efficiency.

Description

Technical Field

[0001] This application belongs to the field of forklift technology, and in particular relates to a forklift robot for automatically retrieving pallets. Background Technology

[0002] Forklift robots are widely used in warehousing and logistics, manufacturing, and port terminals. Their role is to replace traditional manual handling. Through cooperation with forklifts, they can complete operations such as picking up, lifting, moving, and stacking goods. This not only greatly improves material handling efficiency but also reduces the intensity of manual labor and reduces collision damage to goods during handling. At the same time, they are compatible with the scheduling needs of automated warehousing systems.

[0003] In current logistics operations, pallets, as standardized tools for carrying and moving goods, are often transported together with the goods. However, the functions of existing forklift robots are mostly limited to the integrated picking and transferring of goods and pallets, lacking the ability to automatically separate goods from pallets. As a result, in actual operations, pallets enter the storage area simultaneously with the goods, occupying a large amount of effective storage space and reducing the overall utilization efficiency of the storage area. At the same time, the pallet turnover efficiency is low. Moreover, after the goods are stored, the pallets need to be manually moved from the storage area to the recycling point, which not only increases labor costs but also makes the pallet recycling efficiency low.

[0004] To address these issues, we provide an automated pallet retrieval robot for forklifts. Summary of the Invention

[0005] The purpose of this application is to provide a forklift robot for automatic pallet recycling. By integrating inserting, pushing, and pressing components with automatic adjustment and pressure monitoring functions, and working with a control box to achieve coordinated control and standardized recycling steps, the robot solves the problems of high cost and low efficiency in existing pallet recycling.

[0006] To solve the above-mentioned technical problems, this application provides the following technical solution: This application relates to an automatic pallet retrieval forklift robot, including a mounting frame fixedly connected to a forklift; the front of the mounting frame is provided with an inserting component for inserting pallets, a pushing component for pushing goods, and a pressing component for fixing goods; The loading assembly includes a slide plate fixedly connected to the lower edge of the front of the mounting frame. Two sliders are slidably connected inside the slide plate, and forks are fixedly connected to the outside of each slider. An adjusting screw is rotatably connected inside the slide plate. An adjusting motor is fixedly connected to one end of the slide plate, and the adjusting screw is fixedly connected to the output end of the adjusting motor. The pushing assembly includes two fixed frames fixedly connected to the front of the mounting frame. A scissor pusher is fixedly connected to the side of the two fixed frames facing away from the mounting frame. A pushing frame is fixedly connected to the movable end of the scissor pusher.

[0007] The present application further specifies that the pressing component includes two slide rails fixedly connected to the front of the mounting frame and vertically downward, with slide blocks slidably connected to the outside of each of the two slide rails, and a horizontal plate fixedly connected to the outside of each of the two slide blocks, with a pressing plate fixedly connected to the front of the horizontal plate.

[0008] This application further specifies that a connecting seat is fixedly connected to the center of the back side of the horizontal plate, and a clamping cylinder with its output end pointing vertically upward is fixedly connected to the front side of the mounting bracket. A tension sensor is fixedly connected between the output end of the clamping cylinder and the connecting seat.

[0009] The present application further provides that the adjusting screw has two symmetrically distributed threaded portions on its exterior, and the two sliders are respectively threaded onto the exterior of the two threaded portions.

[0010] This application further specifies that both forks are wedge-shaped with their inclined surfaces facing downwards, and anti-slip pads are fixedly connected to the opposite sides of both forks.

[0011] This application is further configured such that each of the two forks has an installation compartment on its opposite side, and each of the two installation compartments is equipped with a pressure sensor.

[0012] This application further specifies that a control box is fixedly connected to the front of the mounting bracket, and the adjusting motor, scissor pusher, clamping cylinder, tension sensor and pressure sensor are all electrically connected to the control box.

[0013] The present application further specifies that the pressing plate is comb-shaped and is movably inserted into the gap of the pusher frame, and that a plurality of reinforcing plates are fixedly connected to the top of the pressing plate.

