Fork device and handling robot

Abstract

The present application relates to the technical field of warehouse logistics apparatuses. Disclosed are a fork device and a handling robot, which are configured to solve the technical problem of existing handling robots, when adjusting the position of a telescopic mechanism to eliminate transverse errors between the telescopic mechanism and a target storage position, experiencing excessive time consumption during the adjustment process and causing low operational efficiency. The fork device comprises a base plate, a displacement compensation mechanism and a telescopic mechanism, wherein the telescopic mechanism comprises two telescopic assemblies, the two telescopic assemblies being arranged on two sides of the base plate opposite each other in a first direction; the displacement compensation mechanism is connected to both telescopic assemblies; and the displacement compensation mechanism is configured to slide relative to the base plate in the first direction and change the position of the telescopic mechanism relative to the base plate in the first direction. The fork device and the handling robot provided in the present application can rapidly eliminate "transverse errors" between a target storage position and the telescopic mechanism, improving operational efficiency.

Description

A forklift device and a handling robot

[0001] This application claims priority to Chinese Patent Application No. 202420812664.7, filed on April 18, 2024, entitled "Forklift Device and Handling Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of warehousing and logistics equipment technology, and in particular to a forklift device and a handling robot. Background Technology

[0003] With the development of the logistics industry, handling robots are gradually being applied to cargo handling work, which can improve the efficiency of cargo handling. Therefore, handling robots have become a research hotspot in the logistics industry.

[0004] The handling robot includes a fork assembly, which includes a fork body and a telescopic mechanism mounted on the fork body. The telescopic mechanism includes two telescopic components arranged opposite to each other. The telescopic components are used to grab the material box and transfer the material box between the handling robot and the warehouse rack to realize the outbound and inbound of the material box.

[0005] However, when the handling robot takes out or puts in high-level boxes on the warehouse rack, there is a "lateral error" between the telescopic mechanism and the target warehouse position. The handling robot needs to be moved as a whole to adjust the position of the telescopic mechanism and eliminate the "lateral error". This adjustment process takes a long time and results in low operation efficiency. Summary of the Invention

[0006] In view of the above problems, this application provides a forklift device and a handling robot that can quickly eliminate the "lateral error" between the target warehouse and the telescopic mechanism, thereby improving work efficiency.

[0007] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0008] The first aspect of this application provides a forklift device, including a base plate, a displacement compensation mechanism, and a telescopic mechanism; the telescopic mechanism includes two telescopic components, which are arranged opposite to each other on both sides of the base plate along a first direction; the displacement compensation mechanism is connected to the two telescopic components respectively; the displacement compensation mechanism is configured to slide relative to the base plate along the first direction and change the position of the telescopic mechanism relative to the base plate along the first direction.

[0009] In one optional embodiment, the displacement compensation mechanism includes a support frame and a front crossbeam; the support frame is slidably mounted on the base plate and slides relative to the base plate in a first direction; the front crossbeam is disposed on the support frame and moves with the support frame; both ends of the front crossbeam are respectively connected to two telescopic components.

[0010] In one optional embodiment, the displacement compensation mechanism further includes a drive mechanism and a transmission assembly;

[0011] The drive mechanism is connected to the transmission assembly, which is configured to drive the two telescopic components to move synchronously along a first direction.

[0012] In one optional embodiment, the telescopic assembly includes an outer side panel; the transmission assembly includes a driving wheel, a driven wheel, and a timing belt; the driving mechanism and the driving wheel are respectively disposed on one of the outer side panels, and the driving mechanism is connected to the driving wheel; the driven wheel is disposed on the other outer side panel, and the driven wheel and the driving wheel are disposed opposite to each other along a first direction; the base plate is provided with a toothed plate fixing assembly, one end of the timing belt is connected to the toothed plate fixing assembly; the other end of the timing belt is wound around the driving wheel and the driven wheel, and connected to the toothed plate fixing assembly.

[0013] In one alternative embodiment, the displacement compensation mechanism includes two front crossbeams; the two front crossbeams are spaced apart on both sides of the support frame along a second direction; each front crossbeam extends along a first direction, and both ends of the front crossbeam are respectively connected to the two outer side panels.

[0014] In one optional embodiment, the displacement compensation mechanism further includes a slide rail and a plurality of sliders; the slide rail is slidably mounted on the sliders and extends along a first direction; the slide rail is connected to the bottom of the support frame, and the sliders are connected to the base plate.

[0015] In an optional embodiment, the displacement compensation mechanism further includes a photoelectric sensor and a photoelectric sensing sheet; the photoelectric sensor is disposed on the support frame and moves along the support frame in a first direction; the photoelectric sensing sheet is disposed on the substrate, extends along the first direction and is located on the moving path of the photoelectric sensor, and the photoelectric sensing sheet is provided with a zero point; the photoelectric sensor is configured to scan the photoelectric sensing sheet, and when the photoelectric sensor moves to the zero point, the telescopic mechanism is located in the initial position.

[0016] In one alternative embodiment, the fork assembly further includes a bracket and a cable chain; the cable chain is flexible and used for threading cables; the cable chain is mounted on the bracket, and the bracket is fixed to the base plate.

[0017] In one optional embodiment, the fork assembly further includes a carrying mechanism and a slewing mechanism; the slewing mechanism is disposed between the carrying mechanism and the base plate, the slewing mechanism is rotatably connected to the base plate, and the slewing mechanism is configured to drive the base plate to rotate relative to the carrying mechanism.

[0018] A second aspect of this application provides a handling robot, including a mast, a mobile base, at least one storage compartment, and the fork assembly described in the first aspect; the mast is mounted on the mobile base along a third direction, and the fork assembly is slidably mounted on the mast along a third direction; the storage compartment is used to carry a material box, and the storage compartment and the fork assembly are disposed opposite to each other on both sides of the mast along a second direction; the extension direction of the extension mechanism of the fork assembly is consistent with the second direction.

