A box hooking fork, box taking and placing device and system

Abstract

The utility model discloses a material box hooking fork, material box taking and placing device and system, material box hooking fork includes mounting seat, telescopic mechanism and hook body, hook body installs in telescopic mechanism's execution end, and telescopic mechanism passes through the rotation axis and establishes the rotary connection relation with mounting seat, still be installed with the coaxial arrangement drive shaft of rotation axis on mounting seat, and drive shaft can drive telescopic mechanism operation, still be installed with the first drive unit and second drive unit of respectively driving rotation axis and drive shaft operation on mounting seat. The utility model discloses material box hooking fork, through setting up the coaxial arrangement rotation axis and drive shaft to drive telescopic mechanism telescopic and rotate respectively, can improve the taking range of fork greatly, and the structure local compact, and the first drive unit and second drive unit all install on mounting seat, do not operate with telescopic mechanism, not only can avoid the influence telescopic mechanism range of motion, and can make the structure of movable part light and smart, improve the operation speed of structure.

Description

Technical Field

[0001] This utility model relates to the field of warehouse cargo management technology, and in particular to a bin-hooking fork, bin-picking and placing device and system. Background Technology

[0002] In modern logistics warehousing and automated production systems, the automatic retrieval and placement of material bins is a key link in achieving efficient material flow. Traditional material bin storage and retrieval equipment often adopts a gripping method as shown in patent CN 210557157 U. This method requires leaving gaps on both sides of the material bin for the gripping fork to enter, which affects the storage density on the shelf, and the tilting of the material bin can lead to malfunctions.

[0003] Furthermore, the drive components of most forklift devices are poorly arranged, with some drive units moving along with the moving parts. This not only increases the mass and inertia of the moving parts and limits the response speed, but also easily causes unstable power transmission, affecting positioning accuracy and operational reliability. With the increasing demands for high-density storage, high-speed response, and high compatibility in intelligent warehousing systems, there is an urgent need for a new type of forklift device and its integrated picking and placing system that is compact, flexible, capable of bidirectional and efficient picking and placing, and adaptable to various sizes of bins. This would overcome the aforementioned shortcomings of existing technologies and improve the overall performance and applicability of automated storage and retrieval. Utility Model Content

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, this utility model provides a compact material box hook fork, a material box picking and placing device and system with high picking and placing efficiency.

[0005] Technical solution: To achieve the above objectives, the present invention provides a hopper hook fork, which includes a mounting base, a telescopic mechanism, and a hook body; the hook body is installed at the end of the telescopic mechanism.

[0006] The telescopic mechanism establishes a rotational connection with the mounting base via a rotating shaft; the mounting base is also equipped with a drive shaft arranged coaxially with the rotating shaft, and the drive shaft can drive the telescopic mechanism to operate.

[0007] The mounting base is also equipped with a first drive unit and a second drive unit that drive the rotating shaft and the drive shaft to operate respectively.

[0008] During operation, when it is necessary to control the telescopic mechanism to perform telescopic actions, the second drive unit operates independently; when it is necessary to control the telescopic mechanism to rotate relative to the mounting base, the first drive unit operates while the second drive unit operates synchronously to keep the overall length of the telescopic mechanism constant.

[0009] When the telescopic mechanism is retracted to its shortest length, it can rotate to the zero position. At the zero position, the telescopic mechanism's extension direction is parallel to the length direction of the mounting base. In this way, the telescopic mechanism can rotate to either side of the mounting base to retrieve goods in both directions.

[0010] Furthermore, the output shaft of the second drive unit is coaxially driven and connected to the drive shaft; the output shaft of the first drive unit is arranged parallel to the rotation shaft, and the two are connected by a transmission component.

[0011] Furthermore, the transmission component includes a first gear connected to the rotating shaft and a second gear connected to the output shaft of the first drive unit.