[0014] This application also provides a pallet retrieval method using an automated pallet retrieval forklift robot, which retrieval pallets according to the following steps: S1. The operator starts the equipment through the control box. First, the operator controls the adjustment motor to drive the adjustment screw to rotate, so that the two sliders move synchronously in opposite directions along the slide plate, and adjusts the two forks to the distance that matches the fork holes of the pallet to be recycled. At the same time, the operator moves the slide of the pressing component to the initial position at the top of the slide rail. S2. Move the forklift to the pallet to be recycled, align the forks with the pallet fork holes, and then push the forklift to insert the forks into the fork holes. The anti-slip pads on the opposite sides of the forks will initially contact the inner wall of the pallet. Then, the control box controls the adjusting motor to drive the adjusting screw to rotate in the opposite direction, so that the two forks move synchronously towards each other along the slider to clamp the inserted pallet. During the clamping process, the pressure sensor in the installation compartment monitors the clamping pressure in real time to avoid damage to the pallet due to excessive clamping force. When the pressure value detected by the pressure sensor reaches the threshold, a signal is immediately fed back to the control box, and then the adjusting motor stops rotating, completing the safe clamping. S3. Start the clamping cylinder through the control box. Its output end retracts and drives the horizontal plate to slide down the slide rail through the tension sensor and connecting seat. The comb-shaped pressing plate on the front of the horizontal plate also moves down until it is tightly attached to the goods on the top of the pallet. The tension sensor monitors the pressure in real time and feeds it back to the control box. When the pressure reaches the "goods fixing threshold", the clamping cylinder stops moving and the goods are fixed. Then, operate the forklift to transfer the goods. S4. After reaching the recycling area, control the compression cylinder to retract, drive the pressing plate to reset upward along the slide rail, release the goods, and then start the scissor pusher to push the push frame to move away from the mounting frame. Because the pallet is safely clamped by the forks and the goods are unrestrained, the push frame smoothly pushes the goods to slide along the forks, realizing the separation of goods from the pallet. S5. After the pallet is completely separated from the goods, operate the forklift to adjust its position and move the pallet clamped on the forks to the recycling storage point. Control the adjusting motor to drive the adjusting screw to rotate through the control box, so that the forks release the pallet. Finally, place the pallet steadily at the storage point, and the forklift slowly withdraws the forks to complete the pallet recycling.

[0015] This application has the following beneficial effects: This application integrates the inserting and pushing components into a mounting frame fixed to the forklift, and configures an adjusting motor to drive the adjusting screw to move the slider to achieve automatic adjustment of the fork spacing. At the same time, it uses pressure sensors on the forks to monitor the clamping pressure in real time, and anti-slip pads to increase friction. There is no need to configure separate equipment for pallet recycling, which reduces equipment investment costs, ensures the accuracy of the fork and pallet fork hole docking and the safety of the pallet handling process, thereby improving pallet recycling efficiency.

[0016] This application provides a pressing assembly consisting of a slide rail, a slide base, a horizontal plate, a comb-shaped pressing plate, and a pressing cylinder with a tension sensor. The comb-shaped pressing plate can be movably inserted into the gap of the pushing frame of the pushing assembly to avoid interference between the two. The slide rail and the slide base cooperate to ensure the smooth movement of the pressing plate. The tension sensor monitors the pressing pressure in real time, and the pressing plate can stably fix the goods to prevent them from falling during the transfer of goods. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0018] Figure 1 This is a schematic diagram of the installation status of this application.

[0019] Figure 2 This is a schematic diagram of the overall structure of this application.

[0020] Figure 3 This is a schematic diagram of the structure of the insert component of this application.

[0021] Figure 4 This is a schematic diagram of the structure of the stocking component of this application.

[0022] Figure 5 This is a schematic diagram of the fork structure of the present application.

[0023] Figure 6 for Figure 4 A magnified structural diagram of point A in the middle.

[0024] The attached diagram lists the components represented by each number as follows: 100. Mounting frame; 200. Loading assembly; 201. Slide plate; 202. Slider; 203. Fork; 203a. Mounting compartment; 204. Adjusting screw; 205. Adjusting motor; 206. Anti-slip mat; 300. Pushing assembly; 207. Pressure sensor; 301. Fixing frame; 302. Scissor pusher; 303. Pushing frame; 400. Pressing assembly; 401. Slide rail; 402. Slide block; 403. Horizontal plate; 404. Pressing plate; 405. Pressing cylinder; 406. Connecting seat; 407. Tension sensor; 408. Reinforcing plate; 500. Control box. Detailed Implementation