[0019] In one optional embodiment, the handling robot includes a lifting mechanism and a plurality of storage locations; the lifting mechanism is mounted on the gantry and drives the fork assembly to move along a third direction; the plurality of storage locations are spaced apart on the gantry along a third direction.

[0020] In one alternative embodiment, when the telescopic mechanism is in its initial position, the centerline of the telescopic mechanism is aligned with the centerline of the storage space along a first direction.

[0021] Compared with related technologies, the forklift device and handling robot provided in this application have the following advantages:

[0022] The forklift device provided in this application embodiment has a displacement compensation mechanism on the base plate. The displacement compensation mechanism is connected to the telescopic mechanism. The displacement compensation mechanism can drive the telescopic mechanism to slide relative to the base plate in a first direction to adjust the position of the telescopic mechanism relative to the base plate in the first direction, thereby eliminating the "lateral error" between the telescopic mechanism and the target warehouse in the first direction, so that the telescopic mechanism can be aligned with the target warehouse, and further transfer the bin between the handling robot and the warehouse rack to realize the outbound and inbound of the bin.

[0023] In related technologies, the position of the telescopic mechanism is adjusted by moving the entire handling robot, thereby eliminating the "lateral error" between the target warehouse and the telescopic mechanism. During this adjustment process, the entire handling robot shakes uncontrollably because the fork device is in a high position, and the specific amount of movement cannot be calculated. The handling robot needs to be moved and adjusted continuously, which is time-consuming and inefficient.

[0024] However, in this embodiment, the telescopic mechanism is moved by a displacement compensation mechanism to eliminate "lateral error". The position of the telescopic mechanism is adjusted by the displacement compensation mechanism set on the fork device. This adjustment process is less affected by the shaking of the handling robot. The telescopic mechanism can be moved according to the specific error, and the position of the telescopic mechanism can be quickly adjusted to improve the efficiency of the material box entering and leaving the warehouse.

[0025] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the forklift device and handling robot provided by the embodiments of this application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific implementation. Attached Figure Description

[0026] The accompanying drawings, which are provided to further understand this application and constitute a part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0027] Figure 1 is a schematic diagram of the overall structure of the handling robot provided in an embodiment of this application;

[0028] Figure 2 is a structural schematic diagram of the forklift device provided in this application when the load-bearing mechanism is a rotary load-bearing plate;

[0029] Figure 3 is a structural schematic diagram of the forklift device provided in this embodiment of the present application when the load-bearing mechanism is a rotary load-bearing frame;

[0030] Figure 4 is a structural schematic diagram of the fork assembly shown in Figure 3 from another angle;

[0031] Figure 5 is a schematic diagram of the displacement compensation mechanism arrangement in the fork assembly shown in Figure 4.

[0032] Figure 6 is an enlarged view of point A in Figure 5;

[0033] Figure 7 is a schematic diagram of the forklift device shown in Figure 2 after the telescopic motor is installed;

[0034] Figure 8 is a schematic diagram of the forklift device shown in Figure 3 after the telescopic motor is installed;

[0035] Figure 9 is a schematic diagram of the forklift device shown in Figure 4 after the telescopic motor is installed;

[0036] Figure 10 is a structural schematic diagram of the telescopic mechanism of the fork device shown in Figure 9 in the extended state;

[0037] Figure 11 is a structural schematic diagram of the fork assembly shown in Figure 9 from another angle;

[0038] Figure 12 is a schematic diagram of the fork assembly shown in Figure 9 after removing the telescopic mechanism on one side;

[0039] Figure 13 is a structural schematic diagram of the telescopic mechanism of the fork device shown in Figure 12 in the extended state;

[0040] Figure 14 is a schematic diagram of the fork assembly shown in Figure 9 after the telescopic mechanism on the other side has been removed.

[0041] Figure 15 is a structural schematic diagram of the telescopic mechanism of the fork device shown in Figure 14 in the extended state.

[0042] Figure 16 is a schematic diagram of the working process of the displacement compensation mechanism of the handling robot in this application embodiment driving the telescopic mechanism to translate.

[0043] Figure 17 is a schematic diagram of the working process of the telescopic mechanism of the handling robot in this application transferring the material box to the target warehouse.

[0044] Explanation of reference numerals in the attached drawings: 10-Base plate; 20-Telescopic mechanism; 21-Outer side panel; 211-First slide rail; 22-Telescopic panel; 221-First-stage telescopic fork plate; 2211-Second slide rail; 222-Second-stage telescopic fork plate; 23-Telescopic drive wheel; 24-Telescopic driven wheel; 25-Telescopic synchronous belt; 26-Telescopic motor; 27-Transmission gear plate; 28-Telescopic transmission shaft; 29-Guide mounting plate; 30-Displacement compensation mechanism; 31-Bearing frame; 311-First bearing beam; 312-Second bearing beam; 32-Drive mechanism; 321-Drive motor; 322-Reducer; 33-Transmission assembly; 331-Drive wheel; 332-Driven wheel; 333-Synchronous belt; 34-Gear plate fixing assembly; 35-Photoelectric sensor; 36-Photoelectric sensor sheet; 37-Front crossbeam; 38-Sliding assembly; 381-Slide rail; 382-Slider; 40-Drag chain; 41-Bracket; 51-Slewing bearing plate; 52-Slewing bearing frame; 53-Slewing motor; 54-Rotating disc; 55-Rotating reducer; 60-Image acquisition device; 70-Front fork; 80-Rear fork; 100-Fork assembly; 200-Storage position; 300-Mast; 400-Moving base; 500-Bag. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of this application.

[0046] In related technologies, when a handling robot takes out or puts in a high-level storage box located on a warehouse rack, there is a "lateral error" between the telescopic mechanism and the target storage location. The handling robot needs to be moved as a whole to adjust the position of the telescopic mechanism in order to eliminate the "lateral error". This adjustment process is time-consuming and results in low operating efficiency.

