Rotatable fork arm mechanism, lifting machine module, and carrying robot

Abstract

A rotatable fork arm mechanism, the rotatable fork arm mechanism comprising: a fork arm body (11), which forms a fork arm support position suitable for supporting a material box, the fork arm body (11) being laterally rotatable on one side or two corresponding sides perpendicular to a direction in which the material box is forked, so as to incline the fork arm support position and the material box and expand the field of view for sorting in the material box; and a rotary connection structure (12), which is connected to the fork arm body (11) and is suitable for positioning the fork arm body (11). According to the described rotatable fork arm mechanism, the fork arm body is provided in a laterally rotatable form, so that during sorting of goods in the material box, the rotatable fork arm mechanism can be adapted to workers of different heights, the field of view can be enlarged for sorting in the material box after lateral rotation, and goods sorting can be facilitated. Also disclosed are a lifting machine module and a carrying robot.

Description

Flippable fork arm mechanism, hoist module and handling robot Technical Field

[0001] The present invention relates to the field of warehousing technology, and in particular to a reversible fork arm mechanism, a hoist module and a handling robot. Background Art

[0002] The current warehousing industry primarily uses robotic transporters with integrated automatic climbing and mobility capabilities for storing, retrieving, and transporting goods. The fork arm assembly of these robots typically lacks a flipping function, resulting in a relatively fixed position of the cargo box on the fork arm. However, when picking goods at workstations, workers of varying heights often struggle to ensure the appropriate height of the cargo box for all workers. Furthermore, the limited field of view within the cargo box makes it difficult for workers to select goods.

[0003] The Chinese invention patent with application number CN202010231552.9 proposes a shelf and storage device, in which a temporary storage layer is separately arranged at the bottom of the shelf. Goods can be temporarily stored through the temporary storage layer. The storage space provided by the upper storage layer can store the goods for a longer period of time, which facilitates the coordination of the temporary storage layer and the storage layer to improve the efficiency of goods in and out of the warehouse.

[0004] The Chinese invention patent application number CN202010231545.9 discloses a warehousing device, system, and control method, including two supporting robots used for shelves, a low-position robot used for cache positions, and a high-position robot used for transporting material boxes between storage layers and temporary storage layers.

[0005] However, the utilization efficiency of the above-mentioned warehouses is low, the number of cache locations is limited, the high-position robots have a large handling capacity, and the low-position robots can only support one layer of cache location design. The current existing technology can no longer meet the dense storage needs of future warehouses. Therefore, there is an urgent need to provide a robot that can support multiple layers of cache locations. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the fork arm group of the handling robot does not have a flipping function, resulting in a small picking field of view for the cargo box, thereby providing a flippable fork arm mechanism, an elevator module and a handling robot.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] A reversible fork arm mechanism, comprising:

[0009] The fork arm body has a top portion constituting a fork arm support position suitable for supporting a material box, and a side portion or corresponding two side portions of the fork arm body perpendicular to the material box forking direction can be flipped sideways to tilt the fork arm support position and the material box, thereby expanding the material box picking field;

[0010] A transition structure is connected to the fork arm body, and the transition structure is suitable for positioning the fork arm body.

[0011] Hoist module, including:

[0012] Improve the framework;

[0013] A lifting mechanism, wherein the lifting mechanism is arranged on the lifting frame;

[0014] At least one of the reversible fork arm mechanisms is provided on the lifting mechanism and is raised and lowered driven by the lifting mechanism.

[0015] Handling robots, including:

[0016] AGV chassis module;

[0017] The elevator module is arranged on the AGV chassis module.

[0018] The technical problem to be solved by the present invention is to overcome the defect that existing robots are only adapted to single-layer cache positions on shelves and cannot meet the dense storage needs of future warehouses, thereby providing a transport robot.

[0019] To achieve the above object, the technical solution adopted by the present invention is:

[0020] A handling robot, comprising:

[0021] AGV chassis module;

[0022] A lifting frame, the lifting frame is provided on the AGV chassis module;

[0023] A lifting mechanism, wherein the lifting mechanism is arranged on the lifting frame;

[0024] At least one fork arm body, which is arranged on the lifting mechanism and can be raised and lowered following the lifting mechanism, and a support position is provided on the top surface of the fork arm body, and the support position is suitable for matching with the low cache position or the high cache position of the shelf.

[0025] The technical solution of the present invention has the following advantages:

[0026] 1. The present invention provides a reversible fork arm mechanism, which is installed on a handling robot. The fork arm body is configured to be able to be flipped sideways, so that when picking goods in a material box, it can adapt to workers of different heights. After the material box is flipped sideways, the picking field of view is larger, making it more convenient to pick goods.

[0027] 2. The present invention provides a reversible fork arm mechanism. The reversible fork arm mechanism can be configured in two different forms: a non-driven reversible fork arm mechanism and a driven reversible fork arm mechanism. The type of reversible fork arm mechanism can be selected based on actual needs. The non-driven reversible fork arm mechanism is simpler in structure than the driven reversible fork arm mechanism, saving cost and energy.

[0028] The forceless reversible fork arm mechanism has two configurations: one in which the first and second fork arms are independently movable components that cooperate with a ramp structure to achieve downward or upward movement of the fork arms; the other in which the first and second fork arms are integrally formed, and in which the ramp structure cooperates with the upward or downward movement of one fork arm to drive the downward or upward movement of the other fork arm. The present invention allows for convenient selection of the forceless reversible fork arm mechanism based on actual needs.

[0029] The drive-force reversible fork arm mechanism can be configured in two ways: one is that the first fork arm and the second fork arm are independently movable components, and the drive structure drives the first fork arm or the second fork arm to move downward or upward; the other is that the first fork arm and the second fork arm are integrated, and the upward or downward movement of one fork arm drives the downward or upward movement of the other fork arm. The present invention allows for convenient selection of the drive-force reversible fork arm mechanism according to actual needs.

[0030] 3. The present invention provides a reversible fork arm mechanism in which the bottom of the first or second fork arm contacts a ramp structure, thereby raising the first or second fork arm. By controlling the extent of the fork arm's movement on the ramp structure, the present invention controls the height of the fork arm, and thus the tilt of the bin, allowing the bin to be easily tilted to a suitable position for workers to sort items.

[0031] 4. The present invention provides a reversible fork arm mechanism, in which a groove is provided at the bottom of the first fork arm and / or the second fork arm, and a fork arm pulley is rotatably arranged in the groove. The fork arm pulley can contact the ramp structure, thereby reducing the friction force when the fork arm moves on the ramp structure, making it easier for the fork arm pulley to move on the ramp structure.

[0032] 5. The present invention provides a reversible fork arm mechanism. Because the telescopic rod end of the drive structure is hingedly connected to the fork arm body, and the fixed end of the drive structure is hingedly connected to the adapter structure, when the telescopic rod end of the drive structure extends or contracts, the drive structure can cause one side of the fork arm body to flip laterally, that is, the fork arm body can tilt. By controlling the telescopic stroke of the drive structure, the degree of lateral flipping of the fork arm body, and thus the tilt of the material box, can be controlled.

[0033] 6. The elevator module provided by the present invention incorporates a reversible fork arm mechanism on the lifting mechanism. The two work together to provide the elevator module with both lifting and lateral flipping capabilities. By controlling the lifting height of the lifting mechanism and the lateral flipping degree of the reversible fork arm mechanism, the worker's needs for picking goods can be met.

[0034] 7. The handling robot provided by the present invention can support multiple fork arm designs. When it is necessary to pick the goods in the material box, the tilting and flipping of the material box can be controlled by the reversible fork arm mechanism in the elevator module, thereby improving the efficiency of the staff in screening the goods.

[0035] 8. The present invention provides a transport robot with multiple fork arm bodies mounted on a lifting mechanism. Each fork arm body can be raised or lowered according to demand via the lifting mechanism. The fork arm body at the bottom can be adapted to either a low-level cache position or a high-level cache position on a shelf, while the fork arm body at the top can be adapted to a high-level cache position on a shelf. This allows for flexible support of multiple layers of cache positions on the shelf, improving transport efficiency. Furthermore, the present invention utilizes a single transport robot to simultaneously accommodate both high-level and low-level cache positions on a shelf. Given the same transport requirements, multiple robots are not required, reducing the number of high-level robots and lowering costs.

