Pallet fork device and transfer robot

Abstract

Provided are a pallet fork device and a transfer robot. The pallet fork device (100) comprises a base plate (110), a supporting assembly (120), and two clamping plate assemblies (130). The supporting assembly is arranged on the base plate, and the supporting assembly can move in the length direction of the base plate; the two clamping plate assemblies are respectively arranged on the two sides of the supporting assembly in the width direction of the base plate; the supporting assembly comprises a supporting base (121) and a driving mechanism (122), and the driving mechanism is connected to the supporting base; the driving mechanism is configured to drive the two clamping plate assemblies to move in the width direction of the base plate so as to adjust the distance between the two clamping plate assemblies; the driving mechanism comprises two driving members (1221), and the two clamping plate assemblies are rotatably connected to the two driving members, respectively. Thus, autonomous clamping of a material box is achieved, guaranteeing the reliability of a goods pickup process while improving the goods pickup efficiency.

Description

Fork device and handling robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 27, 2023, with application number 202321652040.5 and application name “Fork device and handling robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of warehousing and logistics, and in particular to a fork device and a handling robot. Background Art

[0003] With the development of artificial intelligence and automation technologies, robots are widely used in warehousing and logistics, for picking, placing, transporting, and sorting goods. In logistics systems, goods are often stored on storage racks. Robots with corresponding functions connect to these racks or conveyor lines to pick up and place goods, or complete cargo delivery tasks.

[0004] In related technologies, a warehousing system usually includes storage racks and robots for picking up and placing goods. The robots can move in the aisles between the storage racks. The robots are usually equipped with forks for picking up and placing goods. The forks are connected to the main body of the robot through a lifting unit and can be lifted and moved relative to the main body of the robot. When the fork picks up goods from the storage rack, the fork arm needs to extend into the storage space of the storage rack and exceed the end of the goods before it can move the goods out of the storage rack.

[0005] However, the picking efficiency of the current robot's fork is low.

[0006] Application Contents

[0007] The present application provides a fork device and a transport robot, which can solve the technical problem of low efficiency of picking up goods by the robot's fork.

[0008] In a first aspect, the present application provides a fork device, comprising a base plate, a support assembly and two clamping plate assemblies, wherein the support assembly is arranged on the base plate and can move along the length direction of the base plate, and the two clamping plate assemblies are respectively arranged on both sides of the support assembly along the width direction of the base plate.

[0009] Among them, the support assembly includes a support base and a driving mechanism, the driving mechanism is connected to the support base, and the driving mechanism is constructed to drive the two clamping plate assemblies to move along the width direction of the substrate to adjust the spacing between the two clamping plate assemblies. The driving mechanism includes two driving parts, and the two clamping plate assemblies are respectively rotatably connected to the two driving parts to clamp the material box.

[0010] The fork device provided in the present application can clamp the two sides of the material box through a relatively movable clamping plate assembly, so as to take the material box out from the storage location of the storage rack, and the clamping plate assembly can rotate. When clamping the material box, the two clamping plate assemblies can achieve autonomous clamping of the material box through rotation, thereby improving the efficiency of picking up goods and ensuring the reliability of the picking up process.

[0011] As an optional embodiment, the splint assembly may include a splint and a splint connecting rod, the first end of the splint connecting rod being rotatably connected to the driving member, and the splint being connected to the second end of the splint connecting rod; the two splints are arranged opposite to each other, and the splint of one of the two splint assemblies faces the splint of the other.

[0012] With such an arrangement, the clamping plate connecting rod can be used to drive the clamping plate to move and rotate, thereby improving the stability of the clamping plate in clamping the material box.

[0013] As an optional embodiment, when the splints of the two splint assemblies abut against both sides of the material box and drive the material box to move, the splint connecting rods of the two splint assemblies rotate relative to the driving member so that the splints of the two splint assemblies tend to approach each other.

[0014] Such an arrangement can increase the pre-tightening force of the two clamping plates clamping the material box, and improve the reliability of the clamping plate assembly in dragging the material box to move.

[0015] As an optional embodiment, the support assembly may further include a first slider and a first floating mechanism, the substrate is provided with a first guide rail extending along the length direction of the substrate, the first slider is connected to the support seat, and the first slider is slidably set on the first guide rail.

[0016] The first floating mechanism may be floatingly supported on the support base, and the first floating mechanism is configured to move relative to the support base along the length direction of the substrate, and the driving mechanism may be connected to the support base via the first floating mechanism.

[0017] With such an arrangement, the first floating mechanism can be provided so that the clamping plate assembly can move relative to the support seat when picking up goods, so that the clamping plate can autonomously clamp the material box.

[0018] As an optional embodiment, the support assembly may further include a push plate, which may be connected to the support seat, and a driving wheel is provided at the first end of the splint connecting rod; when the first floating mechanism moves relative to the support seat, the push plate may abut against the driving wheel to cause the splint connecting rod to rotate relative to the driving member.

[0019] With such arrangement, before the support base drives the entire support assembly and the clamping plate assembly to move, the clamping force of the clamping plate on the material box can be increased by the relative movement of the support base and the first floating mechanism.

[0020] As an optional embodiment, the first floating mechanism may include a first mounting plate and a first guide member, the first guide member may be connected to the support seat, and the first guide member extends along the length direction of the base plate, and the first mounting plate is slidably connected to the first guide member.

[0021] Such an arrangement can improve the smoothness of the relative movement between the first mounting plate and the support base.

[0022] As an optional embodiment, the first floating mechanism may further include a first elastic member, which is disposed between the support seat and the first mounting plate, and the first elastic member may apply an elastic force to the first mounting plate away from the support seat.