[0047] The inventors discovered that the problem arises because, during the process of moving the entire handling robot to eliminate "lateral error," the forks are positioned at a high position and the robot's swaying is uncontrollable, making it impossible to calculate the exact amount of movement. This requires the robot to move and adjust continuously, which is time-consuming and results in low operational efficiency.

[0048] To address the aforementioned technical problems, this application provides a forklift device, including a base plate 10, a displacement compensation mechanism 30, and a telescopic mechanism 20; the telescopic mechanism 20 includes two telescopic components, which are arranged opposite to each other on both sides of the base plate 10 along a first direction.

[0049] The displacement compensation mechanism 30 is connected to two telescopic components respectively. The displacement compensation mechanism 30 is configured to slide relative to the substrate 10 in a first direction and change the position of the telescopic mechanism 20 relative to the substrate 10 in the first direction.

[0050] By providing a displacement compensation mechanism 30 on the substrate 10, the displacement compensation mechanism 30 is connected to the telescopic mechanism 20, and the displacement compensation mechanism 30 can drive the telescopic mechanism 20 to slide relative to the substrate 10 in the first direction to adjust the position of the telescopic mechanism 20 relative to the substrate 10 in the first direction, thereby eliminating the "lateral error" so that the telescopic mechanism 20 can be aligned with the target warehouse position, and further transfer the material box between the handling robot and the warehouse rack to realize the outbound and inbound of the material box.

[0051] With this configuration, in this embodiment of the application, the displacement compensation mechanism 30 drives the telescopic mechanism 20 to move, thereby eliminating "lateral error". Its adjustment process is less affected by the shaking of the handling robot. The telescopic mechanism can be moved according to the specific error, and the position of the telescopic mechanism can be quickly adjusted to improve the efficiency of material box entry and exit.

[0052] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0053] To facilitate the description of the embodiments of this application, the coordinate system of the handling robot shown in Figures 1 and 2 in this state is first defined, wherein the X-axis direction is the first direction, which is defined as the direction in which the two telescopic components are arranged relative to each other; the Y-axis direction is the second direction, which is defined as the direction in which the telescopic mechanism extends or retracts, i.e. the picking direction; and the Z-axis direction is the third direction, which is defined as the height direction of the handling robot.

[0054] Referring to Figure 1, which is a schematic diagram of the overall structure of the handling robot provided in the embodiment of this application; in Figure 1, the X-axis direction is consistent with the left and right direction of the handling robot, and the Y-axis direction is consistent with the forward or backward direction of the handling robot.

[0055] As shown in Figure 1, the handling robot provided in this embodiment includes a mobile base 400, a walking mechanism (not shown), a lifting mechanism (not shown), a gantry 300, a fork assembly 100, and at least one storage compartment 200. The walking mechanism is located below the mobile base 400 and is used to move the mobile base 400. The walking mechanism includes multiple wheels and a drive device, which provides driving force to the wheels to make them rotate relative to the ground.

[0056] For example, the drive unit includes a drive motor connected to at least one walking wheel. The drive motor provides driving force to the walking wheel, enabling the mobile base 400 to move forward, backward, and turn; thereby allowing the handling robot to move to a warehouse shelf or other working position to complete the transfer of goods. It should be noted that the goods in this embodiment can be a material box 500 containing materials, and this embodiment is used as an example for illustration.

[0057] The mast 300 is mounted vertically on the movable base 400 along a third direction. The mast 300 includes two columns spaced apart along a first direction and vertically connected to the movable base 400. The mast 300 is used to install the storage positions 200 and the fork assembly 100. The storage positions 200 and the fork assembly 100 are arranged opposite each other on both sides of the mast 300 along a second direction. When the fork assembly 100 is opposite to the corresponding storage position 200, the hopper 500 can be temporarily stored in the storage position 200, that is, the storage position 200 is used to temporarily store the hopper 500.

[0058] For example, in this embodiment of the application, the handling robot includes multiple storage locations 200, which can be formed by horizontal storage plates installed on a gantry 300. The multiple storage locations 200 are sequentially spaced along a third direction on one side of the gantry 300, and a space for a material box 500 is formed between two adjacent storage locations 200. This arrangement allows the handling robot to transfer multiple material boxes 500 within a single stroke using the multiple storage locations 200, improving the robot's operational efficiency.

[0059] The fork assembly 100 is used to transfer the hopper 500 between the handling robot and the storage rack. The fork assembly 100 is slidably mounted on the mast 300 in a third direction. A lifting mechanism is mounted on the mast 300 and connected to the fork assembly 100, providing a driving force to the fork assembly 100 so that it can move up and down along the height of the mast 300. This configuration allows adjustment of the working height of the fork assembly 100, thereby enabling the retrieval and placement of hoppers 500 located at different heights on the storage rack.

[0060] Referring to Figures 2 to 4 and Figures 7 to 9, Figure 2 is a structural schematic diagram of the fork device provided in this application when the load-bearing mechanism is a slewing load-bearing plate; Figure 3 is a structural schematic diagram of the fork device provided in this application when the load-bearing mechanism is a slewing load-bearing frame; Figure 4 is a structural schematic diagram of the fork device shown in Figure 3 from another angle; Figure 7 is a structural schematic diagram of the fork device shown in Figure 2 after the telescopic motor is installed; Figure 8 is a structural schematic diagram of the fork device shown in Figure 3 after the telescopic motor is installed; and Figure 9 is a structural schematic diagram of the fork device shown in Figure 4 after the telescopic motor is installed.

[0061] As shown in Figures 2 to 4 and Figures 7 to 9, the fork device 100 in this embodiment includes a base plate 10, a displacement compensation mechanism 30, and a telescopic mechanism 20. The base plate 10 is used to support the displacement compensation mechanism 30 and the telescopic mechanism 20. The telescopic mechanism 20 includes two telescopic components. The two telescopic components are arranged opposite to each other on both sides of the base plate 10 along a first direction. The distance between the two telescopic components along the first direction is matched with the material box 500 so that the telescopic mechanism 20 can pick up and put down the material box 500.