[0036] 9. The present invention provides a transport robot that utilizes a lifting mechanism to control the fork arm body to descend to a position below the shelf cache position. This eliminates the need to extend the fork arm body again after the robot stops as a whole, thereby reducing the time for storing and retrieving goods and improving the efficiency of retrieving goods.

[0037] 10. The present invention provides a transport robot, in which at least one baffle is provided on the side of the two outermost fork arms. When the fork arm body forks a material box on a shelf, the left and right sides of the material box can be limited by the baffle, so that the material box is more stable during transportation and is not easy to slide off the fork arm body.

[0038] At least one fork arm is provided with a limiting piece along the forking direction of the material box. When the fork arm body forks the material box on the shelf, the front side of the material box can be limited by the limiting piece, and the limiting piece cooperates with the baffle, and the rear side of the material box can be limited by the lifting frame, so that the material box is limited in the front, rear, left and right directions, so that the material box is more stable during transportation and not easy to slip from the fork arm body.

[0039] 11. The present invention provides a handling robot, in which at least one fork arm sensing component is provided on the fork arm, and the positional relationship between the fork arm body and the material box on the shelf is obtained by the provided fork arm sensing component, and the moving speed and / or start and stop of the AGV chassis module can be controlled by the positional relationship.

[0040] The sensing module is set at the upper and rearmost section of the fork arm body. When the fork arm body moves into position, the material boxes on the shelf will enter the detection range of the sensing module. The sensing information of the sensing module controls the AGV chassis module to stop moving and controls the operation of the lifting mechanism. The lifting mechanism drives the fork arm body to move upward to lift the material boxes on the shelf.

[0041] 12. The present invention provides a handling robot, in which a sliding connecting plate and an adapter bracket plate can be slidably assembled in a positioning groove of a lifting frame, and then a plurality of sliding connecting plates and adapter bracket plates can be slidably assembled in the positioning groove, so that the device can support a multi-fork arm design.

[0042] 13. The present invention provides a handling robot, in which a fork arm mounting slot is vertically opened on the lifting frame, a sliding guide structure is provided on the adapter bracket plate, and the fork arm body is also slidably assembled with the lifting frame through the sliding guide structure, thereby improving the stability of the fork arm body when moving up and down.

[0043] 14. The present invention provides a handling robot, in which a guide assembly is provided on the top surface of the AGV chassis module, and the guide assembly is used to support the material box on the fork arm body located on the bottom layer. When the AGV chassis module moves toward the shelf, the guide assembly touches the crossbeam of the shelf and then moves forward a short distance. At this time, the guide assembly is in a rear-pressure state. When the fork arm body completes lifting the material box and the AGV chassis module drives away from the shelf, the guide assembly returns to its original state. When the fork arm body at the bottom layer drops to the lowest position, the material box cooperates with the guide assembly and the protective parts of the chassis to stabilize the material box.

[0044] 15. The present invention provides a handling robot, in which at least one safety plate is provided on both sides of the top surface of the AGV chassis module. When the fork arm body at the bottom layer forks a material box on the shelf, the safety plate provided on the AGV chassis module can block both sides of the material box, thereby effectively preventing the possibility of the material box tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] FIG1 is a schematic structural diagram of a reversible fork arm mechanism provided in Example 1 of the present invention;

[0047] FIG2 is a schematic structural diagram of an elevator module provided in Example 5 of the present invention;

[0048] FIG3 is a schematic structural diagram of a transport robot provided by Example 7 of the present invention during actual operation;

[0049] FIG4 is a partial enlarged view of FIG2 of the present invention;

[0050] FIG5 is a schematic structural diagram of a reversible fork arm mechanism provided in Example 3 of the present invention;

[0051] FIG6 is an exploded view of an elevator module provided in Example 6 of the present invention;

[0052] FIG7 is an exploded view of the elevator module provided in Example 5 of the present invention;

[0053] FIG8 is a schematic structural diagram of a sliding guide assembly of an elevator module provided by the present invention;

[0054] FIG9 is a schematic structural diagram of the connection between the lifting frame and the sliding guide assembly of the lifting module provided by the present invention;

[0055] FIG10 is a cross-sectional view of the assembly of the lifting frame and the sliding guide assembly of the lifting machine module provided by the present invention;

[0056] FIG11 is a schematic structural diagram of a lifting mechanism of a lifting machine module provided by the present invention;

[0057] FIG12 is a schematic structural diagram of a connection assembly of an elevator module provided by the present invention;

[0058] FIG13 is a schematic structural diagram of an elevator module provided in Example 6 of the present invention;

[0059] FIG14 is a schematic structural diagram of the elevator module provided by Example 6 of the present invention from another perspective;

[0060] FIG15 is a schematic structural diagram of the elevator module provided in Example 6 of the present invention when driving the material box to flip sideways;

[0061] FIG16 is a front view of the transport robot provided by Example 7 of the present invention during actual operation;

[0062] FIG17 is a schematic structural diagram of the reversible fork arm mechanism of the elevator module provided by the present invention during operation;

[0063] FIG18 is a schematic diagram of the structure of the handling robot when it is a single-layer fork arm body;

[0064] FIG19 is a schematic diagram of a first structural example of a fork arm body of a handling robot provided by the present invention;

[0065] FIG19a is a schematic diagram of a second structure of the fork arm body of the handling robot provided by the present invention;

[0066] FIG19b is a schematic diagram of a third structure of the fork arm body of the handling robot provided by the present invention;

[0067] FIG19c is a schematic diagram of a fourth structure of the fork arm body of the handling robot provided by the present invention;

[0068] FIG19d is a schematic diagram of a fifth structural embodiment of the fork arm body of the handling robot provided by the present invention;

[0069] FIG20 is a schematic structural diagram of a handling robot provided by the present invention having a double-layer fork arm body;

[0070] FIG21 is a schematic structural diagram of the handling robot provided by the present invention when the double-layer fork arm body is lifting a material box;

[0071] FIG22 is a schematic structural diagram from another perspective of the handling robot provided by the present invention when the handling robot has a single-layer fork arm body;

[0072] FIG23 is a schematic structural diagram of the handling robot provided by the present invention when the handling robot is a single-layer fork arm body lifting a material box;

[0073] FIG24 is a schematic diagram of a partial structure of the transport robot provided by the present invention;

[0074] FIG25 is a schematic structural diagram of a lifting mechanism of a transport robot provided by the present invention;

[0075] FIG26 is a schematic structural diagram of the connection between the lifting mechanism of the handling robot provided by the present invention and the fork arm body and the fixing plate;

[0076] FIG27 is a schematic structural diagram of the fork arm body and the lifting mechanism of the handling robot provided by the present invention when connected;

[0077] FIG28 is a schematic structural diagram of the sliding guide structure and the lifting frame of the transport robot provided by the present invention when assembled;

[0078] FIG29 is a schematic structural diagram of the sliding connection plate, the synchronous belt, and the adapter bracket plate of the transport robot provided by the present invention when they are not connected;

[0079] FIG30 is a schematic structural diagram of the connection between the sliding connection plate, the synchronous belt, and the adapter bracket plate of the handling robot provided by the present invention;

[0080] FIG31 is a schematic structural diagram of a sliding connection plate of a transport robot provided by the present invention;

[0081] FIG32 is a schematic structural diagram of the sliding guide structure of the transport robot provided by the present invention;

[0082] FIG33 is a cross-sectional view of the sliding guide structure and the lifting frame of the transport robot provided by the present invention when assembled.

[0083] Figure numerals: 1. reversible fork arm mechanism, 11. fork arm body, 111. first fork arm, 112. second fork arm, 113. third fork arm, 114. baffle, 115. extension plate, 116. swing shaft, 12. adapter structure, 121. bearing seat, 122. first connecting hole, 123. bearing, 14. driving structure, 141. push rod motor, 142. motor seat positioning plate, 143. push rod positioning plate, 15. sliding plate, 16. slider, 17. fork arm pulley; 2. lifting mechanism, 21. synchronous belt, 23. driving wheel, 24. driven wheel, 25. driving motor, 26. first driving wheel, 27. transmission belt, 28. sliding guide assembly, 281. L-shaped positioning plate, 282. first moving wheel, 283. second moving wheel, 29. connecting assembly, 291. second connecting hole, 210. second driving wheel; 3. Lifting frame, 31. First slide, 32. Second slide; 4. AGV chassis module, 41. Chassis frame, 42. Roller, 43. Safety plate, 44. Guide assembly; 5. Slope structure; 6. Material box; 7. Fork arm body, 71. First fork arm, 72. Second fork arm, 73. Third fork arm, 74. Baffle, 75. Adapter bracket plate, 76. Limiting piece, 77. Fork arm sensing assembly; 8. Lifting mechanism, 81. Synchronous belt, 83. Driving wheel, 84. Driven wheel, 85. Drive motor, 86. First driving wheel, 87. Transmission belt, 88. Second driving wheel, 89. Fixed plate; 9. Lifting frame, 91. In-position sensing module, 92. Positioning slot, 93. Fork arm mounting slot, 94. Sliding baffle, 95, sliding guide structure, 951, L-shaped positioning plate, 952, first moving wheel, 953, second moving wheel, 96, sliding connecting plate. DETAILED DESCRIPTION

[0084] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the present invention sets the fork arm body in a form that can be flipped laterally to illustrate the flippable fork arm mechanism of the present invention, which is only a preferred embodiment and does not limit the scope of protection of the flippable fork arm mechanism.