[0023] Such an arrangement can provide a pre-tightening force for the movement between the clamping plate assembly and the support seat.

[0024] As an optional embodiment, the support assembly may also include a second floating mechanism, which is connected to the first mounting plate. The driving mechanism may be connected to the first floating mechanism through the second floating mechanism, and the second floating mechanism is constructed to enable the driving mechanism to move relative to the first mounting plate along the width direction of the substrate.

[0025] With such arrangement, the clamping plate assembly can be moved in the width direction of the base plate through the second mounting plate, thereby adjusting the position of the clamping plate assembly relative to the material box. When the material box is tilted, the picking operation can also be completed.

[0026] As an optional embodiment, the second floating mechanism may include a second mounting plate and a second slider, the first mounting plate is provided with a second guide rail, the second guide rail extends along the width direction of the substrate, the second slider is connected to the second mounting plate, and the second slider is slidably set on the second guide rail.

[0027] Such an arrangement can improve the smoothness of movement of the second mounting plate relative to the first mounting plate.

[0028] As an optional embodiment, the second floating mechanism may further include a second guide member and a second elastic member, the second guide member is connected to the first mounting plate, the second mounting plate is slidably connected to the second guide member, and the second guide member is parallel to the second guide rail.

[0029] The second elastic member may be disposed between the second mounting plate and the first mounting plate, and the second elastic member applies an elastic force along the width direction of the substrate to the second mounting plate.

[0030] With this arrangement, a pre-tightening force is applied to the second mounting plate, and the clamping plate assembly can adapt to the position of the material box when picking up goods.

[0031] As an optional embodiment, there can be two second guide members and two second elastic members, and the second guide members and the second elastic members are arranged in pairs on both sides of the second mounting plate along the width direction of the substrate; the two second elastic members apply elastic forces to the second elastic member in opposite directions.

[0032] This arrangement can maintain the balance of force on the second mounting plate in the width direction of the substrate.

[0033] As an optional embodiment, the driving mechanism may further include a first driving unit and a transmission member, the first driving unit being arranged on the second mounting plate, the transmission member extending along the width direction of the substrate, and the transmission member rotating under the drive of the first driving unit; both driving members can be connected to the transmission member, and the two driving members move along the extension direction of the transmission member as the transmission member rotates, and the moving directions of the two driving members are opposite.

[0034] With such an arrangement, the two clamping plate assemblies can be opened and closed to achieve pre-clamping of the material box when picking up goods.

[0035] As an optional embodiment, the driving mechanism may further include a third slider and a third guide rail, the third guide rail may be connected to the second mounting plate, and the third guide rail extends along the width direction of the substrate; the third slider is connected to the driving member, and the third slider is slidably set on the third guide rail.

[0036] Such an arrangement can provide guidance for the opening and closing movement of the two clamping plate assemblies driven by the driving member, so as to ensure the smoothness of the opening and closing movement of the two clamping plate assemblies.

[0037] As an optional embodiment, the splint assembly may further include a flexible pad, the splint is rotatably connected to the splint connecting rod, and the flexible pad may be provided on the peripheral side of the connection position between the splint and the splint connecting rod.

[0038] Such an arrangement allows the clamping plate to be slightly active relative to the clamping plate connecting rod when clamping the material box, thereby improving the effectiveness of the contact between the clamping plate and the material box.

[0039] As an optional embodiment, the clamping plate may include a clamping plate body and a friction plate, the clamping plate body is connected to the clamping plate connecting rod, and the friction plate is arranged on a side of the clamping plate body facing the interior of the fork device.

[0040] This arrangement can increase the friction between the clamping plate and the material box.

[0041] As an optional embodiment, at least one of the two clamping plate assemblies may further include a pressure detecting member, which is disposed in the clamping plate and configured to detect the pressure between the clamping plate and the material box.

[0042] With such an arrangement, the information fed back by the pressure detection member can be used to determine whether the clamping plate is clamping the material box, thereby improving the reliability and stability of the clamping plate clamping the material box.

[0043] On the second aspect, the present application provides a transport robot, which includes a mobile chassis, a shelf, a lifting assembly and the fork device in the above technical solution. The shelf is arranged on the mobile chassis, the lifting assembly is connected to the shelf, and the fork device is arranged on the lifting assembly. The lifting assembly drives the fork device to move along the height direction of the shelf.

[0044] An embodiment of the present application provides a fork device and a handling robot, wherein the fork device includes a base plate, a support assembly and two clamping plate assemblies, the support assembly is arranged on the base plate, and the support assembly can move along the length direction of the base plate, the two clamping plate assemblies are respectively arranged on both sides of the support assembly along the width direction of the base plate, the support assembly includes a support seat and a driving mechanism, the driving mechanism is connected to the support seat, and the driving mechanism is constructed to drive the two clamping plate assemblies to move along the width direction of the base plate to adjust the spacing between the two clamping plate assemblies, the driving mechanism includes two driving parts, and the two clamping plate assemblies are respectively rotatably connected to the two driving parts, thereby realizing autonomous clamping of the material box, while improving the efficiency of picking up goods, ensuring the reliability of the picking up goods process.

[0045] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the fork device and the handling robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] FIG1 is a structural schematic diagram 1 of a fork device provided in an embodiment of the present application;

[0048] FIG2 is a second structural diagram of a fork device provided in an embodiment of the present application;

[0049] FIG3 is a first structural diagram of a support assembly and a clamping plate assembly in a fork device provided in an embodiment of the present application;

[0050] FIG4 is a second structural schematic diagram of a support assembly and a clamping plate assembly in a fork device provided in an embodiment of the present application;

[0051] FIG5 is a side view of a support assembly and a clamping plate assembly in a fork device provided in an embodiment of the present application;

[0052] FIG6 is a bottom schematic diagram of a support assembly and a clamping plate assembly in a fork device provided in an embodiment of the present application;

[0053] FIG7 is a top view of the support assembly and the clamping plate assembly in the fork device provided in an embodiment of the present application;

[0054] FIG8 is a schematic structural diagram of a support assembly in a fork device provided in an embodiment of the present application.