[0025] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0026] Example 1 Please see Figures 1 to 5 This application relates to an automatic pallet recycling forklift robot, including a mounting frame 100 fixedly connected to a forklift; the front of the mounting frame 100 is provided with a pallet inserting component 200 for inserting pallets, a pushing component 300 for pushing goods, and a pressing component 400 for fixing goods. By integrating the pallet inserting component 200, the pushing component 300, and the pressing component 400 into the mounting frame 100 and fixing it to the forklift, there is no need to configure separate equipment for pallet recycling, reducing equipment investment costs and improving pallet recycling efficiency. The loading assembly 200 includes a slide plate 201 fixedly connected to the lower edge of the front of the mounting bracket 100. Two sliders 202 are slidably connected inside the slide plate 201. Forks 203 are fixedly connected to the outside of each slider 202. An adjusting screw 204 is rotatably connected inside the slide plate 201. An adjusting motor 205 is fixedly connected to one end of the slide plate 201, and the adjusting screw 204 is fixedly connected to the output end of the adjusting motor 205. The adjusting motor 205 can drive the adjusting screw 204 to rotate, causing the sliders 202 to slide along the slide plate 201, thereby realizing the automatic adjustment of the spacing between the forks 203. The slide plate 201 guides the sliding of the sliders 202, ensuring that the movement of the forks 203 is smooth and does not deviate, and improving the accuracy of the docking between the forks 203 and the pallet fork holes. The pushing assembly 300 includes two fixed frames 301 fixedly connected to the front of the mounting frame 100. A scissor pusher 302 is fixedly connected to the side of the two fixed frames 301 facing away from the mounting frame 100. A pushing frame 303 is fixedly connected to the movable end of the scissor pusher 302. The scissor pusher 302 has the characteristics of stable extension stroke and uniform pushing force, which can drive the pushing frame 303 to move smoothly. The pushing frame 303 can form a large area of ​​contact with the goods, ensuring the stability when the goods are separated from the pallet.

[0027] Specifically, the adjusting screw 204 has two symmetrically distributed threaded parts on its exterior, and the two sliders 202 are respectively threaded onto the exterior of the two threaded parts.

[0028] Furthermore, both forks 203 are wedge-shaped with downward-sloping sides, and anti-slip pads 206 are fixedly connected to the opposite sides of both forks 203. The anti-slip pads 206 can increase the friction between the forks 203 and the inner wall of the pallet, preventing the pallet from slipping relative to the forks 203 during clamping and movement, thus improving the safety of pallet handling. Each of the opposite sides of the two forks 203 has an installation compartment 203a, and a pressure sensor 207 is installed inside each of the two installation compartments 203a. The pressure sensor 207 can monitor the clamping pressure of the forks 203 on the pallet in real time, preventing the pallet from deforming or being damaged due to uncontrolled clamping force. A control box 500 is fixedly connected to the front of the mounting frame 100, and the adjusting motor 205, scissor pusher 302, clamping cylinder 405, tension sensor 407 and pressure sensor 207 are all electrically connected to the control box 500.

[0029] The operation process of this embodiment is as follows: When the pallet needs to be recycled, the control box 500 first issues a command to start the adjusting motor 205; the adjusting motor 205 drives the adjusting screw 204 fixedly connected to the output end to rotate inside the slide plate 201. Because the adjusting screw 204 has two symmetrically distributed threaded parts on its outside, and the two sliders 202 are respectively threaded onto the corresponding threaded parts, the sliders 202 will slide synchronously in the opposite direction along the guide direction of the slide plate 201, thereby driving the two forks 203 fixedly connected to the sliders 202 to adjust the spacing. During this process, the pressure sensor 207 in the fork 203 mounting compartment 203a monitors the force in real time to ensure that the spacing of the forks 203 is accurately matched with the fork holes of the pallet to be recycled; after the spacing is adjusted, the forklift is operated to move the mounting frame 100 so that the two forks 203 are smoothly inserted into the pallet. The anti-slip pads 206 on the opposite side of the forks 203 increase the friction with the inner wall of the pallet, preventing the pallet from slipping relative to the forks 203. Then, the pushing assembly 300 is activated through the control box 500. Two fixed frames 301 fixed to the front of the mounting frame 100 support the scissor pusher 302. The movable end of the scissor pusher 302 drives the pushing frame 303 to move smoothly away from the mounting frame 100. The pushing frame 303 forms a large-area contact with the goods, smoothly pushing the goods from the pallet to the designated storage position. After the goods are completely separated from the pallet, the forklift is operated to move the mounting frame 100 and the forks 203 carrying the empty pallet to the pallet recycling area. Then, the adjusting motor 205 drives the adjusting screw 204 in the reverse direction to widen the distance between the forks 203. The empty pallet detaches from the forks 203 and falls into the recycling area, completing a single pallet recycling.