[0062] Furthermore, the telescopic mechanism 20 extends in the same direction as the second direction, that is, the telescopic mechanism 20 extends and retracts along the second direction; when leaving the warehouse, the telescopic mechanism 20 can extend into the storage location of the storage rack and transfer the material box 500 from the storage rack to the storage location 200; when entering the warehouse, the telescopic mechanism 20 can extend into the storage location 200 and transfer the material box 500 from the storage location 200 to the storage rack.

[0063] The displacement compensation mechanism 30 is connected to two telescopic components respectively. The displacement compensation mechanism 30 is slidably mounted on the substrate 10 and can move relative to the substrate 10 along a first direction. When the displacement compensation mechanism 30 is activated, it can drive the telescopic mechanism 20 to move as a whole along the first direction and change the position of the telescopic mechanism 20 relative to the substrate 10 along the first direction.

[0064] For example, two telescopic components can be connected together by a displacement compensation mechanism 30 so that the telescopic components move synchronously relative to the substrate 10 in a first direction, and the telescopic function of each telescopic component in a second direction does not affect each other.

[0065] For example, as shown in Figures 2 and 4, each telescopic component includes an outer wall panel 21 and at least one telescopic wall panel 22, wherein the telescopic wall panel 22 is disposed inside the outer wall panel 21, the outer wall panel 21 is fixed relative to the displacement compensation mechanism 30, and the telescopic wall panel 22 can extend or retract relative to the outer wall panel 21 in a second direction. The two outer wall panels 21 are connected together through the displacement compensation mechanism 30. When the displacement compensation mechanism 30 is activated, the two outer wall panels 21 move synchronously in a first direction.

[0066] When the handling robot provided in this application is used to handle the entry and exit of high-level material boxes, and there is a misalignment between the telescopic mechanism 20 and the target storage location in the first direction (i.e., there is a "lateral error" between the telescopic mechanism 20 and the target storage location), the displacement compensation mechanism 30 can drive the telescopic mechanism 20 to slide as a whole relative to the base plate 10 in the first direction to adjust the position of the telescopic mechanism 20 relative to the base plate 10 in the first direction, thereby eliminating the "lateral error" between the telescopic mechanism 20 and the target storage location in the first direction, so that the telescopic mechanism 20 can be aligned with the target storage location, and further transfer the material box 500 between the handling robot and the storage rack to realize the entry and exit of the material box 500.

[0067] In related technologies, the position of the telescopic mechanism is adjusted by moving the entire handling robot, thereby eliminating the "lateral error" between the target warehouse and the telescopic mechanism. However, during this adjustment process, the shaking of the entire handling robot is uncontrollable, and the specific amount of movement cannot be calculated. This requires continuous movement and adjustment, which is time-consuming and affects efficiency.

[0068] However, in this embodiment, the displacement compensation mechanism 30 drives the telescopic mechanism 20 to move in order to eliminate the "lateral error". Its adjustment process is less affected by the shaking of the handling robot. The telescopic mechanism 20 can be moved according to the specific error, and the position of the telescopic mechanism 20 can be quickly adjusted to improve the efficiency of the material box 500 in and out of the warehouse.

[0069] Based on the above embodiments, as shown in Figure 4, the displacement compensation mechanism 30 provided in this application embodiment includes a support frame 31 and a front crossbeam 37 (which can be referred to as a support rod). The support frame 31 is a frame structure, also called a support frame. The support frame 31 is slidably mounted on the base plate 10, and the support frame 31 can slide relative to the base plate 10 along a first direction. The front crossbeam 37 is disposed on the support frame 31, and the front crossbeam 37 is used to connect the telescopic components located on both sides of the base plate, that is, the two ends of the front crossbeam 37 are respectively connected to the outer wall plates 21 of the two telescopic components.

[0070] Specifically, referring to Figures 5 and 12, Figure 5 is a schematic diagram of the displacement compensation mechanism arrangement in the forklift device shown in Figure 4; Figure 12 is a schematic diagram of the forklift device shown in Figure 9 after removing the telescopic mechanism on one side; as shown in Figures 5 and 12, the support frame 31 is used to carry the material box. For example, when leaving the warehouse, the material box 500 is transferred to the support frame 31 through the telescopic mechanism 20, and further transferred to the storage position 200. The support frame 31 can be a grid-shaped frame, and the support frame 31 includes two first support beams 311 and two second support beams 312. The two first support beams 311 are arranged above the two second support beams 312, and the first support beams 311 and the second support beams 312 are fixedly connected.

[0071] Furthermore, two first support beams 311 are spaced apart and parallel to each other along a first direction, and each first support beam 311 extends along a second direction. Two second support beams 312 are spaced apart and parallel to each other along the second direction, and each second support beam 312 extends along the first direction. Each second support beam 312 is slidably connected to the base plate 10 via a corresponding sliding component 38, so that the entire support frame 31 slides relative to the base plate 10 along the first direction.

[0072] The displacement compensation mechanism includes two front crossbeams 37, which are spaced apart on both sides of the support frame 31 along a second direction. Each front crossbeam 37 is located below a first support beam 311 and is connected to the two first support beams 311 respectively by fasteners. Along a first direction, both ends of the front crossbeams 37 are connected to the outer side panels 21 of the two telescopic components, so that the front crossbeams 37 can move with the support frame and drive the two telescopic components to move synchronously.