[0055] Description of reference numerals:

[0056] 100-Fork device;

[0057] 110-base plate; 111-first guide rail;

[0058] 120 - Support assembly; 121 - Support seat; 1211 - Push plate; 122 - Driving mechanism; 1221 - Driving member; 1222 - First driving unit; 1223 - Transmission member; 1224 - Third slider; 1225 - Third guide rail; 123 - First slider; 124 - First floating mechanism; 1241 - First mounting plate; 1242 - First guide member; 1243 - First elastic member; 1244 - Second guide rail; 125 - Second floating mechanism; 1251 - Second mounting plate; 1252 - Second slider; 1253 - Second guide member; 1254 - Second elastic member;

[0059] 130-splitting plate assembly; 131-splitting plate; 1311-splitting plate body; 1312-friction plate; 132-splitting plate connecting rod; 1321-driving wheel; 133-flexible pad; 134-pressure detection component;

[0060] 200-Bracket;

[0061] 300-Material Box. DETAILED DESCRIPTION

[0062] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0063] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art may adjust them as needed to suit specific applications.

[0064] Secondly, it should be noted that in the description of this application, terms such as "up", "down", "left", "right", "front", "back", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0065] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. 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 any one or more embodiments or examples.

[0066] Various types of robots are widely used in various fields, including industry and daily life. Robots play a vital role in industries such as transportation and logistics. In warehousing and logistics systems, goods are usually stored on storage racks. Robots connect to storage racks or conveyor lines to pick up and place goods, and can also transport goods. Handling robots can move in the aisles between storage racks. The robots are usually equipped with forks for picking up and placing goods. The forks are connected to the main body of the robot through a lifting unit and can be raised and lowered relative to the main body of the robot. When the forks are used to pick up goods from the storage racks, the fork arms need to extend into the storage space of the storage racks and extend beyond the end of the goods to move the goods from the storage racks.

[0067] Therefore, when picking up goods, the current robot's fork has a long stroke to extend into the storage space of the storage rack, and the finger unit at the end of the fork arm needs to rotate, and the finger unit is used to block the end of the goods facing the inside of the storage space, and then the goods are pulled out of the storage space, resulting in low efficiency of the fork in picking up goods.

[0068] In response to the above problems, the embodiments of the present application provide a fork device and a handling robot. Through the design of the fork's picking structure, the fork can clamp the two sides of the goods at the storage location of the storage rack, use the clamping friction to take the goods out of the storage location of the storage rack, and use the picking mechanism to autonomously clamp the goods, thereby improving the efficiency of picking while ensuring the stability and reliability of the picking process.

[0069] To facilitate understanding, the application scenarios of the embodiments of the present application are first described.

[0070] The fork device provided in the embodiment of the present application can be applied to a handling robot, and the handling robot can be applied to a warehousing system for picking up, placing and transporting goods. The handling robot can be applied to the logistics distribution of industrial production lines, the entry and exit of inventory products in the manufacturing industry, the entry and exit of products in the retail industry, and can also be applied to different fields such as express entry and exit of e-commerce logistics. The products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and it can directly transfer goods or transfer material boxes containing goods. The embodiment of the present application does not make specific restrictions on this. The "material box" will be used below to refer to the handling object of the handling robot, and no specific examples will be given.

[0071] Figure 1 is a structural schematic diagram 1 of the fork device provided in an embodiment of the present application, Figure 2 is a structural schematic diagram 2 of the fork device provided in an embodiment of the present application, and Figure 3 is a structural schematic diagram 1 of the support assembly and the splint assembly in the fork device provided in an embodiment of the present application.

[0072] As shown in Figures 1 to 3, an embodiment of the present application provides a fork device 100, including a base plate 110, a support assembly 120 and two clamping plate assemblies 130. The support assembly 120 is arranged on the base plate 110, and the support assembly 120 can move along the length direction of the base plate 110. The two clamping plate assemblies 130 are respectively arranged on both sides of the support assembly 120 along the width direction of the base plate 110.

[0073] It can be understood that the base plate 110 can be used to carry the material box 300, and the support assembly 120 can drive the clamping plate assembly 130 to move along the length direction of the base plate 110. The material box 300 is clamped by the two clamping plate assemblies 130, so that the material box 300 can be dragged onto the base plate 110 to realize the picking function. When releasing the goods, the support assembly 120 can push the material box 300 out of the base plate 110 when moving.

[0074] In some embodiments, the support assembly 120 includes a support base 121 and a driving mechanism 122 , the driving mechanism 122 is connected to the support base 121 , and the driving mechanism 122 is constructed to drive the two clamping plate assemblies 130 to move along the width direction of the substrate 110 to adjust the spacing between the two clamping plate assemblies 130 .

[0075] It is understood that the support base 121 can be slidably disposed on the base plate 110. By driving the support base 121 to move along the length of the base plate 110, the drive mechanism 122 and the clamping plate assembly 130 can be driven to move along the length of the base plate 110. When the fork device 100 is picking up goods, the two clamping plate assemblies 130 can be clamped on both sides of the material box 300, and the clamping plate assemblies 130 can apply a clamping force to the side walls of the material box 300. Therefore, when the support base 121 moves, the friction between the clamping plate assemblies 130 and the side walls of the material box 300 can drive the material box 300 to move, thereby achieving the picking operation.