[0012] Furthermore, the mounting base has an elongated structure; the first drive unit includes a first L-shaped reducer and a first motor; the second drive unit includes a second L-shaped reducer and a second motor; the first motor and the second motor are arranged collinearly along the extension direction of the mounting base.

[0013] Furthermore, the telescopic mechanism sequentially includes a first plate, a second plate, and a third plate, with adjacent plate brackets slidably connected; the first plate is connected to the rotating shaft; and the hook is fixed to the third plate.

[0014] The drive shaft causes the first plate and the second plate to slide relative to each other via a drive mechanism;

[0015] A circulation unit is installed on the second plate, and both the first plate and the third plate have connecting units that connect to the circulation unit.

[0016] Furthermore, the drive mechanism includes a rack fixed on the second plate, a gear rotatably mounted on the first plate, and a transmission mechanism connecting the gear and the drive shaft; the rack meshes with the gear.

[0017] Furthermore, the transmission mechanism is a synchronous belt mechanism, which includes a first pulley coaxially fixed on the drive shaft, a second pulley coaxially fixed with the gear, and a synchronous belt connecting the first pulley and the second pulley; the rotating shaft is a hollow shaft, and its side wall has a slot for the synchronous belt to pass through.

[0018] A bin-picking and placing device includes a base, a conveying mechanism and the aforementioned bin-picking fork are mounted on the bottom of the base, wherein the conveying mechanism is a belt conveyor; the bin-picking fork is connected to the base through a lifting mechanism, and the base can be driven by a translation drive mechanism to translate relative to the mounting base, the translation direction being consistent with the conveying direction of the conveying mechanism.

[0019] Furthermore, the lifting mechanism includes a gantry frame, with the two ends of the mounting base slidably mounted relative to the two sides of the gantry frame. The gantry frame is equipped with a lifting drive motor and a synchronous belt assembly that drives the mounting base to perform lifting and lowering movements.

[0020] A bin handling system includes the aforementioned bin handling device, and further includes a drive component that enables the base to perform at least a single-axis movement; shelves are installed on both sides of the base's movement space, and each shelf has multiple storage positions for placing bins. The drive component can be a dual-axis Cartesian coordinate drive mechanism, an industrial robot, a shuttle, or other similar walking mechanism.

[0021] During operation, the control system can control the forks of the material box to rotate to the corresponding side based on the location of the target material box. The position of the hook is lower than the hooking position on the material box. The telescopic mechanism drives the hook to extend below the hooking position on the material box. Then, the lifting mechanism drives the hook to rise, so that the hook hooks the material box. Finally, the lifting mechanism retracts, pulling the material box out of the placement position. When the material box partially contacts the conveyor mechanism, the conveyor mechanism, in conjunction with the telescopic mechanism, pulls the material box out. Based on the reverse process, the material box on the conveyor mechanism can be returned to the placement position.

[0022] Beneficial effects: The hopper hook fork, hopper loading and unloading device and system of this utility model have the following beneficial effects:

[0023] (1) The fork of the present invention has a material box hook fork. By setting a rotating shaft and a drive shaft in a coaxial layout to drive the telescopic mechanism to extend and rotate respectively, the fork can greatly improve the picking range of the fork. The structure is compact. The first drive unit and the second drive unit are both installed on the mounting base and do not move with the telescopic mechanism. This not only avoids affecting the movement range of the telescopic mechanism, but also makes the structure of the moving part lightweight and improves the operating speed of the structure.

[0024] (2) It is highly adaptable and can meet the hooking needs of different sized bins.

[0025] (3) The structural layout of the first drive unit and the second drive unit and the structure of the output power can maintain the compactness of the structure and reduce the volume of the overall structure, which can reduce the operating space required by the structure in subsequent use.

