Handling device and handling robot

Abstract

A handling device and a handling robot. The handling device comprises a telescopic fork assembly (10) and a shift fork assembly (20). The telescopic fork assembly (10) comprises two fixing plates (11) opposite to each other and at least one fork plate (12) capable of telescopic movement relative to the fixing plates (11); the shift fork assembly (20) is provided on the fixing plates (11) or the at least one fork plate (12); the shift fork assembly (20) comprises a first driving member (21), a shift fork shaft (22), a shift fork block (23), and a shift fork plate (24); one end of the shift fork shaft (22) is connected to an output shaft of the first driving member (21), the other end is fixedly connected to the shift fork plate (24), the shift fork block (23) is sleeved on the outer side of the shift fork shaft (22), and the shift fork shaft (22) can rotate in the shift fork block (23) along the axis of the shift fork shaft (22) and drive the shift fork plate (24) to rotate; the shift fork block (23) is provided with an arc-shaped groove (231), the arc-shaped groove (231) extends to a predetermined length in the circumferential direction of the shift fork block (23), and the arc-shaped groove (231) has a first end and a second end in the circumferential direction of the shift fork block (23); the shift fork shaft (22) is provided with a limiting member (221) protruding out of the surface of the shift fork shaft (22), and the limiting member (221) is located in the arc-shaped groove (231) so as to limit the shift fork shaft (22) to rotate between the first end and the second end. The handling device allows the shift fork plate to rotate to different preset positions and performs position limiting, and has a simple structure and a fast response speed.

Description

Transport device and transport robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 27, 2024, with application number 202420362478.8, and invention name “Conveying device and conveying 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 transport device and a transport robot. Background Art

[0003] Currently, in warehouse logistics, bin handling robots typically use a clamping assembly and a shift fork assembly to move cargo from one location to another. Existing bin handling robots often use a servo to drive the shift fork. However, the servo's gearbox is susceptible to damage during operation, has a relatively slow response speed, and requires high control, resulting in low efficiency. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a handling device and a handling robot to improve the working efficiency of the fork assembly in the handling device. The specific technical solution is as follows:

[0005] 18. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 15, wherein the adjusting base is pivotally connected to the first plate and the second plate is pivotally connected to the first frame, wherein the adjusting base is pivotally connected to the first frame. The adjusting base is pivotally connected to the first frame by a bolt, and the bolt has a round shank and a round shank to contact with the adjusting base. The adjusting base is pivotally connected to the first plate and the second plate is pivotally connected to the first frame.

[0006] In addition, the transport device according to the embodiment of the present application may also have the following technical features:

[0007] In some embodiments, when the shift fork shaft drives the limit member to rotate to the first end, the orthographic projection of the shift fork plate along the telescopic direction of the telescopic fork assembly is not located in the clamping space formed by the first level fork plate away from the fixed plate; when the shift fork shaft drives the limit member to rotate to the second end, the orthographic projection of the shift fork plate along the telescopic direction of the telescopic fork assembly is located in the clamping space.

[0008] In some embodiments, the transport device further includes a photoelectric sensor connected to the fork block, wherein the photoelectric sensor is located at the second end of the arc-shaped slot, and the limiting member can trigger the photoelectric sensor when it moves to the second end.

[0009] In some embodiments, the photoelectric sensor includes a U-shaped sensing portion, which includes a bottom wall and a first side wall and a second side wall relatively arranged on both sides of the bottom wall along the telescopic direction of the telescopic fork assembly, one of the first side wall and the second side wall is a light signal emitting end, and the other is a light signal receiving end, and the photoelectric sensor is triggered when the limit member moves between the first side wall and the second side wall.

[0010] In some embodiments, the arcuate groove includes a first portion and a second portion that are interconnected, the first end is located in the first portion, the second end is located in the second portion, and an opening area of ​​the first portion is smaller than an opening area of ​​the second portion.

[0011] In some embodiments, the shift fork block is connected to the shift fork shaft via a bearing.

[0012] In some embodiments, a first mounting hole is provided at one end of the fork shaft close to the first driving member and arranged along the telescopic direction of the telescopic fork assembly, and the output shaft of the first driving member is inserted into the first mounting hole and fixedly connected to the fork shaft.

[0013] In some embodiments, the transport device further includes a mounting seat, the first driving member is a first motor, the first motor is located in the mounting seat, and the mounting seat is fixedly connected to the fork block.

[0014] In some embodiments, the end of the fork shaft away from the first driving member has a protruding portion that extends beyond the end surface of the fork block away from the first driving member, and the protruding portion includes a third part and a fourth part arranged in sequence along the direction away from the first driving member, the diameter of the third part is larger than the diameter of the fourth part, and the fork plate is connected to the fourth part.

[0015] In some embodiments, the fork plate includes a second mounting hole connected to the fourth part, the fourth part has at least one recess, and the second mounting hole has at least one protrusion corresponding to the recess, and the recess cooperates with the protrusion to limit the axial rotation of the fork plate around the fourth part.

[0016] In some embodiments, the two fixed plates are spaced apart along a direction perpendicular to the telescopic direction of the telescopic fork assembly, and the fork assembly is arranged on the fork plate of a level away from the fixed plate, and is arranged at the end of the fork plate of this level away from the fixed plate; the fork plate is located at the end of the fork plate of this level away from the fixed plate.

[0017] In some embodiments, the telescopic fork assembly includes a first-stage fork plate slidably connected to the fixed plate, a second-stage fork plate slidably connected to the first-stage fork plate, and a transmission mechanism; the transmission mechanism is used to drive the first-stage fork plate and the second-stage fork plate to move back and forth along the telescopic direction of the telescopic fork assembly.

[0018] In some embodiments, a push plate is provided between the two fixing plates, and the push plate is located at an end of the fixing plate away from the fork assembly.