[0076] Among them, the driving mechanism 122 can include two driving members 1221, and the two clamping plate assemblies 130 are respectively rotatably connected to the two driving members 1221, so that the clamping plate assembly 130 can be connected to the driving member 1221 in a hinged manner. While the driving member 1221 can drive the clamping plate assembly 130 to move along the width direction of the substrate 110, the clamping plate assembly 130 can achieve a certain degree of rotation relative to the driving member 1221, so that when the two clamping plate assemblies 130 clamp the material box 300, the relative rotation of the two clamping plate assemblies 130 can be used to clamp the material box 300, thereby increasing the clamping force on the side wall of the material box 300.

[0077] It should be noted that in the fork device 100 provided in the embodiment of the present application, the two sides of the material box 300 are clamped by relatively movable clamping plate assemblies 130, so that when the material box 300 is taken out from the storage location of the storage rack, the width of the material box 300 can be adapted to the distance between the two clamping plate assemblies 130 according to the size of the material box 300, and the clamping plate assemblies 130 can be rotated relative to each other. When clamping the material box 300, the two clamping plate assemblies 130 can realize autonomous clamping of the material box 300 by rotation, thereby improving the efficiency of picking up goods while ensuring the reliability of the picking up process.

[0078] In addition, the movement of the support seat 121 relative to the substrate 110 can be achieved by a driving unit arranged on the substrate 110. For example, a motor can be arranged on the substrate 110, and the motor can drive the support seat 121 to move along the length direction of the substrate 110 through the transmission of a synchronous wheel and a synchronous belt, or the motor can drive the support seat 121 to move along the length direction of the substrate 110 through the transmission of a gear and a rack. The embodiments of the present application do not make specific limitations on this.

[0079] The length direction of the substrate 110 is defined as the X direction, and the support assembly 120 can drive the clamping assembly 130 to move along the X direction. The width direction of the substrate 110 is defined as the Y direction, and the two clamping assembly 130 can be relatively close to or away from each other along the Y direction to adjust the spacing of the clamping material box 300.

[0080] First, the structure of the clamping plate assembly 130 will be described.

[0081] Figure 4 is a second structural schematic diagram of the support assembly and the splint assembly in the fork device provided in an embodiment of the present application, Figure 5 is a side view of the support assembly and the splint assembly in the fork device provided in an embodiment of the present application, Figure 6 is a bottom schematic diagram of the support assembly and the splint assembly in the fork device provided in an embodiment of the present application, and Figure 7 is a top view of the support assembly and the splint assembly in the fork device provided in an embodiment of the present application.

[0082] Please refer to Figures 1 to 7. In one possible implementation, the splint assembly 130 may include a splint 131 and a splint link 132, wherein the first end of the splint link 132 is rotatably connected to the driving member 1221, and the splint 131 is connected to the second end of the splint link 132, wherein the two splints 131 are arranged opposite to each other, with one splint 131 facing the other splint 131.

[0083] It is understood that the two driving members 1221 can be moved closer to or farther from each other, and the clamping rods 132 of the two clamping plate assemblies 130 can extend to both sides of the base plate 110, thereby providing a larger clamping range between the two clamping plates 131. The clamping plates 131 are driven to move and rotate by the clamping rods 132, and the range of motion of the clamping plates 131 can be increased when the clamping rods 132 swing slightly. In this way, the clamping force of the clamping plates 131 on the material box 300 can be increased, thereby improving the stability of the clamping plates 131 in clamping the material box 300.

[0084] In some embodiments, when the clamps 131 of the two clamp assemblies 130 abut against the two sides of the material box 300 and drive the material box 300 to move, the clamp connecting rods 132 of the two clamp assemblies 130 rotate relative to the driving member 1221, so that the clamps 131 of the two clamp assemblies 130 tend to approach each other, which can increase the pre-tightening force of the two clamps 131 clamping the material box 300 and improve the reliability of the clamp assembly 130 dragging the material box 300 to move.

[0085] It should be noted that during the picking process, the support assembly 120 first needs to be moved to the end of the base plate 110 for picking up and placing goods, so that the splint assembly 130 is close to the end of the material box 300, and the two splints 131 can at least partially extend to the side of the material box 300, and the driving member 1221 drives the splint assembly 130 to move, so that the two splint assemblies 130 are close to each other, thereby realizing pre-clamping of the material box 300. At this time, the clamping force of the splint assembly 130 on the material box 300 is relatively small. Thereafter, the splint connecting rod 132 can be rotated relative to the driving member 1221, so that the two splints 131 tend to approach each other, thereby increasing the clamping force of the two splints 131 on the material box 300, and realizing autonomous clamping of the material box 300.

[0086] In the embodiment of the present application, the relative rotation of the splint link 132 relative to the driving member 1221 requires driving force. A floating mechanism can be set on the support assembly 120, and the floating mechanism can be driven to float relative to the base plate 110 when the support seat 121 moves relative to the base plate 110, thereby realizing the driving of the splint link 132. This is described in detail below.

[0087] Please continue to refer to Figures 1 to 7. In a possible implementation, the support assembly 120 may also include a first slider 123 and a first floating mechanism 124. The substrate 110 is provided with a first guide rail 111 extending along the length direction of the substrate 110. The first slider 123 is connected to the support seat 121, and the first slider 123 is slidably set on the first guide rail 111. The support seat 121 can slide along the first guide rail 111 through the first slider 123. The first guide rail 111 supports and guides the movement of the support seat 121.