[0085] It should be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, as used herein, the singular forms "a," "an," and "including" may also be intended to include the plural forms. The terms "comprising," "including," and "having" are inclusive and, therefore, specify the presence of the stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0086] Although the terms first, second, etc. may be used herein to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply a sequence or order when used herein. In addition, in the description of the present invention, unless otherwise clearly specified and limited, the terms "set" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0087] For ease of description, spatial relative terms can be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "front", "back", "center", "inside", "longitudinal", "lateral", "side", "vertical", "outside", etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation other than the orientation depicted in the figure. For example, if the mechanism in the figure flips, the element described as "below other elements or features" or "below other elements or features" will then be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The mechanism can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0088] Currently, transport and handling robots are increasingly being used in automated and intelligent warehousing systems to complete the picking, handling, and storage of items. Compared to traditional, manually operated warehousing systems, automated and intelligent warehousing systems offer advantages such as shorter response times, higher efficiency in both in-warehouse and out-of-warehouse operations, and greater accuracy.

[0089] First embodiment

[0090] The current warehousing industry primarily uses robotic transporters with integrated automatic climbing and mobility capabilities for storing, retrieving, and transporting goods. The fork arm assembly of these robots typically lacks a flipping function, resulting in a relatively fixed position of the cargo box on the fork arm. However, when picking goods at workstations, workers of varying heights often struggle to ensure the appropriate height of the cargo box for all workers. Furthermore, the limited field of view within the cargo box makes it difficult for workers to select goods.

[0091] Based on this, the present invention designs a flippable fork arm mechanism, an elevator module and a handling robot. The fork arm body is designed to be flippable laterally, so that the material box can be tilted when screening goods, thereby increasing the screening field of view and improving the screening efficiency of the staff.

[0092] The present invention also provides two different types of reversible fork mechanisms: a non-driven reversible fork mechanism and a driven reversible fork mechanism. The type of reversible fork mechanism can be selected based on actual needs. Both the non-driven and driven reversible fork mechanisms aim to tilt the material bin laterally. The non-driven reversible fork mechanism utilizes a simple pulley structure, which is simpler than the driven reversible fork mechanism, thus saving cost and energy.

[0093] Example 1

[0094] The specific embodiments of the present invention are described in detail below in conjunction with the reversible fork arm mechanism of the first aspect of the present invention.

[0095] As shown in Figures 1, 2, 3, and 15, this embodiment discloses a reversible fork arm mechanism comprising a fork arm body 11 and a transition structure 12. The top of the fork arm body 11 forms a fork arm support suitable for supporting the material bin 6. The side or corresponding side portions of the fork arm body 11 perpendicular to the direction of picking the material bin 6 can be flipped sideways to tilt the fork arm support and the material bin 6, thereby expanding the field of view for picking the material bin 6. The transition structure 12 is connected to the fork arm body 11 and is suitable for positioning the fork arm body 11.

[0096] In this embodiment, the fork arm body 11 is configured to be capable of being flipped sideways, so that when picking goods in the material box 6, it can adapt to workers of different heights. After the material box 6 is flipped sideways, the picking field of view is larger, which is more convenient for picking goods.

[0097] In this embodiment, the lateral flipping of the material box 6 does not mean that the material box 6 is completely flipped over to dump the goods, but only slightly tilts the material box 6. At this time, the goods are still in the material box 6. The main purpose of the lateral flipping of the material box 6 is to expand the picking field of the material box 6. It is a step taken when the goods in the material box 6 need to be picked. In the remaining links, the material box 6 does not flip sideways.

[0098] It should be noted that the reversible fork arm mechanism in this embodiment is not limited to being provided on the lifting mechanism, but may also be directly provided on the lifting frame of the transport robot.

[0099] In some embodiments, the reversible fork arm mechanism is a non-driving reversible fork arm mechanism. As shown in FIG1 , the fork arm body 11 is a split structure, comprising a first fork arm 111 and a second fork arm 112 spaced apart from each other. The first fork arm 111 and / or the second fork arm 112 are assembled and slidably mounted on the adapter structure 12 via a sliding module. As shown in FIG3 , the bottom end of the first fork arm 111 or the second fork arm 112 contacts the ramp structure 5 , which is adapted to elevate the first fork arm 111 or the second fork arm 112.

[0100] In this embodiment, one or both of the first fork arm 111 and the second fork arm 112 are configured to slide up and down. When picking goods, the fork arm configured to slide up and down slides onto the ramp structure 5, and the bottom of the first fork arm 111 or the second fork arm 112 contacts the ramp structure 5, thereby lifting the first fork arm 111 or the second fork arm 112. In this embodiment, the lifting height of the fork arm is controlled by controlling the extent of movement of the fork arm on the ramp structure 5, thereby controlling the tilt degree of the material bin 6. This allows the material bin 6 to be easily tilted to a suitable degree for workers to pick goods.

[0101] In some embodiments, the slope structure 5 is gradually inclined upward from the rear section to the front section, and the bottom front end of the first fork arm 111 or the second fork arm 112 is in contact with the slope structure 5, so that when the first fork arm 111 or the second fork arm 112 moves forward, it can move upward along the slope structure to achieve the lifting of the first fork arm 111 or the second fork arm 112.

[0102] As a preferred embodiment, the slope structure 5 can be of any shape and has an inclination angle of 15° relative to the horizontal. As shown in FIG3 , the optimal inclination angle of the slope structure 5 is 15°. That is, when the inclination of the material bin 6 is 15°, the picking field of the material bin 6 is optimal. It should be noted that the inclination angle of the slope structure 5 of this embodiment is not limited to 15° and can also be set to other inclination angles.

[0103] In some embodiments, at least one baffle 114 is further provided on the first fork arm 111 and the second fork arm 112 . When the material box is picked up by the fork, the baffle 114 blocks the material box.

[0104] In some embodiments, the adapter structure 12 includes an adapter bracket plate, which has a certain height, and a groove is provided at the top of the adapter bracket plate, in which at least one third fork arm 113 is provided. When the first fork arm 111 and the second fork arm 112 are not tilted, the third fork arm 113 is flush with the first fork arm 111 and the second fork arm 112 in the height direction.

[0105] In some embodiments, as shown in FIG4 , the sliding module includes a sliding plate 15 and a slider 16. The sliding plate 15 is connected to the side wall of the adapter structure 12. More specifically, a plurality of threaded holes are vertically provided on the sliding plate 15, and the sliding plate 15 and the adapter structure are connected by a plurality of screws. Slideways are provided on the two side walls of the sliding plate 15, and the slider 16 is slidably assembled with the sliding plate 15. The height of the sliding plate 15 is the same as the height of the adapter structure, which increases the length of the slideway arrangement and the sliding range of the slider 16. The slider 16 is connected to the first fork arm 111 or the second fork arm 112. More specifically, a plurality of threaded holes are provided on the rear side wall of the slider 16, and the rear side wall of the slider 16 is connected to the first fork arm 111 or the second fork arm 112 by screws.

[0106] In this embodiment, when the fork arm provided with the sliding module contacts the slope structure, the slider 16 on the fork arm can be moved upward along the sliding plate 15, thereby realizing the lifting of the fork arm. In this process, there is no need to provide power for the lifting of the fork arm separately. The driving force of the AGV (Automated Guided Vehicle) chassis module of the transport and handling robot itself can drive the entire flip fork arm mechanism to move forward and backward. The structure is very simple and the lifting of the fork arm can be controlled very conveniently.