[0019] In some embodiments, the transmission mechanism includes a second driving member, a first dragging system and a second dragging system connected to the second driving member, the first dragging system including a synchronous wheel arranged on the fixed plate at intervals along the telescopic direction of the telescopic fork assembly, a synchronous belt sleeved on the two synchronous wheels, and a transmission member, one end of the transmission member is fixedly connected to the first-level fork plate, and the other end is fixedly connected to the synchronous belt; the first-level fork plate is provided with two third mounting holes at intervals along the telescopic direction of the telescopic fork assembly, the second dragging system includes a belt, the belt passes through the two third mounting holes and is sleeved on the first-level fork plate, the belt includes a first fixed end and a second fixed end, the first fixed end is fixed to the fixed plate, the second fixed end is fixed to the second-level fork plate, and the first fixed end and the second fixed end are located on both sides of the first-level fork plate along the telescopic direction perpendicular to the telescopic fork assembly, the second driving member is used to drive the synchronous wheel to rotate, and then drive the first-level fork plate and the second-level fork plate to extend and retract along the telescopic direction of the telescopic fork assembly through the belt.

[0020] An embodiment of the second aspect of the present application provides a transport robot, comprising the transport device described above.

[0021] In an embodiment of the present application, the handling device includes a telescopic fork assembly, wherein the fork plates are capable of telescopic movement relative to the fixed plate. When the fork plates are extended, the space formed between the fork plates is used to clamp cargo. When the fork plates are retracted, they can drive the cargo to move, thereby enabling cargo transfer. When cargo needs to be transported, a first drive member drives the fork shaft to rotate, which in turn drives the fork plate and the limiting member to rotate, allowing the fork plate to rotate between different positions. The fork block is provided with an arcuate groove, the first and second ends of which can limit the limiting member, and thus the fork plate, so that the fork plate can only rotate within a preset range and cannot rotate at will. In actual use, when the telescopic fork assembly needs to extend the fork plate to clamp the cargo, the fork shaft drives the limiting member to rotate to the first end of the arc-shaped groove. During the process of extending the fork plate, the fork plate will not interfere with the cargo and the cargo is placed in the clamping space. After the cargo is in the clamping space, when the cargo needs to be moved, the fork shaft drives the limiting member to rotate to the second end of the arc-shaped groove. During the process of retracting the fork plate, the fork plate can support the cargo and prevent the cargo from sliding off the end of the fork plate. The handling device provided by the embodiment of the present application does not require the use of complex structures such as a servo gear, and can realize the rotation of the fork plate to different preset positions and limit the position. It has a simple structure and a fast response speed, which can improve the working efficiency of the fork assembly.

[0022] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0024] FIG1 is an overall schematic diagram of a transport device provided in an embodiment of the present application;

[0025] FIG2 a is a schematic diagram of a shift fork assembly in an embodiment of the present application in which a limiting pin is located at the second end of an arc-shaped groove in a shift fork block;

[0026] FIG2 b is a schematic diagram of a limiting pin in a fork assembly located at a first end of an arc-shaped groove in a fork block in an embodiment of the present application;

[0027] FIG2c is a schematic diagram of the shift fork assembly shown in FIG2a , wherein the limiting pin is located at the second end of the arc-shaped groove in the shift fork block, without the shift fork plate;

[0028] FIG2d is a schematic diagram of the shift fork assembly shown in FIG2b with the limiting pin located at the first end of the arc-shaped groove in the shift fork block without the shift fork plate;

[0029] FIG3 is a schematic diagram of the cooperation between the fork shaft and the bearing of the fork assembly in an embodiment of the present application;

[0030] FIG4 a is a schematic diagram of a telescopic fork assembly clamping cargo in a handling device according to an embodiment of the present application (the bottom plate is not shown);

[0031] FIG4 b is another schematic diagram of the telescopic fork assembly of the handling device in an embodiment of the present application clamping cargo (showing the bottom plate);

[0032] FIG5 a is a schematic overall diagram of a fork block at one angle in an embodiment of the present application;

[0033] FIG5b is an overall schematic diagram of the fork block shown in FIG5a from another angle;

[0034] FIG5c is a front view of the fork block shown in FIG5a;

[0035] FIG5 d is a cross-sectional view of the fork block shown in FIG5 c along the AA direction;

[0036] FIG5e is a bottom view of the fork block shown in FIG5a;

[0037] FIG5 f is a cross-sectional view of the fork block shown in FIG5 e along the BB direction;

[0038] FIG6 a is a schematic diagram of a photoelectric sensor in an embodiment of the present application;

[0039] FIG6 b is a schematic diagram of the photoelectric sensor from another perspective in an embodiment of the present application;

[0040] FIG7 is a cross-sectional view of a fork assembly in an embodiment of the present application;

[0041] FIG8 is a schematic diagram of a transport device with a bottom plate in an embodiment of the present application;

[0042] FIG9 a is a first schematic diagram of a retracted state of a telescopic fork assembly in a handling device according to an embodiment of the present application (the base plate is not shown);

[0043] FIG9 b is a second schematic diagram of the telescopic fork assembly in the retracted state of the handling device with a base plate in an embodiment of the present application (showing the base plate);

[0044] FIG10 a is a top view of the telescopic fork assembly shown in FIG4 a clamping cargo;

[0045] FIG10b is a top view of the telescopic fork assembly shown in FIG4b clamping cargo;

[0046] FIG11 is an axial schematic diagram of the telescopic fork assembly of the handling device according to the present application, in a retracted state, with cargo placed on a bottom plate;

[0047] FIG12 is a top view of the transport device shown in FIG11 with the telescopic fork assembly in a retracted state, with the cargo placed on the bottom plate;

[0048] FIG13a is a side view of a first-stage fork plate of a transport device according to an embodiment of the present application;

[0049] FIG. 13 b is a top view of the first-stage fork plate shown in FIG. 13 a .