[0073] In one embodiment, referring to Figure 6, which is an enlarged schematic diagram of point A in Figure 5, each second supporting beam 312 is provided with a set of sliding components 38. Each sliding component 38 includes a slide rail 381 and multiple sliders 382 that cooperate with the slide rail 381. Along the first direction, the multiple sliders 382 are fixedly spaced on the base plate 10, and the multiple sliders 382 together support one slide rail 381. The slide rail 381 is slidably mounted on the multiple sliders 382 and extends along the first direction. The second supporting beam 312 is fixedly connected to the slide rail 381, that is, the slide rail 381 is connected to the bottom of the support frame 31. When the displacement compensation mechanism 30 is activated, it applies a driving force to the support frame 31, so that the support frame 31 slides relative to the base plate 10 along the first direction. This arrangement can increase the contact area between the support frame 31 and the sliding components 38, and improve the reliability and stability of the sliding of the support frame 31 relative to the base plate 10.

[0074] It should be noted that the sliding component 38 provided in this application embodiment is not limited to the above-described cooperation method of the slide rail 381 and multiple sliders 382. For example, the slide rail 381 is fixed on the base plate 10, the sliders 382 are slidably mounted on the slide rail 381, and the sliders 382 are connected to the bottom of the second supporting beam 312. This application embodiment does not limit this.

[0075] As shown in Figure 5, the displacement compensation mechanism 30 provided in this embodiment of the application further includes a drive mechanism 32 and a transmission component 33. The drive mechanism 32 is connected to the transmission component 33, and the drive mechanism 32 is used to provide a driving force to the transmission component 33. The transmission component 33 is configured to drive the two telescopic components to move synchronously along the first direction under the action of this driving force.

[0076] As exemplarily shown in Figures 3 and 5, the transmission assembly 33 includes a driving wheel 331, a driven wheel 332, and a synchronous belt 333. The drive mechanism 32 is connected to the driving wheel 331, and both the drive mechanism 32 and the driving wheel 331 are disposed on the outer side wall plate 21 of one telescopic assembly and are located outside the outer side wall plate 21. The driven wheel 332 is disposed on the outer side wall plate 21 of another telescopic assembly and is located outside the outer side wall plate 21.

[0077] Furthermore, in the embodiments of this application, the driven wheel 332 and the driving wheel 331 are arranged opposite to each other along the first direction, and the synchronous belt 333 is wound around the driven wheel 332 and the driving wheel 331.

[0078] As shown in Figure 5, the base plate 10 is also provided with a toothed plate fixing assembly 34. The first end of the synchronous belt 333 is connected to the toothed plate fixing assembly 34, and the second end of the synchronous belt 333 is wound around the driving wheel 331 and the driven wheel 332 and connected to the toothed plate fixing assembly 34. That is, the first end and the second end of the synchronous belt 333 are respectively connected to the toothed plate fixing assembly 34. When the drive mechanism 32 is activated, the synchronous belt 333 can drive the entire two telescopic mechanisms 20 to move relative to the base plate 10 in the first direction.

[0079] As shown in Figures 3 to 5, the drive motor 321 end and the driven wheel 332 end of the transmission assembly 33 are respectively fixed to the outer side panels 21 on the left and right sides. The synchronous belt 333 is sleeved on the drive wheel 331 and the driven wheel 332, and is clamped into a ring by the toothed plate fixing assembly 34. The toothed plate fixing assembly 34 is fixed to the base plate 10. In this way, the drive motor 321 rotates, driving the synchronous belt 333 to move, which in turn drives the telescopic mechanism 20 and the support frame 31 to move on the slide rail 381.

[0080] For ease of describing the embodiments of this application, the two telescopic components are defined as a first telescopic component and a second telescopic component, respectively, wherein the outer side wall panel 21 of the first telescopic component is defined as a first outer side wall panel, and the outer side wall panel 21 of the second telescopic component is defined as a second outer side wall panel.

[0081] Referring to Figures 4 and 5, as shown in Figures 4 and 5, the drive mechanism 32 includes a drive motor 321 and a reducer 322 connected thereto. The drive motor 321, the reducer 322, and the drive wheel 331 are all located on the outer side of the first outer wall panel. The drive motor 321 and the reducer 322 are mounted above the drive wheel 331 via mounting bases. The drive wheel 331 is mounted on the first outer wall panel via a mounting plate. The drive motor 321 is connected to the drive wheel 331 via the reducer 322.

[0082] Furthermore, the driven wheel 332 is connected to the outer side of the second outer side wall panel via a mounting plate. The driven wheel 332 and the driving wheel 331 are opposite each other in the first direction, and the driven wheel 332 and the driving wheel 331 are at the same height. The toothed plate fixing assembly 34 includes a toothed plate clamping member and a fixing seat. The fixing seat is fixedly connected to the base plate 10, and the toothed plate clamping member is connected to the fixing seat. The first end of the synchronous belt 333 is connected to the toothed plate clamping member and is clamped by the toothed plate clamping member; the second end of the synchronous belt 333 is wound around the driving wheel 331 and the driven wheel 332, and the second end of the synchronous belt 333 is further connected to the toothed plate clamping member and is clamped by the toothed plate clamping member.

[0083] It is understood that the transmission component in this embodiment can also be a ball screw, which is driven by a drive motor to rotate, and the ball screw is connected to the first outer wall plate and the second outer wall plate respectively to achieve synchronous movement.

[0084] Preferably, in this embodiment, the displacement compensation mechanism adopts a synchronous belt drive. Compared with the ball screw driving the telescopic mechanism in related technologies, the displacement compensation mechanism in this embodiment has a simple structure, is easy to lay out, and has good applicability.

[0085] As shown in Figure 6, the fork device 100 in this embodiment of the application also includes a photoelectric sensor 35 and a photoelectric sensing sheet 36.

[0086] The photoelectric sensor 35 is mounted on the support frame 31 and moves along the first direction with the support frame 31. The photoelectric sensing sheet 36 is mounted on the substrate 10 and is located on the moving path of the photoelectric sensor 35. The photoelectric sensing sheet 36 extends along the first direction, and its extension direction is consistent with the moving direction of the photoelectric sensor 35.