[0088] The first floating mechanism 124 can be floatingly supported on the support base 121 , and the first floating mechanism 124 is configured to move relative to the support base 121 along the length direction of the substrate 110 . The driving mechanism 122 can be connected to the support base 121 through the first floating mechanism 124 .

[0089] It can be understood that the first guide rail 111 extends along the X direction, the first slider 123 can be connected to the bottom of the support base 121 by fasteners, the first floating mechanism 124 can be connected to the side of the support base 121 away from the direction of picking up goods by the fork device 100, and the driving mechanism 122 can move along the X direction relative to the support base 121 with the first floating mechanism 124. Accordingly, the splint assembly 130 driven by the driving mechanism 122 can also move along the X direction relative to the support base 121 with the first floating mechanism 124. Therefore, by setting the first floating mechanism 124, the splint assembly 130 can move relative to the support base 121 when picking up goods, and adjust the position of the splint assembly 130 relative to the material box.

[0090] Exemplarily, there can be two first sliders 123 and two first guide rails 111, and the first slider 123 and the second guide rail 1244 can be arranged in pairs. The length of the first guide rail 111 matches the length of the substrate 110 along the X direction. The two first guide rails 111 can be parallel to each other, thereby improving the stability of the support base 121 and improving the smoothness of the support base 121 sliding along the first guide rail 111.

[0091] It should be noted that when the fork device 100 picks up goods, since the two clamping plate assemblies 130 can pre-clamp the two sides of the material box 300, when the support seat 121 moves relative to the base plate 110, there is a certain friction between the clamping plate 131 and the material box 300. At this time, the support seat 121 will move relative to the first floating mechanism 124. With the first floating mechanism 124 as a reference, the support seat 121 approaches the first floating mechanism 124, and then the support seat 121 will approach the clamping plate link 132, and will push the clamping plate link 132 to rotate relative to the driving member 1221, so that the clamping plate 131 can autonomously clamp the material box 300.

[0092] In some embodiments, the support assembly 120 may also include a push plate 1211, which may be connected to the support seat 121. The first end of the splint link 132 is provided with a driving wheel 1321. Since the positional relationship between the first floating mechanism 124 and the support seat 121 is relative, with the support seat 121 as a reference, when the first floating mechanism 124 moves relative to the support seat 121, the push plate 1211 may abut against the driving wheel 1321 to make the splint link 132 rotate relative to the driving member 1221.

[0093] It can be understood that when the fork device 100 picks up goods, the clamping plate link 132 is located on the side of the push plate 1211 away from the material box 300, and the clamping plate 131 can extend from the side of the push plate 1211 to the side of the material box 300, and the push plate 1211 can move with the support seat 121 in the direction away from the material box 300 to form a tendency to drag the material box 300 to move. At this time, the surface of the push plate 1211 on the side away from the material box 300 can abut against the driving wheel 1321, and the driving wheel 1321 can drive the clamping plate link 132 to rotate relative to the driving member 1221, and then the clamping plate 131 can further clamp the material box 300. Before the support seat 121 drives the entire support assembly 120 and the clamping plate assembly 130 to move, the clamping force of the clamping plate 131 on the material box 300 is increased through the relative movement of the support seat 121 and the first floating mechanism 124.

[0094] Furthermore, as the push plate 1211 pushes the clamping plate link 132 to rotate, the drive wheel 1321 abuts against the push plate 1211 and rolls on the surface of the push plate 1211, thereby reducing the frictional resistance when the push plate 1211 pushes the clamping plate link 132 to rotate, improving the smoothness of the rotation of the clamping plate link 132, and increasing the clamping force of the clamping plate 131 on the material box 300. As the support assembly 120 drives the material box 300 to move via the clamping plate assembly 130, the abutment force of the push plate 1211 on the drive wheel 1321 can be approximately equal to or equal to the frictional force between the material box 300 and the surface of the base plate 110, thereby ensuring the reliability of the clamping plate 131 in clamping the material box 300.

[0095] The specific structure of the first floating mechanism 124 will be described in detail below.

[0096] In one possible implementation, the first floating mechanism 124 may include a first mounting plate 1241 and a first guide member 1242. The first guide member 1242 may be connected to the support seat 121, and the first guide member 1242 may extend along the length direction of the substrate 110, that is, the first guide member 1242 may extend along the X direction, and the first mounting plate 1241 may be slidably connected to the first guide member 1242.

[0097] It can be understood that the first mounting plate 1241 can achieve relative movement with the support seat 121 along the X direction through the first guide member 1242, and the first guide member 1242 can guide the movement of the first mounting plate 1241 relative to the support seat 121, thereby improving the smoothness of the relative floating movement between the first mounting plate 1241 and the support seat 121.

[0098] In some embodiments, the first floating mechanism 124 may also include a first elastic member 1243, which is arranged between the support seat 121 and the first mounting plate 1241, and the first elastic member 1243 can apply an elastic force to the first mounting plate 1241 away from the support seat 121, thereby providing a pre-tightening force for the movement between the clamping plate assembly 130 and the support seat 121.

[0099] Exemplarily, the first elastic member 1243 can be a spring, and the first elastic member 1243 can be mounted on the first guide member 1242. The two ends of the first elastic member 1243 are respectively in contact with the support seat 121 and the first mounting plate 1241. During the picking process, when the clamping plate assembly 130 clamps the material box 300 and the support seat 121 drags the material box 300 to move onto the base plate 110, the distance between the support seat 121 and the first mounting plate 1241 is reduced, and the first elastic member 1243 is in a compressed state.