[0030] Example 2 Please see Figure 2 , Figure 4 and Figure 6 Based on the first specific embodiment, the pressing assembly 400 includes two slide rails 401 fixedly connected to the front of the mounting frame 100 and vertically downward. Slide seats 402 are slidably connected to the outside of each slide rail 401. Horizontal plates 403 are fixedly connected to the outside of each slide seat 402. A pressing plate 404 is fixedly connected to the front of the horizontal plate 403. The sliding cooperation between the slide rails 401 and the slide seats 402 can limit the movement trajectory of the horizontal plate 403, ensuring that the horizontal plate 403 moves the pressing plate 404 up and down smoothly. The pressing plate 404 is in direct contact with the goods, and the surface contact can increase the fixing force on the goods, preventing the goods from tipping over during the transfer process.

[0031] Specifically, a connecting seat 406 is fixedly connected to the center of the back of the horizontal plate 403, and a clamping cylinder 405 with its output end pointing vertically upward is fixedly connected to the front of the mounting bracket 100. A tension sensor 407 is fixedly connected between the output end of the clamping cylinder 405 and the connecting seat 406. The connecting seat 406 can realize a stable connection between the clamping cylinder 405 and the horizontal plate 403. The tension sensor 407 can monitor the pressure output by the clamping cylinder 405 in real time to avoid excessive pressure damaging the goods or insufficient pressure causing the goods to be loosely fixed.

[0032] Furthermore, the pressure plate 404 is comb-shaped and is movably inserted into the gap of the pusher frame 303. Multiple reinforcing plates 408 are fixedly connected to the top of the pressure plate 404. The comb-shaped structure allows the pressure plate 404 to be fitted and inserted into the gap of the pusher frame 303, avoiding interference between the pressure assembly 400 and the pusher assembly 300 during operation, achieving spatial compatibility between the two components, and reducing the overall structural volume. The reinforcing plates 408 can enhance the structural strength of the pressure plate 404 and prevent the pressure plate 404 from deforming under long-term pressure.

[0033] The operation process of this embodiment is as follows: When it is necessary to prevent the goods from falling during the transfer process, the control box 500 first sends a control signal to start the pressing cylinder 405 of the pressing component 400. The output end of the pressing cylinder 405 drives the horizontal plate 403 to move through the connecting seat 406. The slide seats 402 fixed on both sides of the horizontal plate 403 slide vertically downward along the slide rail 401 on the front of the mounting frame 100 to ensure that the horizontal plate 403 drives the pressing plate 404 fixed on the front to move down smoothly. Since the pressing plate 404 has a comb-like structure, it will move and insert into the gap of the pushing frame 303 of the pushing component 300 during its downward movement to avoid interference between the pressing component 400 and the pushing component 300. At the same time, the tension sensor 407 between the output end of the pressing cylinder 405 and the connecting seat 406 monitors the pressure in real time. When the pressing plate 404 contacts the surface of the goods and reaches the preset pressure value, the control box 500 controls the pressing cylinder 405 to stop moving, thereby fixing the goods and preventing them from falling during the transfer process.

[0034] Example 3 This embodiment is the third embodiment of this application. This embodiment provides a pallet recycling method using an automated pallet recycling forklift robot, which recycles pallets according to the following steps: S1. The operator starts the equipment through the control box 500. First, the operator controls the adjusting motor 205 to drive the adjusting screw 204 to rotate, so that the two sliders 202 move synchronously in opposite directions along the slide plate 201, and adjusts the two forks 203 to the distance that matches the fork holes of the pallet to be recycled. At the same time, the sliding block 402 of the pressing component 400 is moved to the initial position at the top of the slide rail 401. S2. Move the forklift to the pallet to be recycled, align the forks 203 with the pallet fork holes, and then push the forklift to insert the forks 203 into the fork holes. The anti-slip pads 206 on the opposite sides of the forks 203 will initially contact the inner wall of the pallet. Then, the control box 500 controls the adjusting motor 205 to drive the adjusting screw 204 to rotate in the opposite direction, so that the two forks 203 move synchronously towards each other along the slider 202 to clamp the inserted pallet. During the clamping process, the pressure sensor 207 in the installation compartment 203a monitors the clamping pressure in real time to avoid damage to the pallet due to excessive clamping force. When the pressure value detected by the pressure sensor 207 reaches the threshold, a signal is immediately fed back to the control box 500, and then the adjusting motor 205 stops rotating, completing the safe clamping. S3. The clamping cylinder 405 is activated via the control box 500, and its output end retracts. Through the tension sensor 407 and the connecting seat 406, the horizontal plate 403 slides downward along the slide rail 401. The comb-shaped pressing plate 404 on the front of the horizontal plate 403 also moves downward until it is tightly attached to the goods on the top of the pallet. The tension sensor 407 monitors the pressure in real time and feeds it back to the control box 500. When the pressure reaches the "goods fixing threshold", the clamping cylinder 405 stops moving, completing the fixing of the goods. Then, the forklift is operated to transfer the goods. S4. Upon reaching the recycling area, control the clamping cylinder 405 to retract, causing the pressing plate 404 to return to its original position along the slide rail 401, releasing the goods. Then, start the scissor pusher 302 to push the pusher frame 303 to move away from the mounting frame 100. Because the pallet is safely clamped by the forks 203 and the goods are unrestrained, the pusher frame 303 smoothly pushes the goods to slide along the forks 203, achieving separation of the goods from the pallet. S5. After the pallet is completely separated from the goods, operate the forklift to adjust its position and move the pallet clamped on the forks 203 to the recycling storage point. Control the adjusting motor 205 to drive the adjusting screw 204 to rotate through the control box 500, so that the forks 203 release the pallet. Finally, place the pallet steadily at the storage point, and the forklift slowly withdraws the forks 203 to complete the pallet recycling.