[0026] (4) Based on the bin picking and placing system of this utility model, bins on both sides of the movement space of the bin picking and placing device can be picked up and placed. The translation drive mechanism expands the movement space of the bin hooking fork, so that the bin hooking fork can hook the double-deep bins in the double-deep rack. Attached Figure Description

[0027] Figure 1A structural diagram showing the forklift hooking mechanism for the material bin;

[0028] Figure 2 A cross-sectional view of the forklift hooking mechanism for the hopper;

[0029] Figure 3 This is a structural diagram of the material bin loading and unloading device;

[0030] Figure 4 Here is a structural diagram of the lifting mechanism;

[0031] Figure 5 This is a structural diagram of the translation drive mechanism;

[0032] Figure 6 This is a diagram showing the telescopic mechanism in its zero-point position.

[0033] In the diagram: 1-Mounting base; 2-Telescopic mechanism; 21-First plate; 22-Second plate; 23-Third plate; 24-Circulation unit; 25-Connecting unit; 26-Transmission mechanism; 27-Rack; 3-Hook; 4-Rotating shaft; 5-Drive shaft; 6-First drive unit; 61-First L-type reducer; 62-First motor; 7-Second drive unit; 71-Second L-type reducer; 72-Second motor; 8-Transmission component; 81-First gear; 82-Second gear; 9-Base; 10-Conveying mechanism; 11-Lifting mechanism; 111-Gantry frame; 112-Lifting drive motor; 113-Synchronous belt assembly; 12-Translation drive mechanism; 121-Guide slide rail; 122-Translation drive motor; 123-Translation transmission mechanism. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings.

[0035] like Figure 1 The shown material box hook fork includes a mounting base 1, a telescopic mechanism 2, and a hook body 3; the hook body 3 is installed at the actuating end of the telescopic mechanism 2;

[0036] The telescopic mechanism 2 establishes a rotational connection with the mounting base 1 via the rotating shaft 4; for example... Figure 2 As shown, a drive shaft 5 coaxially arranged with the rotating shaft 4 is also installed on the mounting base 1, and the drive shaft 5 can drive the telescopic mechanism 2 to operate.

[0037] The mounting base 1 is also equipped with a first drive unit 6 and a second drive unit 7 that drive the rotating shaft 4 and the drive shaft 5 to rotate respectively.

[0038] When the telescopic mechanism 2 needs to be controlled to perform telescopic actions during operation, the second drive unit 7 operates independently; when the telescopic mechanism 2 needs to be controlled to rotate relative to the mounting base 1, the first drive unit 6 operates while the second drive unit 7 operates synchronously to keep the overall length of the telescopic mechanism 2 unchanged.

[0039] When the length of the telescopic mechanism 2 is reduced to its shortest length, such as Figure 6 As shown, the telescopic mechanism 2 can rotate to the zero position. At the zero position, the telescopic direction of the telescopic mechanism 2 is parallel to the length direction of the mounting base 1. Thus, the telescopic mechanism 2 can rotate to either side of the mounting base 1 to retrieve goods in both directions.

[0040] Preferably, the output shaft of the second drive unit 7 is coaxially driven and connected to the drive shaft 5; the output shaft of the first drive unit 6 is arranged parallel to the rotation shaft 4, and the two are connected by a transmission component 8.

[0041] Preferably, the transmission component 8 includes a first gear 81 connected to the rotating shaft 4 and a second gear 82 connected to the output shaft of the first drive unit 6.

[0042] The fork of this utility model with a hopper hook uses a rotating shaft 4 and a drive shaft 5 arranged in a coaxial layout to drive the telescopic mechanism 2 to extend and rotate, which can greatly improve the picking range of the fork. The structure is compact in some parts. The first drive unit 6 and the second drive unit 7 are both mounted on the mounting base 1 and do not move with the telescopic mechanism 2. This not only avoids affecting the movement range of the telescopic mechanism 2, but also makes the structure of the moving parts lightweight and improves the operating speed of the structure.

[0043] Preferably, the mounting base 1 has an elongated structure; the first drive unit 6 includes a first L-shaped reducer 61 and a first motor 62; the second drive unit 7 includes a second L-shaped reducer 71 and a second motor 72; the first motor 62 and the second motor 72 are arranged collinearly along the extension direction of the mounting base 1.