[0050] Reference numerals: Telescopic fork assembly 10; fixing plate 11; support beam 101; fork plate 12; first-stage fork plate 121; third mounting hole 1211; roller 1212; second-stage fork plate 122; transmission mechanism 13; second driving member 131; second motor 1311; transmission shaft 1312; first traction system 132; synchronous wheel 1321; synchronous belt 1322; transmission member 1323; rack 1324; second traction system 133; belt 1331; push plate 14; bottom plate 15; first guide rail 161; second guide rail 162; Fork assembly 20; first driving member 21; output shaft 211; fork shaft 22; limit member 221; first mounting hole 222; protruding portion 223; third portion 2231; fourth portion 2232; recess 22320; fork block 23; hollow mounting cavity 2301; arc-shaped groove 231; first portion 2311; second portion 2312; mounting portion 234; inner side surface 2340 of the mounting portion; mounting mating hole 2341; bearing mounting groove 235; fork plate 24; through hole 240; second mounting hole 241; bearing 25; photoelectric sensor 30; U-shaped sensing portion 31; bottom wall 311; first side wall 312; second side wall 313; light signal 32; connecting portion 33; connecting hole 331; connecting member 332; cable harness 333; mounting seat 40; telescopic direction X; cargo A. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0052] The present application provides a handling device, as shown in FIG1 , which is an overall schematic diagram of the handling device provided by the present application embodiment; the handling device includes a telescopic fork assembly 10 and a shift fork assembly 20, the telescopic fork assembly 10 including two oppositely arranged fixed plates 11 and at least one level of fork plate 12 that telescopes relative to the fixed plate 11; the shift fork assembly 20 is provided on the fixed plate 11 or at least one level of fork plate 12, and is provided at one end of the level of fork plate 12 away from the fixed plate 11; as shown in FIG2a , FIG2b , FIG2c , FIG2d and FIG3 , FIG4a and FIG4b, FIG2a is a schematic diagram of a shift fork assembly in which a limiting pin is located at the second end of the arc-shaped groove in the shift fork block in an embodiment of the present application; FIG2b is a schematic diagram of a shift fork assembly in which a limiting pin is located at the first end of the arc-shaped groove in the shift fork block in an embodiment of the present application; FIG2c is a schematic diagram of a shift fork assembly in which a limiting pin is located at the second end of the arc-shaped groove in the shift fork block as shown in FIG2a, with the shift fork plate removed; FIG2d is a schematic diagram of a shift fork assembly in which a limiting pin is located at the first end of the arc-shaped groove in the shift fork block as shown in FIG2b, with the shift fork plate removed; FIG3 is a schematic diagram of a shift fork assembly in which a limiting pin is located at the first end of the arc-shaped groove in the shift fork block as shown in FIG3 Schematic diagram of the fork shaft and bearing of the fork assembly; Figure 4a is a schematic diagram of a telescopic fork assembly in a handling device in an embodiment of the present application holding a cargo (the base plate is not shown); Figure 4b is another schematic diagram of a telescopic fork assembly in a handling device in an embodiment of the present application holding a cargo (the base plate is shown); the fork assembly 20 includes: a first driving member 21, a fork shaft 22, a fork block 23 and a fork plate 24; one end of the fork shaft 22 is connected to the output shaft of the first driving member 21, and the other end is fixedly connected to the fork plate 24, and the fork block 23 is sleeved It is arranged on the outside of the fork shaft 22, and the fork shaft 22 can rotate along the axis of the fork shaft 22 in the fork block 23, and drive the fork plate 24 to rotate; the fork block 23 is provided with an arcuate groove 231, which extends to a predetermined length along the circumference of the fork block 23, and the arcuate groove 231 has a first end and a second end along the circumference of the fork block 23; the fork shaft 22 is provided with a limit member 221 protruding from the surface of the fork shaft 22, and the limit member 221 is located in the arcuate groove 231 to limit the rotation of the fork shaft 22 between the first end and the second end.

[0053] In the embodiment of the present application, as shown in Figures 1, 2a, 2b, 2c, 2d, 3, 4a, and 4b, the handling device includes a telescopic fork assembly 10. The fork plates 12 of the telescopic fork assembly 10 are capable of telescopic movement relative to a fixed plate 11. When the fork plates 12 are extended, the space formed between the fork plates 12 is used to clamp cargo A. When the fork plates 12 are retracted, the cargo A is moved, thereby enabling the transfer of cargo A. To transport cargo A, a first driving member 21 rotates the fork shaft 22, which in turn rotates the fork plate 24 and a stopper 221, allowing the fork plate 24 to rotate between different positions. As shown in Figures 2a and 2b, the fork block 23 is provided with an arcuate groove 231. The first and second ends of the arcuate groove 231 serve to limit the stopper 221, thereby limiting the fork plate 24 to a predetermined range and preventing it from rotating freely. In actual application, as shown in Figures 2a to 2d, Figure 3 and Figures 4a and 4b, Figures 2b and 2d show schematic diagrams of the fork assembly in which the limiting pin is located at the first end of the arc-shaped groove in the fork block. When the limiting pin is located at the first end of the arc-shaped groove in the fork block, the fork assembly is in the first working state, and the photoelectric sensor 30 limits the limiting pin; Figures 2a and 2c show schematic diagrams of the fork assembly in which the limiting pin is located at the second end of the arc-shaped groove 231 in the fork block. When the limiting pin is located at the second end of the arc-shaped groove 231 in the fork block, the fork assembly is in the second working state, and the first part of the arc-shaped groove of the fork block The side wall 2311 limits the limiting pin; specifically, when the telescopic fork assembly 10 needs to extend the fork plate 12 to clamp the cargo A, the fork shaft 22 drives the limiting member 221 to rotate to the first end of the arc-shaped slot 231. During the extension of the fork plate 12, the fork plate 24 will not interfere with the cargo A, and the cargo A is placed in the clamping space; after the cargo A is in the clamping space, when the cargo A needs to be moved, the fork shaft 22 drives the limiting member 221 to rotate to the second end of the arc-shaped slot 231. During the retraction of the fork plate 12, the fork plate 24 can resist the cargo A and prevent the cargo A from sliding off the end of the fork plate 12. The handling device provided in the embodiment of the present application does not require the use of complex structures such as a servo gear, and can realize the rotation of the fork plate 24 to different preset positions and limit the position. It has a simple structure and a fast response speed, thereby improving the working efficiency of the fork assembly 20.