[0087] For example, the support frame 31 includes two first support beams 311 and two second support beams 312 arranged in a grid pattern. The first support beams 311 are arranged along a second direction, and the second support beams 312 are arranged along a first direction. The photoelectric sensor 35 can be installed on one side of the first support beam 311 and positioned close to the photoelectric sensing sheet 36.

[0088] The sensing direction of the photoelectric sensor 35 is consistent with the second direction, and the photoelectric sensing sheet 36 extends in the first direction, and its extension direction is opposite to the sensing direction of the photoelectric sensor 35.

[0089] For example, the sensing direction of the photoelectric sensor 35 is perpendicular to the extension direction of the photoelectric sensor 36. It is understood that the extension length of the photoelectric sensor 36 in the first direction is greater than or equal to the "lateral error" between the telescopic mechanism 20 and the target compartment, in order to meet the adjustment requirements of the telescopic mechanism 20.

[0090] Furthermore, the photoelectric sensor 36 is provided with a zero point. When the photoelectric sensor 35 is aligned with the zero point, the telescopic mechanism 20 moves to its initial position. At this time, the telescopic mechanism 20 is opposite to the storage position 200, and the two are aligned along the first direction. That is, when the telescopic mechanism 20 is in its initial position, along the first direction, the centerline of the telescopic mechanism 20 is directly aligned with the centerline of the storage position 200. Alternatively, in some states, the telescopic mechanism 20 is directly aligned with the target storage position.

[0091] It is understood that, referring to Figure 10, which is a structural schematic diagram of the telescopic mechanism of the fork device shown in Figure 9 in the extended state; as shown in Figure 10, the handling robot in this embodiment of the application also includes a control unit and an image acquisition device 60 connected thereto. The image acquisition device 60 can be set on the support frame 31, and along the second direction, the image acquisition device 60 is located at the front end of the support frame 31.

[0092] For example, the image acquisition device 60 includes a camera module, which is mounted on two first support beams 311 via a mounting bracket. The image acquisition device 60 is located between the two first support beams 311. The camera module can take pictures of the target compartment to obtain the "lateral error" between the target compartment and the telescopic mechanism 20, and transmit it to the control unit. The control unit controls the displacement compensation mechanism 30 to adjust the position of the telescopic mechanism 20 based on the "lateral error" and the initial position of the telescopic mechanism 20.

[0093] The control unit is signal-connected to the photoelectric sensor 35 and the photoelectric sensing plate 36. During the movement of the telescopic mechanism 20, the photoelectric sensor 35 is configured to scan the photoelectric sensing plate 36, thereby allowing the control unit to obtain the displacement of the photoelectric sensor 35. This displacement can be the distance between the zero point and the end point of the photoelectric sensor 35. When the telescopic mechanism 20 completes the picking up of goods, it needs to return to the zero point. That is, when the photoelectric sensor 35 aligns with the zero point, the telescopic mechanism 20 stops moving to achieve a reset, facilitating subsequent readjustment of the telescopic mechanism 20.

[0094] With this configuration, the forklift device 100 in this embodiment is equipped with a photoelectric sensor 35 and a photoelectric sensor 36. The displacement compensation mechanism can be used to precisely adjust the "lateral error" between the telescopic mechanism 20 and the target bin, which can quickly eliminate the lateral error and improve adjustment efficiency and operating efficiency.

[0095] As shown in Figure 3, the forklift device 100 in this embodiment of the application is equipped with signal lines and other cables. To avoid tangling of the signal lines and cables and to ensure neat wiring, the forklift device 100 in this embodiment of the application also includes a bracket 41 and a cable carrier 40. The cable carrier 40 is flexible and bendable, and is used to thread cables or fix cables to the cable carrier 40. The bracket 41 is used to fix the cable carrier 40. The bracket 41 is mounted on the base plate 10 and is connected to the cable carrier 40 so that the cable carrier 40 is fixed to the base plate 10 through the bracket 41.

[0096] To further improve the operating efficiency of the handling robot, the fork device 100 provided in this application embodiment also includes a carrying mechanism and a rotating mechanism; wherein the rotating mechanism is disposed between the carrying mechanism and the base plate 10, and the base plate 10 is rotatably connected to the rotating mechanism, and the rotating mechanism can drive the base plate 10 to rotate relative to the carrying mechanism.

[0097] For example, the carrying mechanism may be a rotary bearing plate 51, and the rotary mechanism includes a rotating disk; the base plate 10 is disposed above the rotary bearing plate 51, and the base plate 10 is rotatably connected to the rotary bearing plate 51 through the rotating disk. It should be noted that the rotary mechanism also includes, but is not limited to, a drive motor and a transmission mechanism connected thereto, and is connected to the rotating disk through the transmission mechanism to drive the base plate 10 to rotate, thereby realizing the rotation of the entire forklift device 100.

[0098] Referring to Figure 11, which is a structural schematic diagram of the fork assembly shown in Figure 9 from another angle; as shown in Figure 11, in some other embodiments, depending on installation requirements, the supporting mechanism can also be a slewing support frame 52. The embodiments of this application do not limit the structure of the supporting mechanism. The slewing support frame 52 is configured as the supporting structure of the entire fork assembly 100. The slewing mechanism is disposed on one side of the slewing support frame 52, and the other side of the slewing support frame 52 is slidably mounted on the mast 300 so that, under the action of the lifting mechanism, the entire fork assembly 100 can be moved upward and downward along a third direction.

[0099] The slewing mechanism includes a rotary disk 54; the base plate 10 is disposed above the slewing support frame 52, and the base plate 10 is rotatably connected to the slewing support frame 52 via the rotary disk 54. It should be noted that the slewing mechanism also includes, but is not limited to, a slewing motor 53, a rotary reducer 55, and a transmission mechanism connected thereto, such as a synchronous pulley or synchronous belt, and is connected to the rotary disk 54 via the transmission mechanism and the rotary reducer 55 to drive the base plate 10 to rotate, thereby realizing the rotation of the entire forklift device 100.