[0100] Furthermore, there may be two first elastic members 1243 and two first guide members 1242, and the first elastic members 1243 and the first guide members 1242 may be provided in pairs, with the two first guide members 1242 being parallel to each other, thereby improving the smoothness of the relative movement of the first mounting plate 1241 relative to the support base 121 and the stability of the force applied. Of course, more sets of first elastic members 1243 and first guide members 1242 may be provided, and this embodiment of the present application will not be described in detail here.

[0101] Since the posture of the material box 300 may not be directly facing the pickup port of the fork device 100 when the fork device 100 is acquiring the material box 300, that is, the material box 300 may be tilted or misaligned relative to the fork device 100. In the embodiment of the present application, a floating mechanism is added between the clamping plate assembly 130 and the first floating mechanism 124, so that the two clamping plate assemblies 130 can adapt to the position of the material box 300. This is described in detail below.

[0102] FIG8 is a schematic structural diagram of a support assembly in a fork device provided in an embodiment of the present application.

[0103] Please refer to Figures 1 to 8. In one possible implementation, the support assembly 120 may also include a second floating mechanism 125. The second floating mechanism 125 can be connected to the first mounting plate 1241. The driving mechanism 122 can be connected to the first floating mechanism 124 through the second floating mechanism 125. The second floating mechanism 125 is constructed to move relative to the first mounting plate 1241 along the width direction of the substrate 110, that is, the second floating mechanism 125 can drive the clamping plate assembly 130 to move along the Y direction.

[0104] It can be understood that the driving mechanism 122 can be installed on the second floating mechanism 125, and the clamping plate assembly 130 is connected to the second floating mechanism 125 through the driving mechanism 122, and then the clamping plate assembly 130 can be moved in the width direction of the substrate 110 through the second floating mechanism 125, thereby adjusting the position of the clamping plate assembly 130 relative to the material box 300. When the material box 300 is tilted, it can also effectively clamp the material box 300 to complete the picking operation.

[0105] In some embodiments, the second floating mechanism 125 may include a second mounting plate 1251 and a second slider 1252. A second guide rail 1244 is provided on the first mounting plate 1241. The second guide rail 1244 extends along the width direction of the substrate 110. The second slider 1252 is connected to the second mounting plate 1251, and the second slider 1252 is slidably set on the second guide rail 1244.

[0106] It can be understood that the second guide rail 1244 can be set on the upper surface of the first mounting plate 1241, and the second mounting plate 1251 can be supported on the second guide rail 1244 through the second slider 1252. The second guide rail 1244 can guide the movement of the second mounting plate 1251, thereby improving the smoothness of the movement of the second mounting plate 1251 relative to the first mounting plate 1241.

[0107] In some embodiments, the second floating mechanism 125 may further include a second guide member 1253 and a second elastic member 1254. The second guide member 1253 may be connected to the first mounting plate 1241. The second mounting plate 1251 and the second guide member 1253 are slidably connected to each other. The second guide member 1253 is parallel to the second guide rail 1244. The second elastic member 1254 may be disposed between the second mounting plate 1251 and the first mounting plate 1241, and applies an elastic force to the second mounting plate 1251 along the width direction of the substrate 110.

[0108] It can be understood that the second guide member 1253 can extend along the Y direction, the second elastic member 1254 can be a spring, and the second elastic member 1254 can be mounted on the second guide member 1253, and the two ends of the second elastic member 1254 can respectively abut the first mounting plate 1241 and the second mounting plate 1251, so that a pre-tightening force can be applied to the second mounting plate 1251 through the second elastic member 1254. When picking up goods, the splint assembly 130 adjusts its position relative to the material box 300 by moving along the X direction or the Y direction.

[0109] Exemplarily, there can be two second guide members 1253 and two second elastic members 1254, and the second guide members 1253 and the second elastic members 1254 are arranged in pairs on both sides of the second mounting plate 1251 along the width direction of the base plate 110; the two second elastic members 1254 exert elastic forces on the second elastic member 1254 in opposite directions, which can maintain the force balance of the second mounting plate 1251 in the width direction of the base plate 110, and when the material box 300 tilts or deviates to either side of the fork device 100 relative to the position of the fork device 100, the second floating mechanism 125 enables the clamping plate assembly 130 to achieve adaptive adjustment of the position of the material box 300.

[0110] The specific manner and structure of the driving mechanism 122 driving the splint assembly 130 will be described in detail below.

[0111] Please continue to refer to Figures 1 to 8. In a possible implementation, the driving mechanism 122 may also include a first driving unit 1222 and a transmission member 1223. The first driving unit 1222 is arranged on the second mounting plate 1251, and the transmission member 1223 extends along the width direction of the substrate 110, and the transmission member 1223 rotates under the drive of the first driving unit 1222; both driving members 1221 can be connected to the transmission member 1223, and the two driving members 1221 move along the extension direction of the transmission member 1223 as the transmission member 1223 rotates, and the moving directions of the two driving members 1221 are opposite.

[0112] It can be understood that the first drive unit 1222 can be a motor, and the first drive unit 1222 can drive the two drive members 1221 to approach each other, or drive the two drive members 1221 away from each other through the transmission member 1223, thereby realizing the opening and closing movement of the two splint assemblies 130 to achieve pre-clamping of the material box 300 when picking up goods.

[0113] For example, the transmission member 1223 can be a bidirectional screw, comprising two coaxially arranged screw segments, the threads of which are in opposite directions, and the two driving members 1221 can be respectively threadedly connected to the two screw segments. When the transmission member 1223 rotates, the two screw segments rotate in the same direction, but the two driving members 1221 move in opposite directions. Of course, the transmission member 1223 can also be other transmission structures such as a rack or a synchronous belt, which is not specifically limited in this embodiment of the present application.