[0035] In the description of this specification, the references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A forklift robot for automatically retrieving pallets, comprising a mounting frame (100) fixedly connected to a forklift; characterized in that: The front of the mounting frame (100) is provided with a pallet inserting assembly (200) for inserting pallets, a goods pushing assembly (300) for pushing goods, and a goods pressing assembly (400) for securing goods; the pallet inserting assembly (200) includes a slide plate (201) fixedly connected to the lower edge of the front of the mounting frame (100), and two sliders (202) are slidably connected inside the slide plate (201). Forks (203) are fixedly connected to the outside of each of the two sliders (202), and the slide plate (201) is rotatably connected inside. An adjusting screw (204) is connected to one end of the slide plate (201), and an adjusting motor (205) is fixedly connected to one end of the slide plate (201). The adjusting screw (204) is fixedly connected to the output end of the adjusting motor (205). The pushing assembly (300) includes two fixed frames (301) fixedly connected to the front of the mounting frame (100). A scissor pusher (302) is fixedly connected to the side of the two fixed frames (301) facing away from the mounting frame (100). A pushing frame (303) is fixedly connected to the movable end of the scissor pusher (302).

2. The forklift robot for automatically recovering pallets according to claim 1, characterized in that, The pressing assembly (400) includes two slide rails (401) fixedly connected to the front of the mounting bracket (100) and vertically downward. Slide seats (402) are slidably connected to the outside of the two slide rails (401). Horizontal plates (403) are fixedly connected to the outside of the two slide seats (402). Pressing plates (404) are fixedly connected to the front of the horizontal plates (403).

3. The forklift robot for automatically recovering pallets according to claim 2, characterized in that, A connecting seat (406) is fixedly connected to the center of the back of the horizontal plate (403), and a pressing cylinder (405) with its output end pointing vertically upward is fixedly connected to the front of the mounting bracket (100). A tension sensor (407) is fixedly connected between the output end of the pressing cylinder (405) and the connecting seat (406).

4. The forklift robot for automatically recovering pallets according to claim 1, characterized in that, The adjusting screw (204) has two symmetrically distributed threaded parts on its outside, and the two sliders (202) are respectively threaded onto the outside of the two threaded parts.

5. The forklift robot for automatically recovering pallets according to claim 1, characterized in that, Both forks (203) are wedge-shaped with their slopes facing downwards, and anti-slip pads (206) are fixedly connected to the opposite sides of both forks (203).

6. The forklift robot for automatically recovering pallets according to claim 1, characterized in that, Each of the two forks (203) has an installation compartment (203a) on one side opposite to the other, and a pressure sensor (207) is installed inside each of the two installation compartments (203a).

7. The forklift robot for automatically recovering pallets according to claim 1, characterized in that, The control box (500) is fixedly connected to the front of the mounting bracket (100), and the adjusting motor (205), scissor pusher (302), clamping cylinder (405), tension sensor (407) and pressure sensor (207) are all electrically connected to the control box (500).

8. A forklift robot for automatically recovering pallets according to claim 2, characterized in that, The pressing plate (404) is comb-shaped and is movably inserted into the gap of the push frame (303). Multiple reinforcing plates (408) are fixedly connected to the top of the pressing plate (404).

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