[0044] The structural layout of the first drive unit 6 and the second drive unit 7, as well as the structure of the output power, can maintain the compactness of the structure, reduce the overall volume of the structure, and reduce the operating space required by the structure in subsequent use.

[0045] Preferably, the telescopic mechanism 2 includes a first plate portion 21, a second plate portion 22, and a third plate portion 23 in sequence, with adjacent plate portions slidably connected; the first plate portion 21 is connected to the rotating shaft 4; and the hook body 3 is fixed on the third plate portion 23.

[0046] The drive shaft 5 causes the first plate portion 21 and the second plate portion 22 to slide relative to each other via a drive mechanism;

[0047] A circulation unit 24 is installed on the second plate portion 22. Both the first plate portion 21 and the third plate portion 23 have a connecting unit 25 that connects to the circulation unit 24. In this embodiment, the circulation unit 24 is a belt or a synchronous belt.

[0048] Preferably, the drive mechanism includes a rack 27 fixed on the second plate portion 22, a gear rotatably mounted on the first plate portion 21, and a transmission mechanism 26 connecting the gear and the drive shaft 5; the rack 27 meshes with the gear.

[0049] Preferably, the transmission mechanism 26 is a synchronous belt mechanism, which includes a first pulley coaxially fixed on the drive shaft 5, a second pulley coaxially fixed with the gear, and a synchronous belt connecting the first pulley and the second pulley; the rotating shaft 4 is a hollow shaft, and its side wall has a slot for the synchronous belt to pass through.

[0050] like Figure 3 As shown, the present invention also provides a bin loading and unloading device, which includes a base 9, a conveying mechanism 10 and the aforementioned bin-hooking fork installed at the bottom of the base 9. In this embodiment, the conveying mechanism 10 is a belt conveyor; the bin-hooking fork is connected to the base 9 through a lifting mechanism 11, and the base 9 can be driven by a translation drive mechanism 12 to translate relative to the mounting base 1, and the translation direction is consistent with the conveying direction of the conveying mechanism 10.

[0051] Preferably, such as Figure 4 As shown, the lifting mechanism 11 includes a gantry frame 111, and the two ends of the mounting base 1 are slidably mounted relative to the two sides of the gantry frame 111. The gantry frame 111 is equipped with a lifting drive motor 112 and a synchronous belt assembly 113 that drives the mounting base 1 to perform lifting and lowering movements.

[0052] like Figure 5 As shown, the translation drive mechanism 12 includes a guide rail 121 fixed on the base 9, a translation drive motor 122, and a translation transmission mechanism 123. A slider cooperating with the guide rail 121 is mounted on the gantry 111. The translation drive motor 122 drives the gantry 111 to perform translational movement via the translation transmission mechanism 123. In the illustrated embodiment, the translation transmission mechanism 123 is a synchronous belt mechanism.

[0053] The present invention also provides a bin loading and unloading system, which includes the aforementioned bin loading and unloading device, and further includes a driving component that enables the base 9 to perform at least a single-axis movement; shelves are respectively installed on both sides of the movement space of the base 9, and each shelf has multiple storage positions for placing bins. The structure of the driving component can be a dual-axis Cartesian coordinate drive mechanism, an industrial robot, a shuttle, or other walking mechanism.

[0054] During operation, the control system can control the forklift to rotate to the corresponding side based on the location of the target bin, with the hook 3 positioned below the hooking position on the bin. The telescopic mechanism 2 drives the hook 3 to extend below the hooking position on the bin. Then, the lifting mechanism 11 drives the hook 3 to rise, causing it to hook the bin. Finally, the lifting mechanism 11 retracts, pulling the bin out of the storage position. When part of the bin comes into contact with the conveying mechanism 10, the conveying mechanism 10, in conjunction with the telescopic mechanism 2, pulls the bin out. The reverse process allows the bin on the conveying mechanism 10 to be returned to the storage position.