[0054] Specifically, as shown in Figures 2a and 3, the limiting member 221 can be a limiting pin, and a threaded hole for installing the limiting pin is provided on the fork shaft 22. The limiting pin and the fork shaft 22 are threadedly connected, making the installation of the limiting pin more convenient and the structure more stable.

[0055] More specifically, as shown in FIG. 2 a and FIG. 3 , the fork plate 24 is provided with a plurality of through holes 240 , which can reduce the weight of the fork plate 24 .

[0056] It should be noted that the fork assembly 20 can be provided with only one group or multiple groups, and this application does not impose any restrictions on this. The fork assembly 20 is provided with multiple groups, and one or two groups of fork assemblies 20 can be selected to use, so as to match cargo A of different sizes, which can increase the scope of application of the handling device. Here, only the case where the fork assembly 20 is provided with one group is taken as an example. When there is only one group of fork assemblies 20, the fork assembly 20 can be provided in the middle of the fixed plate 11 or at any end of the fixed plate 11 along the telescopic direction X. Of course, the fork assembly 20 can also be provided in the middle of any level of fork plate 12 or at any end of the fork plate 12 along the telescopic direction X. Each group of the above-mentioned fork assemblies 20 can have only one pair of fork assemblies 20, or can have multiple pairs. When the cargo size is small, only one pair is provided in the center along the height direction of the fixed plate 11 or the fork plate 12. When the size of the cargo A is large, the fork assemblies 20 may be provided in multiple pairs, such as two or three pairs, which are arranged in parallel and spaced apart on the fixing plate 11 or the fork plate 12 along the height direction of the fixing plate.

[0057] In some embodiments of the present application, when the fork shaft 22 drives the limit member 221 to rotate to the first end, the orthographic projection of the fork plate 24 along the telescopic direction X of the telescopic fork assembly 10 is not located in the clamping space formed by the first-level fork plate 12 away from the fixed plate 11; when the fork shaft 22 drives the limit member 221 to rotate to the second end, the orthographic projection of the fork plate 24 along the telescopic direction X of the telescopic fork assembly 10 is located in the clamping space.

[0058] In the embodiment of the present application, when the telescopic fork assembly needs to extend the fork plate 12 to clamp the cargo A, the fork shaft 22 drives the limit member 221 to rotate to the first end of the arc groove 231, and the orthographic projection of the fork plate 24 along the extension direction X of the telescopic fork assembly 10 is not located in the clamping space formed by the first-level fork plate 12 away from the fixed plate 11. In this way, no matter whether the size of the cargo to be transported is large or small, the clamping plate 12 will not collide with the cargo A during the extension of the fork plate 12, thereby allowing the two fork plates 12 to be smoothly extended along the extension direction X of the telescopic fork assembly 10 and placing the cargo A in the clamping space; after the cargo A is located in the clamping space, when the cargo A needs to be moved, the fork shaft 22 drives the limit member 221 to rotate to the second end of the arc groove 231, so that the orthographic projection of the fork plate 24 along the extension direction X of the telescopic fork assembly 10 is located in the clamping space, and during the retracting process of the fork plate 12, the fork plate 24 can resist the cargo A to prevent the cargo A from slipping from the end of the fork plate 12.

[0059] In some embodiments of the present application, as shown in Figures 2a and 3, the handling device also includes a photoelectric sensor 30 connected to the fork block 23. The photoelectric sensor 30 is located at the second end of the arc groove 231, and the limit member 221 can trigger the photoelectric sensor 30 when it moves to the second end.

[0060] In the embodiment of the present application, the photoelectric sensor 30 can record the zero position of the fork plate 24 by sensing the position of the limit member 221, so that the first driving member 21 can drive the fork shaft 22 to rotate according to this zero position, thereby improving the intelligence and automation level of the conveying device, and making the rotation position of the fork plate 24 more accurate.

[0061] In some embodiments of the present application, as shown in Figures 2a, 6a and 6b, Figure 6a is a schematic diagram of the photoelectric sensor in the embodiment of the present application; Figure 6b is a schematic diagram of the photoelectric sensor in the embodiment of the present application from another perspective; the photoelectric sensor 30 includes a U-shaped sensing portion 31, the U-shaped sensing portion 31 includes a bottom wall 311 and a first side wall 312 and a second side wall 313 relatively arranged on both sides of the bottom wall 311 along the telescopic direction X of the telescopic fork assembly 10, one of the first side wall 312 and the second side wall 313 is a light signal emitting end, and the other is a light signal receiving end, and the photoelectric sensor 30 is triggered when the limit member 221 moves between the first side wall 312 and the second side wall 313.

[0062] In this embodiment of the present application, the optical signal emitting end emits a light signal 32, and the optical signal receiving end receives the light signal 32 from the optical signal emitting end. When the stopper 221 rotates between the first side wall 312 and the second side wall 313, the stopper 221 blocks the light signal 32, thereby triggering the photoelectric sensor 30. Before each use, an initialization process can be performed to calibrate the zero position, thereby ensuring the accuracy and repeatability of the rotation angle of the shift fork shaft 22. Therefore, controlling the rotation angle of the shift fork shaft 22 through the photoelectric sensor 30 has a higher sensitivity.