[0100] When using the handling robot provided in this application embodiment to pick up and place high-level material boxes, the so-called high-level material boxes can be material boxes that are relatively high above the ground, such as material boxes with a picking height greater than 7m. The process of picking up and placing material boxes by the handling robot is described in detail below:

[0101] Under the action of the lifting mechanism, the fork device 100 rises along the mast 300 to the height of the target warehouse, and under the action of the slewing mechanism, the fork device 100 rotates 90° so that the telescopic mechanism 20 is opposite to the target warehouse.

[0102] Furthermore, the image acquisition device 60 acquires images and transmits them to the control unit of the handling robot. The control unit analyzes the images to determine whether the telescopic mechanism is aligned with the target compartment. For example, if the telescopic mechanism is aligned with the target compartment, no adjustment or compensation is made to the position of the telescopic mechanism 20.

[0103] Referring to Figures 5 and 12 to 15, Figure 13 is a structural schematic diagram of the fork extension mechanism of the fork device shown in Figure 12 in the extended state; Figure 14 is a structural schematic diagram of the fork device shown in Figure 9 after removing the extension mechanism on the other side; Figure 15 is a structural schematic diagram of the fork extension mechanism of the fork device shown in Figure 14 in the extended state.

[0104] As shown in Figures 5 and 12 to 15, the telescopic wall panel 22 is also commonly referred to as a telescopic fork arm. Each telescopic fork arm can be a primary telescopic fork arm and a secondary telescopic fork arm, or it can be referred to as a primary telescopic fork plate 221 and a secondary telescopic fork plate 222.

[0105] Each telescopic mechanism 20 also includes a telescopic driving wheel 23 and a telescopic driven wheel 24. A telescopic synchronous belt 25 is sleeved between the telescopic driving wheel 23 and the telescopic driven wheel 24. The telescopic driving wheel 23 is connected to the output shaft of the telescopic motor 26. The telescopic motor 26 drives the telescopic driving wheel 23 to rotate, and the telescopic driving wheel 23 drives the telescopic driven wheel 24 to rotate through the telescopic synchronous belt 25.

[0106] The telescopic synchronous belt 25 is fixedly connected to the first-stage telescopic fork plate 221 via the transmission tooth plate 27; the movement of the telescopic synchronous belt 25 drives the first-stage telescopic fork plate 221 to extend and retract relative to the outer wall plate 21 via the transmission tooth plate 27.

[0107] The telescopic driving pulley 23 and the telescopic driven pulley 24 can also be provided with retaining edges to limit the telescopic driving pulley 23 and the telescopic driven pulley 24 and prevent the telescopic timing belt 25 from deviating from the telescopic driving pulley 23 and the telescopic driven pulley 24.

[0108] The outer side of the first telescopic fork plate 221 is provided with a first slider, and the outer wall plate 21 is provided with a first slide rail 211 at the position corresponding to the first slider. The first slider and the first slide rail 211 cooperate to realize the sliding connection between the first telescopic fork plate 221 and the outer wall plate 21. The first telescopic fork plate 221 extends and retracts relative to the outer wall plate 21 along the first slide rail 211.

[0109] As shown in Figures 5 and 12 to 15, a second slide rail 2211 is provided on the inner side of the first-stage telescopic fork plate 221, and a second slider is provided at the position corresponding to the second slide rail 2211 of the second-stage telescopic fork plate 222. The second slide rail 2211 and the second slider cooperate to realize the sliding connection between the second-stage telescopic fork plate 222 and the first-stage telescopic fork plate 221. The second-stage telescopic fork plate 222 extends and retracts relative to the first-stage telescopic fork plate 221 along the second slide rail 2211.

[0110] The telescopic drive wheels 23 of the two telescopic components are connected by a telescopic transmission shaft 28. The telescopic wall panels on the left and right sides move together and output telescopic power through the same telescopic motor to ensure the consistency of the telescopic extension and retraction of the two telescopic wall panels 22.

[0111] Therefore, the first-stage telescopic fork plate 221 can extend and retract relative to the outer wall plate 21, and the second-stage telescopic fork plate 222 can extend and retract relative to the first-stage telescopic fork plate 221. The distance that the telescopic wall plate 22 extends and retracts relative to the outer wall plate 21 is: the distance that the first-stage telescopic fork plate 221 extends and retracts relative to the outer wall plate 21 plus the distance that the second-stage telescopic fork plate 222 extends and retracts relative to the first telescopic wall plate 22.

[0112] As shown in Figure 10, a guide mounting plate 29 is also connected to the bottom of the outer wall panel 21. The inner side of the guide mounting plate 29 contacts one side of the telescopic synchronous belt 25. The guide mounting plate 29 provides motion guidance for moving the material box into the actuator, i.e., the fork device, and plays a limiting role for the material box.

[0113] As shown in Figure 10, the front end of the secondary telescopic fork plate 222 is also equipped with a front fork 70. When the material box is being taken out or put into storage, the front fork 70 can rotate inward to hook the two sides of the material box. Then the telescopic wall plate 22 retracts to move the material box onto the carrier inside the fork device. Then the fork device is rotated to align with the storage position of the handling robot. The telescopic wall plate 22 extends and pushes the material box onto the storage position through the rear fork 80. After completion, the telescopic wall plate 22 retracts, the fork device rotates to align with the storage rack, and is ready to perform the second picking action.

[0114] As shown in Figure 8, the telescopic motor 26 can be installed on the outside of the outer wall panel 21 via the telescopic motor mounting bracket.

[0115] Referring to Figure 16, Figure 16 is a schematic diagram of the working process of the displacement compensation mechanism driving the telescopic mechanism to translate in the handling robot of this application embodiment; as shown in Figure 16, if the telescopic mechanism 20 is not aligned with the target compartment, the displacement compensation mechanism 30 is activated, the drive motor of the displacement compensation mechanism 30 rotates, and the telescopic mechanism 20 is moved relative to the base plate 10 so that the telescopic mechanism 20 is aligned with the target compartment.