[0107] In some embodiments, as shown in FIG1 and FIG2 , a groove is provided at the bottom of the first fork arm 111 and / or the second fork arm 112 , and a fork arm pulley 17 is rotatably provided in the groove, and the fork arm pulley 17 can contact the ramp structure 5 .

[0108] In this embodiment, as shown in FIG3 , the fork arm pulley 17 is capable of rolling contact with the ramp structure 5 , thereby reducing the friction force when the fork arm moves on the ramp structure 5 , making it easier for the fork arm pulley 17 to move on the ramp structure 5 .

[0109] In the present invention, the independent side fork arm can be raised and lowered. Taking the first fork arm 111 as an example, the specific operation process of the above-mentioned reversible fork arm mechanism is as follows:

[0110] When the fork pulley on the first fork arm 111 contacts the slope of the ramp structure, the first fork arm 111 can be moved upward a certain distance via the up and down sliding module. When the AGV chassis module is in operation and reaches the target position preset by the ramp structure, the first fork arm 111 rises, while the second fork arm 112 does not move. Ultimately, the height difference between the first and second forks causes the container to tilt 15°. Similarly, when the AGV chassis module exits, the first and second forks return to their original positions, and the container remains horizontal.

[0111] It should be noted that the process of raising and lowering the second fork arm 112 of the present invention is the same as the above process.

[0112] In addition, when both the first fork arm and the second fork arm can be raised and lowered, a slope structure can be arranged under the first fork arm and the second fork arm respectively, and the first fork arm and the second fork arm are moved to the slope structure respectively, and the inclination degrees of the slope structures under the first fork arm and the second fork arm are different, so as to create a height difference between the first fork arm and the second fork arm, and finally the material box is also tilted 15°.

[0113] Example 2

[0114] This embodiment discloses a reversible fork arm mechanism, which is a reversible fork arm mechanism without driving force.

[0115] This embodiment differs from Example 1 in that the fork arm body 11 of this embodiment is a one-piece structure, with the middle portion of the fork arm body 11 pivotally connected to the adapter structure 12. The bottom end of one side of the fork arm body 11 contacts the ramp structure 5, which is adapted to elevate one side of the fork arm body 11. When the fork arm body 11 moves along the ramp structure 5, the side of the fork arm body 11 in contact with the ramp structure 5 rises, while the side of the fork arm body 11 not in contact with the ramp structure 5 descends.

[0116] This embodiment does not disclose a structural schematic diagram. The structure of this embodiment is similar to that of Example 3. The difference between this embodiment and Example 3 is that this embodiment does not provide a driving structure, but instead provides a slope structure at the bottom of the fork arm body.

[0117] This embodiment is a special form of embodiment 1 and is also a drive motor-free mode. The fork arm pulley on the fork arm of embodiment 1 can be converted into a universal wheel. When one side of the universal wheel touches the slope, the fork arm on one side moves up 7.5° and the fork arm on the other side moves down 7.5°. At this time, the overall fork arm inclination angle is 15°.

[0118] Example 3

[0119] As shown in Figure 5, this embodiment discloses a reversible fork arm mechanism. The difference between this embodiment and Example 1 is that the reversible fork arm mechanism in this embodiment is a reversible fork arm mechanism with driving force, and the fork arm body 11 in this embodiment is an integrated structure, and the fork arm body 11 as a whole relies on the driving structure 14 to perform side flipping.

[0120] The fork arm body 11 includes at least two forks. In a specific embodiment, as shown in FIG5 , taking the fork arm body 11 as an example, the fork arm body 11 includes a first fork arm 111, a second fork arm 112, and a third fork arm 113. The first fork arm 111, the second fork arm 112, and the third fork arm 113 are fixedly connected by a connecting rod.

[0121] In some embodiments, as shown in FIG5 , the middle portion of the fork arm body 11 is rotatably connected to the adapter structure, and one side of the fork arm body 11 is flipped laterally by the drive structure 14, that is, the left or right side of the fork arm body 11 is flipped laterally by the drive structure 14. The telescopic rod end of the drive structure 14 is hinged to the fork arm body 11, and the fixed end of the drive structure 14 is hinged to the adapter structure.

[0122] In this embodiment, since the telescopic rod end of the driving structure 14 is hinged to the fork arm body 11, and the fixed end of the driving structure 14 is hinged to the transfer structure, when the telescopic rod end of the driving structure 14 is extended or shortened, the driving structure 14 can drive one side of the fork arm body 11 to flip sideways, that is, the fork arm body 11 can tilt.

[0123] As a further improved embodiment, the degree of lateral flipping of the fork arm body 11 and thus the degree of tilting of the material box 6 can be controlled by controlling the telescopic stroke of the driving structure 14 .

[0124] In some embodiments, the driving structure 14 is an electric driving structure, a pneumatic driving structure, or a hydraulic driving structure, and the driving form of the driving structure can be selected according to actual conditions.

[0125] As a specific embodiment, as shown in Figure 5, the driving structure 14 is a push rod motor 141. The telescopic rod end of the push rod motor is hinged on the push rod positioning plate 143, and the push rod positioning plate 143 is fixedly connected to the fork arm body 11. More specifically, a first U-shaped groove is provided on the push rod positioning plate 143, and the telescopic rod end of the push rod motor is arranged in the first U-shaped groove and is hinged to the inner side wall of the first U-shaped groove. The fixed end of the push rod motor is hinged on the motor seat positioning plate 142, and the motor seat positioning plate 142 is fixedly connected to the fork arm body 11. More specifically, a second U-shaped groove is provided on the motor seat positioning plate 142, and the fixed end of the push rod motor is arranged in the second U-shaped groove and is hinged to the inner side wall of the second U-shaped groove.

[0126] In this embodiment, the push rod positioning plate 143 is configured as a bent plate, thereby facilitating positioning of the telescopic rod end of the push rod motor on the fork arm body 11. The motor seat positioning plate 142 is configured as a bent plate, thereby facilitating positioning of the fixed end of the push rod motor on the adapter structure.

[0127] In some embodiments, the transfer structure includes a transfer bracket plate. The transfer bracket plate in this embodiment is structurally different from the transfer bracket plate in Example 1. The transfer bracket plate in this embodiment is provided with two intersecting inclined surfaces at the top, so that when the fork arm body 11 tilts, it can contact the inclined surfaces, and the provided inclined surfaces limit the degree of inclination of the fork arm body 11, which can prevent the fork arm body 11 from flipping sideways too much.

[0128] In some embodiments, as shown in FIG5 , an extension plate 115 is provided downwardly from the middle portion of the bottom end of the fork arm body 11. As shown in FIG6 , a swing shaft 116 is connected to the extension plate 115. A bearing seat positioning slot is provided on the adapter bracket plate. A bearing seat 121 is connected to the adapter bracket plate. A bearing 123 is provided within the bearing seat 121 for rotational connection with the swing shaft 116. In this embodiment, when the telescopic end of the drive structure 14 is extended, it can drive the swing shaft 116 of the fork arm body 11 to rotate about the bearing seat 121.

[0129] The operation process of the above-mentioned reversible fork arm mechanism is as follows:

[0130] Assuming the fork arm body 11 is tilted 15°, 15° is the optimal tilt angle for this embodiment. This reversible fork arm mechanism lacks a front pulley and does not require a ramp external force structure. When the AGV reaches the target position, assuming the drive mechanism is on the first fork arm, it drives the first fork arm upward by 7.5° and the second fork arm downward by 7.5°, ultimately achieving a 15° tilt angle for the bin.

[0131] Example 4

[0132] This embodiment discloses a reversible fork arm mechanism, which is a reversible fork arm mechanism with driving force.

[0133] This embodiment differs from Example 3 in that the fork arm body 11 of this embodiment is a split structure, comprising a first fork arm 111 and a second fork arm 112 spaced apart from each other, with either the first fork arm 111 or the second fork arm 112 being configured as a movable fork arm. The middle portion of the fork arm body 11 is rotatably connected to the adapter structure 12, and one side of the fork arm body 11 is lateral-rotatable via a drive structure 14. The telescopic rod end of the drive structure 14 is hingedly connected to the movable fork arm, while the fixed end of the drive structure 14 is hingedly connected to the adapter structure 12.

[0134] This embodiment does not disclose a structural schematic diagram. The fork arm body 11 of this embodiment is similar in structure to that of embodiment 1. The difference between this embodiment and embodiment 1 is that this embodiment does not have a ramp structure 5, but has a driving structure.