[0063] Specifically, as shown in Figures 2a, 5a, 5b, 5c, 5d, 5e, 5f and 6a, Figure 5a is a schematic overall diagram of the fork block at one angle in the embodiment of the present application; Figure 5b is a schematic overall diagram of the fork block at another angle shown in Figure 5a; Figure 5c is a front view of the fork block shown in Figure 5a; Figure 5d is a cross-sectional view of the fork block shown in Figure 5c along the AA direction; Figure 5e is a bottom view of the fork block shown in Figure 5a; Figure 5f is a cross-sectional view of the fork block shown in Figure 5e along the BB direction; the fork block 23 has a hollow interior. The mounting cavity 2301 is used for the fork shaft 22 to pass through. A mounting portion 234 for mounting the photoelectric sensor 30 is provided on the inner side wall of the arc-shaped groove 231 of the fork block 23 close to the mounting cavity. A mounting fitting hole 2341 is provided at the bottom of the mounting portion 234. The photoelectric sensor 30 is connected to the mounting portion 234 through the mounting fitting hole 2341 of the mounting portion 234. More specifically, as shown in FIG5b , the inner side surface 2340 of the mounting portion (that is, the side close to the hollow mounting cavity) is a smooth arc surface to prevent interference with the fork shaft 22, and the structure is more reasonable.

[0064] Specifically, the photoelectric sensor 30 includes a connecting portion 33, one end of which is connected to the bottom wall 311, and the connecting portion 33 is perpendicular to the U-shaped sensing portion 31. The connecting portion 33 is provided with a connecting hole 331, and the photoelectric sensor 30 can be connected to the mounting mating hole 2341 of the fork block 23 through the connecting member 332 through the connecting hole 331.

[0065] In addition, as shown in FIG5 a and FIG6 a , a cable harness 333 is provided at one end of the connecting portion 33 away from the U-shaped sensing portion 31 . The cable harness 333 is used to connect to an external power source and transmit signals.

[0066] More specifically, as shown in FIG. 5 c , FIG. 5 d , FIG. 5 e and FIG. 5 f , the fork block 23 further has a bearing mounting groove 235 ; the bearing mounting groove 235 is used to accommodate the bearing 25 .

[0067] In some embodiments of the present application, as shown in Figures 2a and 2b, the arc-shaped groove 231 includes a first part 2311 and a second part 2312 that are connected to each other, the first end is located in the first part 2311, and the second end is located in the second part 2312, and the opening area of ​​the first part 2311 is smaller than the opening area of ​​the second part 2312.

[0068] In the embodiment of the present application, as shown in FIG2a , the photoelectric sensor 30 is located at the second end, that is, the photoelectric sensor 30 is located at the second portion 2312 . The opening area of ​​the second portion 2312 is relatively large, thereby providing a relatively large installation space for the photoelectric sensor 30 . The opening of the first portion 2311 is relatively small, thereby preventing the limit member 221 from tilting along the telescopic direction X of the telescopic fork assembly 10 .

[0069] In some embodiments of the present application, as shown in FIG3 and FIG7 , FIG7 is a cross-sectional view of the fork assembly in the embodiment of the present application; the fork block 23 is connected to the fork shaft 22 via a bearing 25 .

[0070] In the embodiment of the present application, the fork block 23 is connected to the fork shaft 22 via a bearing 25, which can reduce the friction between the fork shaft 22 and the fork block 23 during rotation, thereby preventing the fork shaft 22 from getting stuck during rotation.

[0071] Specifically, as shown in Figures 3 and 7, the fork block 23 and the fork shaft 22 can be connected by three bearings 25, wherein one bearing 25 is provided at the end of the fork block 23 away from the first driving member 21, and the other two bearings 25 are provided in parallel at the end of the fork block 23 close to the first driving member 21.

[0072] In some embodiments of the present application, as shown in Figure 7, the end of the fork shaft 22 close to the first driving member 21 is provided with a first mounting hole 222 arranged along the telescopic direction X of the telescopic fork assembly 10, and the output shaft 211 of the first driving member 21 is inserted into the first mounting hole 222 and fixedly connected to the fork shaft 22.

[0073] In the embodiment of the present application, the output shaft 211 of the first driving member 21 is inserted into the first mounting hole 222, which can increase the connection strength between the output shaft 211 of the first driving member 21 and the fork shaft 22. The contact area between the output shaft 211 of the first driving member 21 and the first mounting hole 222 of the fork shaft 22 is larger, so that the first driving member 21 can better drive the fork shaft 22 to rotate.

[0074] Specifically, the output shaft 211 of the first driving member 21 and the first mounting hole 222 may be connected by interference fit, or may be bonded or keyed.

[0075] In some embodiments of the present application, as shown in FIG. 2 a , the transport device further includes a mounting seat 40 , the first driving member 21 is a first motor, the first motor is located in the mounting seat 40 , and the mounting seat 40 is fixedly connected to the fork block 23 .

[0076] In the embodiment of the present application, the provision of the mounting seat 40 can increase the stability of the connection between the first motor and the fork block 23 .

[0077] In some embodiments of the present application, as shown in Figure 7, the end of the fork shaft 22 away from the first driving member 21 has a protruding portion 223 that extends beyond the end surface of the fork block 23 away from the first driving member 21. The protruding portion 223 includes a third portion 2231 and a fourth portion 2232 arranged in sequence along the direction away from the first driving member 21. The diameter of the third portion 2231 is greater than the diameter of the fourth portion 2232, and the fork plate 24 is connected to the fourth portion 2232.