[0116] Referring to Figure 17, which is a schematic diagram of the working process of the telescopic mechanism of the handling robot according to an embodiment of this application transferring the material box to the target bin; as shown in Figure 17, after the telescopic mechanism 20 is aligned with the target bin, the telescopic mechanism 20 begins to extend and retract, and the telescopic wall panel 22 extends into the target bin, transferring the material box 500 to the target bin. Further, after the material box 500 is placed in the target bin, the telescopic wall panel 22 of the telescopic mechanism 20 is retracted; then, the drive motor of the displacement compensation mechanism 30 rotates in the opposite direction to move the telescopic mechanism 20 to the initial position, that is, the displacement compensation mechanism 30 returns to the zero point position.

[0117] Furthermore, under the action of the slewing mechanism, the fork assembly 100 rotates 90° in the opposite direction, so that the extension mechanism of the fork assembly 100 is aligned with the storage location 200, which can further transfer the material box in the storage location 200 to the target location. For the process of taking the material box out of the storage rack, please refer to the above process, which will not be repeated here.

[0118] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0119] It should be noted that the embodiments referred to in the specification, such as "one embodiment," "embodiment," "exemplary embodiment," and "some embodiments," may include specific features, structures, or characteristics, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0120] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "one" or "many" can also be understood to convey either singular or plural usage.

[0121] In addition, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," "above," etc., may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatial relative terms are intended to include different orientations of the device in use or operation other than those shown in the figures.

[0122] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A forklift device, characterized in that, Includes a base plate, a displacement compensation mechanism, and a telescopic mechanism; The telescopic mechanism includes two telescopic components, which are arranged opposite to each other on both sides of the substrate along a first direction; The displacement compensation mechanism is connected to the two telescopic components respectively. The displacement compensation mechanism is configured to slide relative to the substrate in a first direction and change the position of the telescopic mechanism relative to the substrate in the first direction.

2. The forklift device according to claim 1, characterized in that, The displacement compensation mechanism includes a support frame and a front crossbeam; The support frame is slidably mounted on the substrate and slides relative to the substrate along a first direction; The front crossbeam is mounted on the support frame and moves with the support frame; both ends of the front crossbeam are connected to the two telescopic components respectively.

3. The forklift device according to claim 2, characterized in that, The displacement compensation mechanism also includes a drive mechanism and a transmission assembly; The drive mechanism is connected to the transmission assembly, which is configured to drive the two telescopic components to move synchronously along a first direction.

4. The forklift device according to claim 3, characterized in that, The telescopic assembly includes an outer wall panel; The transmission assembly includes a driving wheel, a driven wheel, and a synchronous belt. The drive mechanism and the driving wheel are respectively disposed on one of the outer side panels, and the drive mechanism is connected to the driving wheel. The driven wheel is disposed on another outer wall panel, and the driven wheel and the driving wheel are disposed opposite to each other along a first direction; The base plate is provided with a toothed plate fixing assembly. One end of the timing belt is connected to the toothed plate fixing assembly, and the other end of the timing belt is wound around the driving wheel and the driven wheel and connected to the toothed plate fixing assembly.

5. The forklift device according to claim 4, characterized in that, The displacement compensation mechanism includes two front crossbeams; Along the second direction, the two front crossbeams are spaced apart on both sides of the support frame; Each of the front crossbeams extends along a first direction, and each end of the front crossbeam is connected to one of the two outer side panels.

6. The forklift device according to claim 2, characterized in that, The displacement compensation mechanism also includes a slide rail and multiple sliders; The slide rail is slidably mounted on the slider, and the slide rail extends along a first direction; The slide rail is connected to the bottom of the support frame, and the slider is connected to the base plate.

7. The forklift device according to any one of claims 2 to 6, characterized in that, The displacement compensation mechanism also includes a photoelectric sensor and a photoelectric sensing sheet; The photoelectric sensor is mounted on the support frame and moves along the first direction with the support frame; The photoelectric sensor is disposed on the substrate, extends along a first direction and is located on the moving path of the photoelectric sensor, and the photoelectric sensor is provided with a zero point. The photoelectric sensor is configured to scan the photoelectric sensing sheet, and when the photoelectric sensor moves to the zero point, the telescopic mechanism is in the initial position.

8. The forklift device according to claim 1, characterized in that, The forklift assembly also includes a support frame and a cable chain; The cable chain has flexibility and is used for threading cables; The cable chain is mounted on the bracket, and the bracket is fixed on the base plate.

9. The forklift device according to claim 1, characterized in that, The forklift assembly also includes a load-bearing mechanism and a slewing mechanism; The rotating mechanism is disposed between the supporting mechanism and the substrate, the rotating mechanism is rotatably connected to the substrate, and the rotating mechanism is configured to drive the substrate to rotate relative to the supporting mechanism.

10. A transport robot, characterized in that, Includes a mast, a movable base, at least one storage compartment, and a fork assembly as described in any one of claims 1 to 9; The mast is mounted on the movable base along the third direction, and the fork assembly is slidably mounted on the mast along the third direction. The storage compartment is used to hold the material box, and the storage compartment and the fork assembly are arranged opposite to each other on both sides of the mast along the second direction; The extension and retraction direction of the fork extension mechanism is consistent with the second direction.

11. The handling robot according to claim 10, characterized in that, The transport robot includes a lifting mechanism and multiple storage locations; The lifting mechanism is mounted on the mast and drives the fork assembly to move in a third direction; Multiple storage locations are spaced apart on the gantry along a third direction.

12. The handling robot according to claim 10, characterized in that, When the telescopic mechanism is in its initial position, its centerline is aligned with the centerline of the storage space along the first direction.

Images