[0135] The operation process of the above-mentioned reversible fork arm mechanism is as follows:

[0136] Assuming that the fork arm body 11 flips 15 degrees, the driving structure 14 drives the movable fork arm to move up or down 15 degrees, while the other fork arm remains unchanged, and finally the material box is tilted 15 degrees.

[0137] Example 5

[0138] The specific embodiments of the present invention are described in detail below in conjunction with the elevator module of the second aspect of the present invention.

[0139] As shown in Figures 2 to 4 and Figures 8 to 12, this embodiment discloses a hoist module, comprising a hoist frame 3, a hoist mechanism 2, and the reversible fork arm mechanism of Example 1. The reversible fork arm mechanism is provided on the hoist mechanism 2 and is driven by the hoist mechanism 2 to move up and down.

[0140] In this embodiment, a reversible fork arm mechanism is installed on the lifting mechanism, and the two are used in conjunction, so that the elevator module has both lifting and lateral flipping functions. By controlling the lifting height of the lifting mechanism 2 and the lateral flipping degree of the reversible fork arm mechanism, the workers' needs for picking goods can be met.

[0141] At least one reversible fork arm mechanism is provided. When more than two reversible fork arm mechanisms are provided, each reversible fork arm mechanism serves as a material box containing position, which can improve the transportation efficiency.

[0142] In some embodiments, as shown in Figure 7, the lifting frame 3 is divided into a first frame and a second frame connected thereto, with at least one chute provided on the second frame. The lifting mechanism is positioned on the first frame and is connected to the transition structure of the reversible fork arm mechanism. A sliding guide assembly 28 is connected to the transition structure of the reversible fork arm mechanism and slidably fits within the chute of the second frame. A connecting assembly 29 is slidably mounted on the front sidewall of the first frame, and the connecting assembly 29 and the transition bracket plate clamp the synchronous belt 21.

[0143] In this embodiment, the lifting mechanism can drive the flip fork arm mechanism to move up and down, and the flip fork arm mechanism slides along the sliding groove of the second frame through the sliding guide assembly during the lifting process, making the lifting process of the flip fork arm mechanism more stable.

[0144] In some embodiments, as shown in Figure 8, the sliding guide assembly 28 includes an L-shaped positioning plate 281, a first moving wheel 282, and a second moving wheel 283. The L-shaped positioning plate 281 is connected to the transfer structure, at least one first moving wheel 282 is provided and is arranged on one side wall of the L-shaped positioning plate 281, and at least one second moving wheel 283 is provided and is arranged on the other side wall of the L-shaped positioning plate 281. As shown in Figure 9, a first slide 31 and a second slide 32 are vertically opened on the second frame of the lifting frame 3, and the opening directions of the first slide 31 and the second slide 32 are perpendicular to each other. As shown in Figure 10, the first moving wheel 282 is slidably mounted in the first slide 31, and the second moving wheel 283 is slidably mounted in the second slide 32. Because this embodiment is provided with two sets of moving wheels in different directions, the flip fork arm mechanism 1 is not easy to slip when moving up and down.

[0145] The lifting mechanism 2 can be a belt lifting mechanism, a chain lifting mechanism, or a cylinder or hydraulic cylinder lifting mechanism. This embodiment does not limit the specific form of the lifting mechanism.

[0146] In some embodiments, as shown in FIG11 , the lifting mechanism 2 is a belt lifting mechanism, comprising a synchronous belt 21, a driving pulley 23, a driven pulley 24, a drive motor 25, a first drive pulley 26, a second drive pulley 210, and a transmission belt 27. The driven pulley 24 is rotatably provided at the top of the first frame of the lifting frame 3, and the driving pulley 23 is rotatably provided at the bottom of the first frame of the lifting frame 3. A synchronous belt 21 is sleeved between the driving pulley 23 and the driven pulley 24. The driving pulley 23 is coaxially connected to the first drive pulley 26, which is located outside the first frame. The first drive pulley 26 is connected to the second drive pulley 210 via a transmission belt 27, and the second drive pulley 210 is coaxially connected to the drive motor 25.

[0147] In this embodiment, when the drive motor 25 is running, it can drive the second drive wheel 210 to rotate. The second drive wheel 210 drives the first drive wheel 26 and the driving wheel 23 to rotate through the transmission belt 27. The driving wheel 23 drives the synchronous belt 21 to rise and fall, thereby realizing the rise and fall of the reversible fork arm mechanism connected to the synchronous belt 21.

[0148] In some embodiments, vertical grooves are formed on the front and rear side walls of the first frame, and the synchronous belt 21 passes around the first frame and is located in the vertical grooves. A connecting assembly 29 is slidably mounted in the vertical grooves of the front side wall of the first frame. As shown in FIG12 , the connecting assembly 29 has a plurality of second connecting holes 291 formed therein. The connecting assembly 29 is plate-shaped and is located behind the synchronous belt. The adapter bracket plate has first connecting holes 122 corresponding to the second connecting holes 291. The adapter bracket plate is located in front of the synchronous belt. The adapter bracket plate and the connecting assembly 29 are respectively located on either side of the synchronous belt. The adapter bracket plate is connected to the connecting assembly 29 via connecting screws, which pass through the first connecting holes 122 and the second connecting holes 291.

[0149] In some embodiments, an in-position sensing module is provided on the second frame, which is suitable for sensing the position of the material box 6 on the flippable fork arm mechanism, and then controlling the next action of the AGV chassis module according to the position of the material box 6.

[0150] Example 6

[0151] As shown in Figures 13, 14, 15, and 6, where Figures 13 and 14 are schematic diagrams of the structure of the tilted fork arm mechanism and Figure 6 is an exploded view of the elevator module, this embodiment discloses an elevator module comprising a lifting frame 3, a lifting mechanism 2, and the tilted fork arm mechanism of Example 3. The tilted fork arm mechanism is mounted on the lifting mechanism 2 and is driven by the lifting mechanism 2 to move up and down. This embodiment differs from Example 5 in the specific structure of the tilted fork arm mechanism; the remaining components are the same.

[0152] In this embodiment, a reversible fork arm mechanism is attached to the lifting mechanism. The two work together to provide the elevator module with both lifting and side-to-side flipping capabilities. By controlling the lifting height of the lifting mechanism 2 and the degree of side-to-side flipping of the reversible fork arm mechanism, the worker's needs for picking goods are met. As shown in Figure 15, the reversible fork arm mechanism flips sideways, causing the bin 6 to flip sideways.

[0153] Example 7

[0154] The specific embodiments of the present invention are described in detail below in conjunction with the transport robot according to the third aspect of the present invention.

[0155] As shown in Figures 3, 16, and 17, this embodiment discloses a transport robot, including an AGV chassis module 4 and the elevator module of Example 5. The elevator module is arranged on the AGV chassis module 4, and the AGV chassis module 4 drives the transport robot to move as a whole.

[0156] In this embodiment, the handling robot supports multiple fork arm designs. The elevator module has both lifting and side-to-side flipping functions. By controlling the lifting height of the lifting mechanism 2 and the side-to-side flipping degree of the flippable fork arm mechanism, the worker's needs for picking goods can be met.

[0157] When picking at a workstation, the bin needs to be tilted to facilitate picking and provide a better field of view for workers. The optimal tilt angle is 15°.

[0158] The operation process of the above-mentioned handling robot is as follows:

[0159] As shown in Figure 17, the independent side fork arms of the first fork arm or the second fork arm can move up and down. As shown in Figure 3, when the fork arm pulley on the first fork arm or the second fork arm contacts the slope, the first fork arm or the second fork arm can be moved up a certain distance through the sliding module. When the AGV is working, when it drives to the target position preset on the slope, the left fork arm (first fork arm) rises a certain distance, and the right fork arm (second fork arm) does not move. Ultimately, the height difference between the left and right forks causes the material box to tilt 15°, as shown in Figure 16. Similarly, when the AGV drives out, the left fork arm returns to its original position, and the material box remains in a horizontal position.

[0160] When the AGV reaches the pre-set target position on the slope, the right fork arm (second fork arm) rises, while the left fork arm (first fork arm) remains stationary. Ultimately, the height difference between the left and right forks causes the container to tilt 15°. Similarly, when the AGV exits, the right fork arm returns to its original position, and the container remains horizontal.