[0078] In the embodiment of the present application, as shown in FIG7 , the protruding portion 223 of the fork shaft 22 includes a third portion 2231 and a fourth portion 2232, and the fork plate 24 is connected to the fourth portion 2232. The third portion 2231 is located between the fourth portion 2232 and the fork block 23. This prevents the fork plate 24 from interfering with the fork block 23 during rotation of the fork shaft 22. Furthermore, the diameter of the third portion 2231 is greater than the diameter of the fourth portion 2232, making the third portion 2231 less likely to break during rotation of the fork plate 24 driven by the fork shaft 22.

[0079] In some embodiments of the present application, as shown in Figures 2a, 2b, 2c, 3 and 7, the fork plate 24 includes a second mounting hole 241 connected to the fourth part 2232, the fourth part 2232 has at least one recess 22320, and the second mounting hole 241 has at least one protrusion (not shown) arranged corresponding to the recess 22320, and the recess 22320 cooperates with the protrusion to limit the axial rotation of the fork plate 24 around the fourth part 2232.

[0080] In the embodiment of the present application, the recess 22320 of the fourth part 2232 cooperates with the protrusion of the second mounting hole 241 to limit the circumferential movement of the fork plate 24, so that the fork plate 24 can be consistent with the movement of the fork shaft 22, thereby improving the accuracy of the movement of the fork plate 24 driven by the fork shaft 22.

[0081] In some embodiments of the present application, the two fixed plates 11 are spaced apart in a direction perpendicular to the telescopic direction X of the telescopic fork assembly 10, and the fork assembly 20 is arranged on a first-level fork plate 12 away from the fixed plate 11, and is arranged at one end of the first-level fork plate 12 away from the fixed plate 11; the fork plate 24 is located at one end of the first-level fork plate 12 away from the fixed plate 11.

[0082] In the embodiment of the present application, the fork assembly 20 is arranged on the fork plate 12 away from the fixed plate 11, and is arranged at the end of the fork plate 12 away from the fixed plate 11. When the telescopic fork assembly 10 is extended, the fork assembly 20 can follow the fork plate away from the fixed plate 11 to move to the farthest distance, so that the fork assembly 20 and the telescopic fork assembly 10 cooperate with each other to clamp larger-sized goods A.

[0083] In some embodiments of the present application, as shown in Figures 1, 4a, and 8, Figure 8 is a schematic diagram of a transport device with a base plate in an embodiment of the present application; the telescopic fork assembly 10 includes a first-stage fork plate 121 slidingly connected to the fixed plate 11 and a second-stage fork plate 122 slidingly connected to the first-stage fork plate 121, and a transmission mechanism 13; the transmission mechanism 13 is used to drive the first-stage fork plate 121 and the second-stage fork plate 122 to move back and forth along the telescopic direction X of the telescopic fork assembly 10.

[0084] In the embodiment of the present application, the telescopic fork assembly 10 includes two levels of fork plates 12, namely a first-level fork plate 121 and a second-level fork plate 122, and the fixed plate 11 is slidingly connected to the first-level fork plate 121, and the second-level fork plate 122 is slidingly connected to the first-level fork plate 121. The transmission mechanism 13 can drive the two-level fork plates 12 to perform telescopic movement. Compared with only driving the first-level fork plate to extend and retract, the extension distance of the fork plate 12 is increased, which is suitable for transporting goods A over a long distance, and increases the working range and working flexibility of the transporting device.

[0085] In some embodiments of the present application, as shown in Figures 1 and 9a, 9b, 10a and 10b, Figure 9a is a first schematic diagram of a retracted state of the telescopic fork assembly in the handling device in the embodiment of the present application (the base plate is not shown); Figure 9b is a second schematic diagram of a retracted state of the telescopic fork assembly in the handling device with a base plate in the embodiment of the present application (the base plate is shown); Figure 10a is a top view of the telescopic fork assembly shown in Figure 4a clamping the goods; Figure 10b is a top view of the telescopic fork assembly shown in Figure 4b clamping the goods; a push plate 14 is provided between the two fixed plates 11, and the push plate 14 is located at the end of the fixed plate 11 away from the fork assembly 20.

[0086] In the embodiment of the present application, the push plate 14 can block the goods A and prevent the goods A from sliding off the end of the fork plate 12. During the process of releasing the goods, the extension of the fork plate 12 can also drive the push plate 14 to push the goods A out.

[0087] In some embodiments of the present application, as shown in Figures 1 and 4a, the transmission mechanism 13 includes a second driving member 131, a first dragging system 132 and a second dragging system 133 connected to the second driving member 131, the first dragging system 132 includes a synchronous wheel 1321 arranged at intervals on the fixed plate 11 along the telescopic direction X of the telescopic fork assembly 10, a synchronous belt 1322 sleeved on the two synchronous wheels 1321, and a transmission member 1323, one end of the transmission member 1323 is fixedly connected to the first-stage fork plate 121, and the other end is fixedly connected to the synchronous belt 1322; the first-stage fork plate 121 is provided with two third mounting holes 1211 at intervals along the telescopic direction X of the telescopic fork assembly 10, and the second The dragging system 133 includes a belt 1331, which passes through the two third mounting holes 1211 and is sleeved on the first-level fork plate 121. The belt 1331 includes a first fixed end (not shown) and a second fixed end (not shown). The first fixed end is fixed to the fixed plate 11, and the second fixed end is fixed to the second-level fork plate 122. The first fixed end and the second fixed end are respectively located on both sides of the first-level fork plate 121 along the telescopic direction X perpendicular to the telescopic fork assembly 10; the second driving member 131 is used to drive the synchronous wheel 1321 to rotate, and then drive the first-level fork plate 121 and the second-level fork plate 122 to telescope along the telescopic direction X of the telescopic fork assembly 10 through the belt 1331.