[0055] Based on the bin picking and placing system of this utility model, bins on both sides of the movement space of the bin picking and placing device can be picked up and placed. The translation drive mechanism 12 expands the movement space of the bin hook fork, so that the bin hook fork can hook the double-deep bins in the double-deep rack.

[0056] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A forklift for picking up a hopper, comprising a mounting base (1), a telescopic mechanism (2), and a hook body (3); the hook body (3) is mounted at the actuating end of the telescopic mechanism (2); characterized in that: The telescopic mechanism (2) establishes a rotational connection with the mounting base (1) through the rotating shaft (4); the mounting base (1) is also equipped with a drive shaft (5) that is coaxially arranged with the rotating shaft (4), and the drive shaft (5) can drive the telescopic mechanism (2) to operate. The mounting base (1) is also equipped with a first drive unit (6) and a second drive unit (7) that drive the rotating shaft (4) and the drive shaft (5) to operate respectively.

2. The forklift fork according to claim 1, characterized in that, The output shaft of the second drive unit (7) is coaxially driven and connected to the drive shaft (5); the output shaft of the first drive unit (6) is arranged parallel to the rotating shaft (4), and the two are connected by a transmission component (8).

3. The forklift fork according to claim 2, characterized in that, The transmission component (8) includes a first gear (81) connected to the rotating shaft (4) and a second gear (82) connected to the output shaft of the first drive unit (6).

4. The forklift fork according to claim 1, characterized in that, The mounting base (1) is a long strip structure; the first drive unit (6) includes a first L-shaped reducer (61) and a first motor (62); the second drive unit (7) includes a second L-shaped reducer (71) and a second motor (72); the first motor (62) and the second motor (72) are arranged collinearly along the extension direction of the mounting base (1).

5. The forklift fork according to claim 1, characterized in that, The telescopic mechanism (2) includes a first plate (21), a second plate (22), and a third plate (23) in sequence, with adjacent plate brackets slidably connected; the first plate (21) is connected to the rotating shaft (4); the hook (3) is fixed on the third plate (23); The drive shaft (5) causes the first plate portion (21) and the second plate portion (22) to slide relative to each other via a drive mechanism; A circulation unit (24) is installed on the second plate (22), and a connection unit (25) connecting the circulation unit (24) is provided on both the first plate (21) and the third plate (23).

6. The forklift fork according to claim 5, characterized in that, The drive mechanism includes a rack (27) fixed on the second plate (22), a gear rotatably mounted on the first plate (21), and a transmission mechanism (26) connecting the gear and the drive shaft (5).

7. The forklift fork according to claim 6, characterized in that, The transmission mechanism (26) is a synchronous belt mechanism, which includes a first pulley coaxially fixed on the drive shaft (5), a second pulley coaxially fixed with the gear, and a synchronous belt connecting the first pulley and the second pulley; the rotating shaft (4) is a hollow shaft with a slot on its side wall for the synchronous belt to pass through.

8. A material bin loading and unloading device, characterized in that, It includes a base (9), a conveying mechanism (10) and a hopper hook fork as described in any one of claims 1-7 are mounted on the bottom of the base (9); the hopper hook fork is connected to the base (9) through a lifting mechanism (11), and the base (9) can be driven by a translation drive mechanism (12) to translate relative to the mounting base (1), the translation direction being consistent with the conveying direction of the conveying mechanism (10).

9. The material bin loading and unloading device according to claim 8, characterized in that, The lifting mechanism (11) includes a gantry (111), and the two ends of the mounting base (1) are slidably mounted relative to the two sides of the gantry (111). The gantry (111) is equipped with a lifting drive motor (112) and a synchronous belt assembly (113) that drives the mounting base (1) to perform lifting movements.

10. A material bin loading and unloading system, characterized in that, It includes the bin loading and unloading device as described in claim 8, and further includes a drive component that causes the base (9) to move at least in a single axis; shelves are installed on both sides of the movement space of the base (9), and each shelf has multiple storage positions for placing bins.

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