[0161] Example 8

[0162] This embodiment discloses a transport robot, comprising an AGV chassis module 4 and the elevator module of embodiment 6. The elevator module is arranged on the AGV chassis module 4, and the AGV chassis module 4 drives the transport robot to move as a whole.

[0163] The operation process of the above-mentioned handling robot is as follows:

[0164] When the AGV reaches the target position, assuming that the driving structure is on the first fork arm, the driving structure drives the first fork arm to move up 7.5° and drives the second fork arm to move down 7.5°, eventually making the tilt angle of the material box reach 15°.

[0165] Or when the AGV travels to the target position, assuming that the drive structure is on the second fork arm, the drive structure drives the second fork arm to move up 7.5° and drives the first fork arm to move down 7.5°, eventually making the material box tilt angle reach 15°.

[0166] Second embodiment

[0167] The current warehousing industry mostly uses handling robots with integrated automatic climbing and mobility capabilities to store, retrieve, and transport goods. However, warehouse utilization is currently low, with a limited number of cache slots. High-position robots handle large loads, while low-position robots can only support one level of cache slots. Current technology is no longer sufficient to meet the dense storage needs of future warehouses. Therefore, a robot capable of supporting multiple levels of cache slots is urgently needed.

[0168] Based on this, a second embodiment of the present invention designs a transport robot that provides multiple fork arm bodies to adapt to multiple cache locations on the shelf, thereby supporting multiple layers of cache locations on the shelf and improving transportation efficiency.

[0169] As shown in Figures 18 to 33, this embodiment discloses a handling robot, including an AGV chassis module 4, a lifting frame 9, a lifting mechanism 8 and a fork arm body 7. The AGV chassis module 4 is used to drive the entire device to move. The lifting frame 9 is vertically arranged on the AGV chassis module 4. The lifting mechanism 8 is arranged on the lifting frame 9, and the lifting mechanism 8 flexibly adjusts the height position of the fork arm body. There is at least one fork arm body 7, and the fork arm body 7 is arranged on the lifting mechanism 8 and can be raised and lowered with the lifting mechanism 8. A support position is provided on the top surface of the fork arm body 7, and the support position is suitable for matching with the low cache position or the high cache position of the shelf. The support position of the fork arm is used to lift the material box 6.

[0170] In this embodiment, multiple fork arm bodies 7 are provided on the lifting mechanism 8. Each fork arm body 7 can be raised or lowered by the lifting mechanism according to demand. The fork arm body 7 at the bottom can be adapted to either the low or high buffer positions on the shelf, while the fork arm body 7 at the top can be adapted to the high buffer positions on the shelf. This allows for flexible support of multiple layers of buffer positions on the shelf, improving transportation efficiency. Furthermore, this embodiment utilizes only one transport robot to simultaneously adapt to both the high and low buffer positions on the shelf. Given the same transportation requirements, there is no need to deploy multiple robots, reducing the number of high-position robots and lowering costs.

[0171] Because current robots need to stop and extend their arms to the shelf when storing or retrieving goods, this takes time and reduces the efficiency of storing and retrieving goods. To solve this technical problem, the handling robot of the present invention uses a lifting mechanism 8 to control the fork arm body 7 to descend to a position below the shelf buffer position, eliminating the need to extend the fork arm body again after the robot stops, thus reducing the time required for storing and retrieving goods and improving the efficiency of retrieving goods.

[0172] The current lifting frame height can only meet the design requirements of a single-layer fork arm, and the lifting frame height cannot meet the design requirements of a multi-layer shelf. To solve this technical problem, the lifting frame 9 of this embodiment is a telescopic frame. The lifting frame 9 can be extended and retracted in two stages, which increases the overall height of the lifting frame 9 and is suitable for application scenarios with multiple forks.

[0173] In some embodiments, the fork arm body 7 includes a fork arm and an adapter bracket plate 75. There are at least two forks, which are spaced apart from each other. The forks are connected by a connecting rod. The forks are perpendicular to the connecting rod, and the top surface of each fork arm is a support position. Taking Figure 18 as an example, there are three forks, namely the first fork arm 71, the second fork arm 72, and the third fork arm 73. The first fork arm 71 and the second fork arm 72 are located on the left and right sides, and the third fork arm 73 is arranged between the first fork arm 71 and the second fork arm 72. The adapter bracket plate 75 is connected to the connecting rod and is detachably connected to the lifting mechanism 8. In this embodiment, the fork arm body 7 is detachably connected to the lifting mechanism 8, so that the fork arm body 7 can be set at different positions of the lifting mechanism 8 as required.

[0174] The fork arm body of the aforementioned handling robot has various forms. The first fork arm body form, shown in FIG19 , has only two forks; the second fork arm body form, shown in FIG19a , has three forks; the third fork arm body form, shown in FIG19b , has a single stopper added to the fork arm body shown in FIG19a ; the fourth fork arm body form, shown in FIG19c , has multiple stoppers added to the fork arm body shown in FIG19a ; and the fifth fork arm body form, shown in FIG19d , has a fork arm sensing assembly 77 added to the fork arm body shown in FIG19a .

[0175] In some embodiments, as shown in FIG19 , at least one baffle 74 is provided on the side of the two outermost fork arms. In this embodiment, after the fork arm body 7 picks up a material box 6 on a shelf, the left and right sides of the material box can be restrained by the baffle 74, making the material box more stable during transportation and less likely to slide off the fork arm body 7.

[0176] In some embodiments, as shown in FIG19 a , the fork arm body is provided with three fork arms, which provide more stable support for the material box 6 than two fork arms.

[0177] In some embodiments, at least one fork arm is provided with a limit member 76 along the direction of forking the bin. In this embodiment, the "bin forking direction" refers to the front end of the fork arm. When the fork arm body 7 forks a bin on the shelf, the front side of the bin can be limited by the limit member 76. The limit member 76 cooperates with the baffle 74, and the rear side of the bin can be limited by the lifting frame 9. As a result, the bin is limited in all four directions: front, back, left, and right. This makes the bin more stable during transportation and less likely to slide off the fork arm body 7.

[0178] More specifically, in Figure 19b, one stopper 76 is provided and located at the front end of the third fork arm (the middle fork arm). In Figure 19c, three stoppers 76 are provided and located at the front ends of the first fork arm, the second fork arm, and the third fork arm, respectively.

[0179] In some embodiments, the fork arm is provided with at least one fork arm sensing assembly 77, adapted to detect the position of a bin on the fork arm. When two or more fork arm sensing assemblies 77 are provided, each fork arm sensing assembly 77 is spaced apart. In this embodiment, the positional relationship between the fork arm body and the bin on the shelf is detected by the fork arm sensing assembly 77, and this positional relationship can be used to control the movement speed and / or start and stop of the AGV chassis module 4.

[0180] As a specific embodiment, as shown in FIG19d , the example of two fork arm sensing components 77 is used for illustration. The first fork arm sensing component is set at the front section of the fork arm, and the second fork arm sensing component is set at the rear section of the fork arm. When the fork arm body picks up the material box, the AGV chassis module 4 drives the fork arm body to move toward the material box. The first fork arm sensing component will first sense the position of the material box. At this time, the moving speed of the AGV chassis module 4 can be controlled according to the position information (for example, the moving speed of the AGV chassis module 4 can be appropriately slowed down). When the second fork arm sensing component senses the position of the material box, it means that the AGV chassis module 4 is about to move into place. At this time, the moving speed of the AGV chassis module 4 can be controlled according to the position information (for example, the moving speed of the AGV chassis module 4 can be significantly slowed down).

[0181] In some embodiments, as shown in Figures 18 and 20, an in-position sensing module 91 is provided above the side wall of the lifting frame 9. The in-position sensing module 91 is suitable for detecting whether the material box is forked into position. More specifically, the detection method adopted by the in-position sensing module 91 is to detect whether the material box is in contact with the in-position sensing module 91. If the material box is in contact with the in-position sensing module 91, it is determined that the fork is in position. In this embodiment, the in-position sensing module 91 is provided at the upper and rearmost section of the fork arm body. When the fork arm body moves into position, the material box on the shelf will enter the detection range of the in-position sensing module 91. The sensing information of the in-position sensing module 91 is used to control the AGV chassis module 4 to stop moving and control the operation of the lifting mechanism 8. The lifting mechanism 8 drives the fork arm body to move upward to lift the material box on the shelf.