[0114] In some embodiments, the driving mechanism 122 may further include a third slider 1224 and a third guide rail 1225. The third guide rail 1225 may be connected to the second mounting plate 1251, and the third guide rail 1225 extends along the width direction of the substrate 110. The third slider 1224 is connected to the driving member 1221, and the third slider 1224 is slidably set on the third guide rail 1225.

[0115] It can be understood that the third guide rail 1225 is arranged parallel to the transmission member 1223, that is, the third guide rail 1225 extends along the Y direction. The third guide rail 1225 can provide guidance for the opening and closing movement of the two splint assemblies 130 driven by the driving member 1221 to ensure the smoothness of the opening and closing movement of the two splint assemblies 130.

[0116] In the embodiment of the present application, in order to improve the effectiveness of the contact between the splint 131 and the side wall of the material box 300, the splint 131 and the splint link 132 can be flexibly connected to achieve a certain joint rotation ability between the splint 131 and the splint link 132, which is described in detail below.

[0117] Please continue to refer to Figures 1 to 7. In one possible implementation, the splint assembly 130 may also include a flexible pad 133. The splint 131 is rotatably connected to the splint link 132. The flexible pad 133 can be arranged on the peripheral side of the connection position between the splint 131 and the splint link 132, so that the splint 131 can actively move slightly relative to the splint link 132 when clamping the material box 300, so as to improve the effectiveness of the contact between the splint 131 and the material box 300.

[0118] It can be understood that there is an angle between the splint 131 and the splint link 132, and the end of the splint 131 can be rotatably connected to the splint link 132 through a bearing, and the flexible pad 133 is wrapped around the circumference of the rotating shaft between the splint 131 and the splint link 132. When the driving mechanism 122 drives the two splints 131 to approach each other and clamp the material box 300, the splint 131 can produce a certain degree of rotation relative to the splint link 132, and the end of the splint 131 can compress the flexible pad 133, and the elastic force of the flexible pad 133 can improve the effectiveness of the contact between the splint 131 and the material box 300.

[0119] Exemplarily, the flexible pad 133 may be made of an elastic material such as rubber or silicone, which is not specifically limited in the embodiment of the present application.

[0120] In some embodiments, the clamping plate 131 may include a clamping plate body 1311 and a friction plate 1312. The clamping plate body 1311 is connected to the clamping plate connecting rod 132. The friction plate 1312 may be arranged on the side of the clamping plate body 1311 facing the interior of the fork device 100, thereby increasing the friction between the clamping plate 131 and the material box 300.

[0121] It is understandable that the friction plate 1312 can be bonded to the clamping plate body 1311, and the friction plate 1312 can be a rubber plate, a plastic plate, etc. with friction protrusions, which is not specifically limited in the embodiment of the present application.

[0122] Please continue to refer to Figure 5, and in combination with Figures 2 to 4, in some embodiments, at least one of the two splint assemblies 130 may also include a pressure detection member 134, which is disposed in the splint 131, and the pressure detection member 134 is configured to detect the pressure between the splint 131 and the material box.

[0123] It can be understood that when the splint 131 clamps the material box, the splint 131 will produce different deformations as the clamping force of the splint 131 clamps the material box. The pressure detection part 134 can be a stress plate, and the stress plate can be deformed at the same time as the splint 131. The greater the pressure between the splint 131 and the material box, the greater the deformation of the splint 131, and the corresponding greater the deformation of the stress plate. The degree of deformation of the pressure detection part 134 can be fed back to the controller of the fork device 100 in the form of an electrical signal. In this way, the information fed back by the pressure detection part 134 can be used to determine whether the splint 131 clamps the material box, thereby improving the reliability and stability of the splint 131 clamping the material box.

[0124] For example, only one of the two splint assemblies 130 may have a pressure detection component 134 disposed in its splint 131 , or both splint assemblies 130 may have a pressure detection component 134 disposed in their splints 131 . This embodiment of the present application does not specifically limit this.

[0125] Please refer to Figures 1 to 3. An embodiment of the present application provides a transport robot, which includes a mobile chassis, a shelf, a lifting assembly and the fork device 100 in the above technical solution. The shelf is set on the mobile chassis, the lifting assembly is connected to the shelf, and the fork device 100 is set on the lifting assembly. The lifting assembly drives the fork device 100 to move along the height direction of the shelf, thereby realizing the picking and placing operations of material boxes 300 at different height positions.

[0126] It can be understood that the handling robot can be used to pick up and place and transport material boxes 300, the mobile chassis can move on the ground, the shelves are used to store material boxes 300, the fork device 100 is used to realize the picking and placing of material boxes 300, the lifting assembly can include a bracket 200, the fork device 100 can be installed on the bracket 200, and the fork device 100 can be rotatably connected to the bracket 200, thereby realizing picking and placing operations in different directions.

[0127] It should be noted that transmission components such as chains and transmission belts can be set along the height direction of the shelf, and the transmission components can be driven by motors set on the shelf, so that the transmission components are transmitted along the height direction of the shelf, and the lifting assembly can be connected to the transmission component, so that it can be lifted and lowered along the height direction of the shelf under the drive of the transmission component.

[0128] An embodiment of the present application further provides a warehousing system, which includes a storage rack and the handling robot in the above technical solution. The handling robot can pick up and place material boxes on the storage rack and transport the material boxes.

[0129] It is understandable that the storage rack can have multiple storage layers, and the handling robot can perform material box picking and placing operations on different storage layers at different heights.