[0088] In the embodiment of the present application, as shown in Figures 1 and 4a, the second driving member 131 drives the synchronous wheel 1321 to rotate, driving the synchronous belt 1322 sleeved on the synchronous wheel 1321 to rotate, and the synchronous belt 1322 drives the transmission member 1323 to move and thereby drives the first-stage fork plate 121 to move. The belt 1331 passes through the third mounting hole 1211 and is sleeved on the first-stage fork plate 121. The first fixed end of the belt 1331 is fixed to the fixed plate 11, and the second fixed end is fixed to the second-stage fork plate 122. The first fixed end and the second fixed end are respectively located on both sides of the first-stage fork plate 121 along the telescopic direction X of the telescopic fork assembly 10. Therefore, when the transmission member 1323 drives the first-stage fork plate 121 to move, the second fixed end of the belt 1331 can drive the second-stage fork plate 122 to move. Only one second driving member 131 is required to realize the telescopic movement of the first-stage fork plate 121 and the second-stage fork plate 122 along the telescopic direction X of the telescopic fork assembly 10.

[0089] Specifically, as shown in Figures 1, 11 and 12, Figure 11 is a schematic diagram of the telescopic fork assembly of the handling device in the embodiment of the present application, in which the cargo is placed on the bottom plate in the retracted state; Figure 12 is a top view of the telescopic fork assembly of the handling device shown in Figure 11, in which the cargo is placed on the bottom plate in the retracted state; the telescopic fork assembly 10 also includes a bottom plate 15 and a support beam 101, and the bottom plate 15 is arranged between the two fixed plates 11, and the bottom plate 15 can be used for temporarily storing cargo A; the support beam 101 is fixedly connected to the two fixed plates 11, and the support beam 101 is arranged at the lower part of the bottom plate 15, and the support beam 101 can support the bottom plate 15, thereby improving the load-bearing capacity of the bottom plate 15. As shown in Figure 1, the first-level fork plate 121 can be connected to the fixed plate 11 through the first guide rail 161, and the second-level fork plate 122 is connected to the first-level fork plate 121 through the second guide rail 162. The first guide rail 161 and the second guide rail 162 are both arranged along the telescopic direction X of the telescopic fork assembly 10, which can improve the stability of the first-level fork plate 121 and the second-level fork plate 122 during the telescopic movement, and can also play a good guiding role in the telescopic movement of the first-level fork plate 121 and the second-level fork plate 122.

[0090] More specifically, as shown in Figure 1, the second driving member 131 includes a second motor 1311 and a transmission shaft 1312 perpendicular to the extension and retraction direction of the telescopic fork assembly 10. The two ends of the transmission shaft 1312 are respectively connected to the two opposite synchronous wheels 1321 on the fixed plates 11. The second motor 1311 is connected to one of the synchronous wheels 1321. Only one second motor 1311 needs to be provided to drive one of the synchronous wheels 1321 to rotate. The synchronous wheel 1321 driven by the second motor 1311 can drive the other synchronous wheels 1321 to rotate through the synchronous belt 1322 and the transmission shaft 1312, so that the handling device provided in the embodiment of the present application has a more compact structure and saves energy.

[0091] As shown in FIG1 , a roller 1212 may be provided in the third mounting hole 1211 , and the belt 1331 is sleeved on the two rollers 1212 , which can reduce the friction during the operation of the belt 1331 and make the belt 1331 run more smoothly and stably.

[0092] Among them, as shown in Figure 1 and Figures 13a and 13b, Figure 13a is a side view schematic diagram of the first-stage fork plate of the conveying device in the embodiment of the present application; Figure 13b is a top view of the first-stage fork plate shown in Figure 13a; the transmission member 1323 can be a plate-shaped transmission member 1323, and the top of the plate-shaped transmission member 1323 is fixedly connected to the first-stage fork plate 121, and the bottom is provided with a rack 1324 that can cooperate with the synchronous belt 1322.

[0093] An embodiment of the second aspect of the present application provides a transport robot, comprising the transport device described above.

[0094] In the embodiment of the present application, the handling robot includes a handling device, wherein the first driving member 21 drives the fork shaft 22 to rotate, and the fork shaft 22 drives the fork plate 24 and the limit member 221 to rotate, thereby enabling the fork plate 24 to rotate at different positions. As shown in FIG2a , the fork block 23 is provided with an arcuate groove 231, and the first and second ends of the arcuate groove 231 can limit the limit member 221, and further limit the fork plate 24, so that the fork plate 24 can only rotate within a preset range and cannot rotate at will. The handling robot provided in the embodiment of the present application does not require the use of complex structures such as a servo, and can realize the rotation of the fork plate 24 to different preset positions and limit the position. It has a simple structure and a fast response speed, thereby improving the working efficiency of the fork assembly 20.

[0095] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A transport device, characterized in that: include: A telescopic fork assembly (10), comprising two oppositely arranged fixed plates (11) and a fork plate (12) capable of at least one stage of telescopic movement relative to the fixed plates (11); a shift fork assembly (20), the shift fork assembly (20) being arranged on the fixed plate (11) or at least one level of the fork plate (12); The shift fork assembly (20) comprises: a first driving member (21), a shift fork shaft (22), a shift fork block (23) and a shift fork plate (24); one end of the shift fork shaft (22) is connected to the output shaft (211) of the first driving member (21), and the other end is fixedly connected to the shift fork plate (24); the shift fork block (23) is sleeved on the outside of the shift fork shaft (22), and the shift fork shaft (22) can rotate within the shift fork block (23) along the axis of the shift fork shaft (22), and drive the shift fork plate (24) to rotate; The shift fork block (23) is provided with an arcuate groove (231), the arcuate groove (231) extends to a predetermined length along the circumference of the shift fork block (23), and the arcuate groove (231) has a first end and a second end along the circumference of the shift fork block (23); The shift fork shaft (22) is provided with a limiting member (221) protruding from the surface of the shift fork shaft (22), and the limiting member (221) is located in the arc-shaped groove (231) to limit the shift fork shaft (22) from rotating between the first end and the second end.