[0182] As shown in Figure 20, taking the example of two fork arm bodies 7, there is a distance between the two fork arm bodies 7, and the distance between them is greater than the height of the material box. The two fork arm bodies 7 can lift the material box respectively, as shown in Figure 21, which is a structural schematic diagram of the double-layer fork arm body lifting the material box.

[0183] As shown in Figure 22, taking the example of a fork arm body 7 being provided with one, one fork arm body 7 can also achieve the lifting of the material box. As shown in Figure 23, this figure is a structural schematic diagram of a single-layer fork arm body lifting the material box.

[0184] In some embodiments, as shown in Figure 24 , the AGV chassis module 4 includes a chassis frame 41, rollers 42, and a roller drive assembly. At least one safety plate 43 is provided on either side of the top surface of the AGV chassis module 4. In this embodiment, when the fork arm at the bottom level forks a bin from a shelf, the safety plates 43 provided on the AGV chassis module 4 block the bin on both sides, effectively preventing the bin from tipping over.

[0185] In some embodiments, as shown in Figures 18, 20, 21, 22, 23, and 24, a guide assembly 44 is provided on the top surface of the AGV chassis module 4. The guide assembly 44 is extendable and retractable in the direction of the bin forking and can be moved up and down. The guide assembly 44 is used to support the bin on the fork arm body at the lowest level. A crossbeam corresponding to the guide assembly 44 is provided on the shelf. Before contact, the guide assembly 44 and the crossbeam are at the same height. When the AGV chassis module 4 moves toward the shelf, the guide assembly 44 contacts the shelf crossbeam and then moves forward a short distance. At this point, the guide assembly 44 is in a backward compression state (i.e., the guide assembly is at the lowest level of the crossbeam). When the fork arm body completes lifting the bin and the AGV chassis module 4 leaves the shelf, the guide assembly 44 returns to its original position. When the fork arm body at the lowest level descends to its lowest position, the bin cooperates with the guide assembly and the chassis' protective components to stabilize the bin.

[0186] The positioning slots provided on the lifting frame 9 support the installation of multiple detachable fork arm assemblies. In one embodiment, a multi-fork arm structure is supported, and the guide assembly 44 design is not present; in another embodiment, a single fork arm design can be optimized, and the guide assembly 44 design is present.

[0187] In some embodiments, the lifting mechanism 8 is a belt lifting mechanism, a chain lifting mechanism, a pneumatic lifting mechanism, or a hydraulic lifting mechanism. The appropriate type of lifting mechanism can be selected according to actual conditions.

[0188] Taking the lifting mechanism 8 as a belt lifting mechanism as an example, as shown in Figure 25, the lifting mechanism 8 includes a synchronous belt 81, a driving pulley 83, a driven pulley 84, a drive motor 85, a drive motor bracket, a first drive wheel 86, a second drive wheel 88, and a transmission belt 87. As shown in Figure 26, the drive motor 85 is mounted on the drive motor bracket, which is fixed to the AGV chassis module 4 via a fixing plate 89. The drive motor 85 is specifically arranged at the bottom of the lifting frame 9 and the chassis. As shown in Figure 25, the output shaft end of the drive motor 85 is connected to the first drive wheel 86, which is connected to the second drive wheel 88 via a transmission belt 87. The second drive wheel 88 is coaxially connected to the driving pulley 83 on the lifting frame 9 for rotation. The driving pulley 83 is connected to the driven pulley 84 on the lifting frame 9 via a synchronous belt 81.

[0189] In this embodiment, the lifting frame 9 is connected to the fixing plate via screws, and the entire lifting mechanism 8 is fixed to the AGV chassis module 4 via the fixing plate. When the drive motor 85 is in operation, it can drive the first drive wheel 86 to rotate. The first drive wheel 86 drives the second drive wheel 88 and the driving wheel 83 to rotate via the transmission belt 87. The driving wheel 83 drives the synchronous belt 81 to move up and down, thereby achieving the lifting and lowering of the fork arm body 7 connected to the synchronous belt 81.

[0190] In some embodiments, as shown in FIG27 , the adapter bracket plate 75 is positioned on the synchronous belt 81. As shown in FIG28 , a vertical retaining groove 92 is formed on the lifting frame 9, and the synchronous belt 81 passes through the lifting frame and is positioned within the retaining groove. A sliding connecting plate 96 is slidably mounted within the retaining groove 92. As shown in FIG29 and FIG30 , the synchronous belt 81 is positioned between the sliding connecting plate 96 and the adapter bracket plate 75. The sliding connecting plate 96 and the adapter bracket plate 75 are detachably connected, and the sliding connecting plate 96 and the adapter bracket plate 75 are adapted to clamp the synchronous belt 81. More specifically, as shown in FIG31 , the sliding connecting plate 96 has a plurality of first connecting holes, and the adapter bracket plate 75 has a plurality of second connecting holes. The positions of the first connecting holes and the second connecting holes correspond to each other, and the first connecting holes of the sliding connecting plate 96 and the second connecting holes of the adapter bracket plate 75 are connected by screws.

[0191] In this embodiment, the sliding connecting plate 96 and the adapter bracket plate 75 can be slidably assembled in the positioning groove 92 of the lifting frame 9, and then a plurality of sliding connecting plates 96 and adapter bracket plates 75 can be slidably assembled in the positioning groove 92, so that the device can support a multi-fork arm design.

[0192] In some embodiments, the fork arm body 7 is provided with a pair of sliding baffles 94, which are vertically spaced apart on either side of the lifting frame 9. In this embodiment, when the fork arm body is mounted on the lifting mechanism, the two sliding baffles 94 are located on either side of the lifting frame 9, limiting the left and right movement range of the fork arm body, thereby providing greater stability during the fork arm body's upward and downward movement.

[0193] Furthermore, slideways slidably fitted with the sliding baffle 94 may be provided on the left and right sides of the lifting frame 9, so that the sliding resistance between the sliding baffle 94 and the lifting frame 9 is smaller.

[0194] In some embodiments, as shown in Figures 28 and 28 , a fork arm mounting slot 93 is vertically defined on the lifting frame 9, and a sliding guide structure 95 is provided on the adapter bracket plate 75 for slidingly engaging with the fork arm mounting slot 93. In this embodiment, the fork arm body is also slidably assembled with the lifting frame 9 via the sliding guide structure 95, thereby improving the stability of the fork arm body when it moves up and down.

[0195] In some embodiments, the fork arm mounting slot 93 is divided into a first fork arm mounting slot and a second fork arm mounting slot, and the opening directions of the first fork arm mounting slot and the second fork arm mounting slot are perpendicular to each other. As shown in Figure 32, the sliding guide structure 95 includes an L-shaped positioning plate 951, a first moving wheel 952 and a second moving wheel 953. There is at least one first moving wheel 952 and at least one second moving wheel 953. As shown in Figure 33, the first moving wheel 952 is rotatably set on one side wall of the L-shaped positioning plate 951, and the first moving wheel 952 is slidably fitted into the first fork arm mounting slot. The second moving wheel 953 is rotatably set on the other side wall of the L-shaped positioning plate 951, and the second moving wheel 953 is slidably fitted into the second fork arm mounting slot. This embodiment is provided with two sets of moving wheels in different directions, so that the flippable fork arm mechanism is not easy to slip when moving up and down.

[0196] The specific working process of the above-mentioned transport robot is as follows:

[0197] S1. The AGV chassis module 4 drives the lifting mechanism 8 and the fork arm body 7 to move toward the buffer position close to the shelf. The height of the fork arm body 7 is lower than the buffer position on the shelf.

[0198] S2. The guide assembly 44 at the front end of the AGV chassis module 4 touches the crossbeam of the shelf. When the guide assembly 44 is directly below the crossbeam, the lifting mechanism 8 controls the fork arm body to rise and lift the material box on the shelf.

[0199] S3.AGV chassis module 4 drives away from the shelf, completing the delivery of the material box.

[0200] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the present invention.

Claims

1. The reversible fork arm mechanism is characterized by: include: A fork arm body (11), the top of the fork arm body (11) forms a fork arm support position suitable for supporting the material box (6), and the side portion or the corresponding two side portions of the fork arm body (11) perpendicular to the forking direction of the material box (6) can be turned sideways to tilt the fork arm support position and the material box (6) to expand the picking field of the material box (6); A transition structure (12) is connected to the fork arm body (11), and the transition structure (12) is suitable for positioning the fork arm body (11).

2. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism without driving force; The fork arm body (11) is a split structure, comprising a first fork arm (111) and a second fork arm (112) spaced apart from each other, and the first fork arm (111) and / or the second fork arm (112) are slidably assembled with the transfer structure (12) via a sliding module. The bottom end of the first fork arm (111) or the second fork arm (112) contacts the slope structure (5), and the slope structure (5) is suitable for raising the height of the first fork arm (111) or the second fork arm (112).

3. The reversible fork arm mechanism according to claim 2, characterized in that: The sliding module comprises: A sliding plate (15), the sliding plate (15) being connected to a side wall of the transfer structure (12), and a slideway being provided on the side wall of the sliding plate (15); A slider (16) is connected to the first fork arm (111) or the second fork arm (112), and the slider (16) is slidably assembled with the sliding plate (15).

4. The reversible fork arm mechanism according to claim 2 or 3, characterized in that: A groove is provided at the bottom of the first fork arm (111) and / or the second fork arm (112), and a fork arm pulley (17) is rotatably arranged in the groove, and the fork arm pulley (17) can contact the slope structure (5).

5. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism without driving force; The fork arm body (11) is an integrated structure, and the middle portion of the fork arm body (11) is rotatably connected to the transfer structure (12); The bottom end of one side of the fork arm body (11) contacts the slope structure (5), and the slope structure (5) is suitable for raising the height of one side of the fork arm body (11); when the fork arm body (11) moves along the slope structure (5), the side of the fork arm body (11) in contact with the slope structure (5) is lifted, and the side of the fork arm body (11) not in contact with the slope structure (5) is lowered.

6. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism with driving force; The fork arm body (11) is an integrated structure, the middle portion of the fork arm body (11) is rotatably connected to the transfer structure (12), one side of the fork arm body (11) is flipped sideways by a driving structure (14), the telescopic rod end of the driving structure (14) is hinged to the fork arm body (11), and the fixed end of the driving structure (14) is hinged to the transfer structure (12).

7. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism with driving force; The fork arm body (11) is a split structure, and the fork arm body (11) comprises a first fork arm (111) and a second fork arm (112) spaced apart from each other, and the first fork arm (111) or the second fork arm (112) is configured as a movable fork arm; The middle part of the fork arm body (11) is rotatably connected to the transfer structure (12), one side of the fork arm body (11) is flipped sideways by the driving structure (14), the telescopic rod end of the driving structure (14) is hinged to the movable fork arm, and the fixed end of the driving structure (14) is hinged to the transfer structure (12).

8. The reversible fork arm mechanism according to claim 6 or 7, characterized in that: An extension plate (115) is provided downwardly at the middle portion of the bottom end of the fork arm body (11), a swing shaft (116) is connected to the extension plate (115), a bearing seat (121) is connected to the adapter structure (12), and a bearing (123) rotatably connected to the swing shaft (116) is provided in the bearing seat (121).

9. The hoist module is characterized by: include: Improvement framework (3); A lifting mechanism (2), wherein the lifting mechanism (2) is arranged on a lifting frame (3); At least one reversible fork arm mechanism according to any one of claims 1 to 8, wherein the reversible fork arm mechanism is arranged on the lifting mechanism (2) and is raised and lowered under the drive of the lifting mechanism (2).

10. The elevator module according to claim 9, characterized in that: The lifting frame (3) is divided into a first frame and a second frame connected therebetween, and the second frame is provided with at least one sliding groove.

11. The elevator module according to claim 10, characterized in that: The lifting mechanism (2) is positioned on the first frame and is connected to the transfer structure (12) of the flippable fork arm mechanism.

12. The elevator module according to claim 11, characterized in that: The transfer structure (12) of the flippable fork arm mechanism is slidably assembled in the sliding groove of the second frame through a sliding guide assembly.

13. A handling robot, characterized in that: include: AGV chassis module (4); The elevator module according to any one of claims 9 to 12, wherein the elevator module is arranged on the AGV chassis module (4).

14. A transport robot, characterized in that: include: AGV chassis module (4); A lifting frame (9), wherein the lifting frame (9) is arranged on the AGV chassis module (4); A lifting mechanism (8), wherein the lifting mechanism (8) is arranged on a lifting frame (9); At least one fork arm body (7), the fork arm body (7) is arranged on a lifting mechanism (8) and can be raised and lowered following the lifting mechanism (8), and a support position is provided on the top surface of the fork arm body (7), and the support position is suitable for matching with a low-position cache position or a high-position cache position of a shelf.

15. The transport robot according to claim 14, characterized in that: The fork arm body (7) comprises: At least two mutually spaced fork arms, each of the fork arms being connected by a connecting rod; An adapter bracket plate (75) is connected to the connecting rod and is detachably connected to the lifting mechanism (8).

16. The transport robot according to claim 15, characterized in that: At least one baffle (74) is provided on the side of the two outermost fork arms.

17. The transport robot according to claim 15, characterized in that: At least one of the fork arms is provided with a limiting member (76) along the direction of forking the material box.

18. The transport robot according to claim 15, characterized in that: At least one fork arm sensing component (77) is provided on the fork arm, and the fork arm sensing component (77) is suitable for detecting the position of the material box on the fork arm.

19. The transport robot according to claim 15, characterized in that: The lifting frame (9) is provided with an in-position sensing module (91), and the in-position sensing module (91) is suitable for detecting whether the material box is forked in place.

20. The transport robot according to claim 15, characterized in that: The lifting mechanism (8) is a belt lifting mechanism, a chain lifting mechanism, a pneumatic lifting mechanism, or a hydraulic lifting mechanism.

21. The transport robot according to claim 20, characterized in that: The lifting mechanism (8) includes a synchronous belt (81), a driving wheel (83), a driven wheel (84), a driving motor (85), a driving motor bracket, a first driving wheel (86), a second driving wheel (88) and a transmission belt (87); the driving motor (85) is arranged on the driving motor bracket, and the driving motor bracket is fixed to the AGV chassis module (4) through a fixing plate (89); the output shaft end of the driving motor (85) is connected to the first driving wheel (86), the first driving wheel (86) is connected to the second driving wheel (88) through a transmission belt (87), and the second driving wheel (88) is coaxially connected to the driving wheel (83) arranged on the lifting frame (9) for rotation, and the driving wheel (83) is connected to the driven wheel (84) arranged on the lifting frame (9) through a synchronous belt (81).

22. The transport robot according to claim 21, characterized in that: A latching groove (92) is vertically provided on the lifting frame (9), and a sliding connecting plate (96) is slidably assembled in the latching groove (92). The synchronous belt (81) is located between the sliding connecting plate (96) and the adapter bracket plate (75). The sliding connecting plate (96) and the adapter bracket plate (75) are detachably connected, and the sliding connecting plate (96) and the adapter bracket plate (75) are suitable for clamping the synchronous belt (81).

23. The transport robot according to claim 21, characterized in that: A pair of sliding baffles (94) are provided on the fork arm body (7), and the two sliding baffles (94) are vertically spaced apart and arranged on both sides of the lifting frame (9).

24. The transport robot according to claim 21, characterized in that: A fork arm mounting slot (93) is vertically provided on the lifting frame (9), and a sliding guide structure (95) suitable for slidingly fitting with the fork arm mounting slot (93) is provided on the adapter bracket plate (75).

25. The transport robot according to claim 24, characterized in that: The fork arm mounting slot (93) is divided into a first fork arm mounting slot and a second fork arm mounting slot, and the opening directions of the first fork arm mounting slot and the second fork arm mounting slot are perpendicular to each other; The sliding guide structure (95) includes an L-shaped positioning plate (951), at least one first moving wheel (952) and at least one second moving wheel (953), wherein the first moving wheel (952) is rotatably arranged on one side wall of the L-shaped positioning plate (951), and the first moving wheel (952) is slidably fitted in the first fork arm mounting slot, and the second moving wheel (953) is rotatably arranged on the other side wall of the L-shaped positioning plate (951), and the second moving wheel (953) is slidably fitted in the second fork arm mounting slot.

26. The handling robot according to any one of claims 14 to 25, characterized in that: A guide assembly (44) is provided on the top surface of the AGV chassis module (4).

27. The handling robot according to any one of claims 14 to 25, characterized in that: At least one safety plate (43) is respectively provided on both sides of the top surface of the AGV chassis module (4).

28. The handling robot according to any one of claims 14 to 25, characterized in that: The lifting frame (9) is a telescopic lifting frame.

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