[0130] It should be noted that the application scenarios of the warehousing system and handling robot provided in this embodiment can be applied to different fields such as the entry and exit of manufacturing factory production lines or inventory products, retail logistics, and express entry and exit of e-commerce logistics, depending on the specific type of goods. The products or goods involved in the transportation can be industrial parts, electronic accessories or products, clothing accessories, food, etc., and the embodiments of this application do not make specific limitations on this.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fork device, characterized in that: It comprises a base plate, a support assembly and two clamping plate assemblies, wherein the support assembly is arranged on the base plate and can move along the length direction of the base plate, and the two clamping plate assemblies are respectively arranged on both sides of the support assembly along the width direction of the base plate; The support assembly includes a support base and a driving mechanism, wherein the driving mechanism is connected to the support base, and the driving mechanism is constructed to drive the two clamping plate assemblies to move along the width direction of the substrate to adjust the spacing between the two clamping plate assemblies. The driving mechanism includes two driving members, and the two clamping plate assemblies are rotatably connected to the two driving members respectively to clamp the material box together.

2. The fork device according to claim 1, characterized in that: The splint assembly includes a splint and a splint connecting rod, the first end of the splint connecting rod is rotatably connected to the driving member, and the splint is connected to the second end of the splint connecting rod; the two splints are arranged opposite to each other, and the splint of one of the two splint assemblies faces the splint of the other splint.

3. The fork device according to claim 2, characterized in that: When the clamping plates of the two clamping plate assemblies are respectively in contact with the two sides of the material box and drive the material box to move, the clamping plate connecting rod rotates relative to the driving member so that the clamping plates of the two clamping plate assemblies tend to approach each other.

4. The fork device according to claim 2 or 3, characterized in that: The support assembly further includes a first slider and a first floating mechanism, the substrate is provided with a first guide rail extending along the length direction of the substrate, the first slider is connected to the support seat, and the first slider is slidably arranged on the first guide rail; The first floating mechanism is floatingly supported on the support seat, and the first floating mechanism is configured to move relative to the support seat along the length direction of the substrate, and the driving mechanism is connected to the support seat through the first floating mechanism.

5. The fork device according to claim 4, characterized in that: The support assembly also includes a push plate, which is connected to the support seat, and the first end of the clamping plate connecting rod is provided with a driving wheel; when the first floating mechanism moves relative to the support seat, the push plate abuts against the driving wheel to make the clamping plate connecting rod rotate relative to the driving member.

6. The fork device according to claim 4, characterized in that: The first floating mechanism includes a first mounting plate and a first guide member, the first guide member is connected to the support seat and extends along the length direction of the substrate, and the first mounting plate is slidably connected to the first guide member.

7. The fork device according to claim 6, characterized in that: The first floating mechanism further includes a first elastic member, which is disposed between the support seat and the first mounting plate, and applies an elastic force to the first mounting plate away from the support seat.

8. The fork device according to claim 7, characterized in that: The support assembly further includes a second floating mechanism connected to the first mounting plate, the driving mechanism being connected to the first floating mechanism via the second floating mechanism, and the second floating mechanism being configured to move the driving mechanism relative to the first mounting plate along the width direction of the substrate.

9. The fork device according to claim 8, characterized in that: The second floating mechanism includes a second mounting plate and a second slider. The first mounting plate is provided with a second guide rail, the second guide rail extends along the width direction of the substrate, the second slider is connected to the second mounting plate, and the second slider is slidably disposed on the second guide rail.

10. The fork device according to claim 9, characterized in that: The second floating mechanism further comprises a second guide member and a second elastic member, the second guide member is connected to the first mounting plate, the second mounting plate is slidably connected to the second guide member, and the second guide member is parallel to the second guide rail; The second elastic member is disposed between the second mounting plate and the first mounting plate, and the second elastic member applies an elastic force along a width direction of the substrate to the second mounting plate.

11. The fork device according to claim 10, characterized in that: There are two of the second guide members and the second elastic members, and the second guide members and the second elastic members are arranged in pairs on both sides of the second mounting plate along the width direction of the substrate; the elastic forces applied by the two second elastic members to the second elastic member are in opposite directions.

12. The fork device according to any one of claims 9 to 11, characterized in that: The driving mechanism also includes a first driving unit and a transmission member, the first driving unit is arranged on the second mounting plate, the transmission member extends along the width direction of the substrate, and the transmission member rotates under the drive of the first driving unit; the two driving members are both connected to the transmission member, and the two driving members move along the extension direction of the transmission member as the transmission member rotates, and the moving directions of the two driving members are opposite.

13. The fork device according to claim 12, characterized in that: The driving mechanism also includes a third slider and a third guide rail, wherein the third guide rail is connected to the second mounting plate and extends along the width direction of the substrate; the third slider is connected to the driving member and is slidably disposed on the third guide rail.

14. The fork device according to claim 2 or 3, characterized in that: The clamping plate assembly also includes a flexible pad, the clamping plate is rotatably connected to the clamping plate connecting rod, and the flexible pad is arranged on the peripheral side of the connection position between the clamping plate and the clamping plate connecting rod.

15. The fork device according to claim 2 or 3, characterized in that: The clamping plate comprises a clamping plate body and a friction plate, wherein the clamping plate body is connected to the clamping plate connecting rod, and the friction plate is arranged on a side of the clamping plate body facing the interior of the fork device.

16. The fork device according to claim 2 or 3, characterized in that: At least one of the two clamping plate assemblies further includes a pressure detecting member, which is disposed in the clamping plate and is configured to detect pressure between the clamping plate and the material box.

17. A transport robot, characterized in that: It comprises a mobile chassis, a shelf, a lifting assembly and a fork device as described in any one of claims 1 to 16, wherein the shelf is arranged on the mobile chassis, the lifting assembly is connected to the shelf, the fork device is arranged on the lifting assembly, and the lifting assembly drives the fork device to move along the height direction of the shelf.

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