2. The transport device according to claim 1, wherein: When the shift fork shaft (22) drives the limiting member (221) to rotate to the first end, the orthographic projection of the shift fork plate (24) along the telescopic direction (X) of the telescopic fork assembly (10) is not located within the clamping space formed by the first level fork plate (12) away from the fixed plate (11); When the shift fork shaft (22) drives the limiting member (221) to rotate to the second end, the orthographic projection of the shift fork plate (24) along the telescopic direction (X) of the telescopic fork assembly (10) is located within the clamping space.

3. The transport device according to claim 1, wherein: The transport device further comprises a photoelectric sensor (30) connected to the fork block (23), wherein the photoelectric sensor (30) is located at the second end of the arc-shaped slot (231), and the limiting member (221) can trigger the photoelectric sensor (30) when it moves to the second end.

4. The transport device according to claim 3, wherein: The photoelectric sensor (30) comprises a U-shaped sensing portion (31), the U-shaped sensing portion (31) comprising a bottom wall (311) and a first side wall (312) and a second side wall (313) arranged on both sides of the bottom wall (311) along the telescopic direction (X) of the telescopic fork assembly (10), one of the first side wall (312) and the second side wall (313) being a light signal emitting end and the other being a light signal receiving end, and the photoelectric sensor (30) being triggered when the limiting member (221) moves between the first side wall (312) and the second side wall (313).

5. The transport device according to claim 3, wherein: The arc-shaped groove (231) includes a first part (2311) and a second part (2312) that are connected to each other, the first end is located in the first part (2311), the second end is located in the second part (2312), and the opening area of ​​the first part (2311) is smaller than the opening area of ​​the second part (2312).

6. The transport device according to claim 1, wherein: The shift fork block (23) is connected to the shift fork shaft (22) via a bearing (25).

7. The transport device according to claim 1, wherein: A first mounting hole (222) is provided at one end of the shift fork shaft (22) close to the first driving member (21) and arranged along the telescopic direction (X) of the telescopic fork assembly (10); an output shaft (211) of the first driving member (21) is inserted into the first mounting hole (222) and fixedly connected to the shift fork shaft (22).

8. The transport device according to claim 7, characterized in that The transport device further comprises a mounting seat (40), the first driving member (21) is a first motor, the first motor is located in the mounting seat (40), and the mounting seat (40) is fixedly connected to the shift fork block (23).

9. The transport device according to claim 1, wherein: The end of the shift fork shaft (22) away from the first driving member (21) has a protruding portion (223) that protrudes from the end surface of the end of the shift fork block (23) away from the first driving member (21), and the protruding portion (223) includes a third portion (2231) and a fourth portion (2232) sequentially arranged in a direction away from the first driving member (21), the diameter of the third portion (2231) is larger than the diameter of the fourth portion (2232), and the shift fork plate (24) is connected to the fourth portion (2232).

10. The transport device according to claim 9, characterized in that The fork plate (24) includes a second mounting hole (241) connected to the fourth part (2232), the fourth part (2232) has at least one recess (22320), and the second mounting hole (241) has at least one protrusion corresponding to the recess (22320), and the recess (22320) cooperates with the protrusion to limit the axial rotation of the fork plate (24) around the fourth part (2232).

11. The transport device according to claim 1, wherein: The two fixed plates (11) are spaced apart in a direction perpendicular to the telescopic direction of the telescopic fork assembly (10); the shift fork assembly (20) is arranged on a fork plate (12) at a level away from the fixed plate (11), and is arranged at an end of the fork plate (12) at the level away from the fixed plate (11); and the shift fork plate (24) is located at an end of the fork plate (12) at the level away from the fixed plate (11).

12. The transport device according to any one of claims 1 to 11, characterized in that: The telescopic fork assembly (10) comprises a first-stage fork plate (121) slidably connected to the fixed plate (11), a second-stage fork plate (122) slidably connected to the first-stage fork plate (121), and a transmission mechanism (13); the transmission mechanism (13) is used to drive the first-stage fork plate (121) and the second-stage fork plate (122) to reciprocate along the telescopic direction (X) of the telescopic fork assembly (10).

13. The transport device according to any one of claims 1 to 11, characterized in that: A push plate (14) is provided between the two fixed plates (11), and the push plate (14) is located at one end of the fixed plate (11) away from the shift fork assembly (20).

14. The transport device according to claim 12, wherein: The transmission mechanism (13) includes a second driving member (131), a first dragging system (132) connected to the second driving member (131), and a second dragging system (133), wherein the first dragging system (132) includes synchronous wheels (1321) arranged on the fixed plate (11) at intervals along the telescopic direction (X) of the telescopic fork assembly (10), a synchronous belt (1322) sleeved on the two synchronous wheels (1321), and a transmission member (1323), wherein one end of the transmission member (1323) is fixedly connected to the first-stage fork plate (121), and the other end is fixedly connected to the synchronous belt (1322); The first-stage fork plate (121) is provided with two third mounting holes (1211) spaced apart along the telescopic direction (X) of the telescopic fork assembly (10); the second dragging system (133) comprises a belt (1331); the belt (1331) passes through the two third mounting holes (1211) and is sleeved on the first-stage fork plate (121); the belt (1331) comprises a first fixed end and a second fixed end, the first fixed end is fixed to the fixed plate (11), the second fixed end is fixed to the second-stage fork plate (122), and the first fixed end and the second fixed end are located on both sides of the first-stage fork plate (121) along a direction perpendicular to the telescopic direction (X) of the telescopic fork assembly (10); the second driving member (131) is used to drive the synchronous wheel (1321) to rotate, thereby driving the first-stage fork plate (121) and the second-stage fork plate (122) to telescope along the telescopic direction (X) of the telescopic fork assembly (10) through the belt (1331).

15. A transport robot, characterized in that: The invention comprises the transport device according to any one of claims 1 to 14.

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