Handling robot

Abstract

A handling robot comprises forks (20). Each fork (20) comprises a fork arm assembly (22), a load-bearing wheel assembly (23) disposed on the fork arm assembly (22), and a load-bearing wheel driving assembly disposed corresponding to the load-bearing wheel assembly (23), wherein the load-bearing wheel assembly (23) is hinged to the fork arm assembly (22), the load-bearing wheel driving assembly comprises a first driving assembly and an elastic driving assembly (50), the first driving assembly is capable of driving the load-bearing wheel assembly (23) to rotate about a hinge center of the load-bearing wheel assembly (23) on the fork arm assembly (22), so that the load-bearing wheel assembly (23) swings to an extended state in which a load-bearing wheel (232) of the load-bearing wheel assembly (23) extends out of the fork arm assembly (22) and thus the elastic driving assembly (50) stores energy, and the elastic driving assembly (50) is capable of, after the stored energy is released, driving the load-bearing wheel assembly (23) to reset from the extended state to a retracted state in which the load-bearing wheel of the load-bearing wheel assembly (23) retracts into the fork arm assembly (22), and it maintains the load-bearing wheel assembly (23) in the retracted state. The handling robot is capable of automatically retracting the load-bearing wheel.

Description

A carrying robot

[0001] The present application claims priority to the Chinese patent application No. 202422687754.0, filed on November 4, 2024, and entitled "A carrying robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of carrying robots, in particular to a carrying robot for carrying a cross-shaped pallet. BACKGROUND

[0003] In industrial production, there are various types of carrying robots. When carrying standardized pallets (such as cross-shaped pallets), the fork arms of the carrying robot need to be inserted into the holes of the cross-shaped pallets due to the special structure of the pallets.

[0004] The carrying robot for carrying cross-shaped pallets in the prior art generally has a telescopic load wheel assembly on the fork arm assembly. The load wheel assembly extends the fork arms or retracts the fork arms as needed during use to adapt to the carrying of cross-shaped pallets. However, the telescopic structure of the load wheel in the prior art is relatively complex, increasing the production and use costs. SUMMARY

[0005] The present application aims to solve one of the technical problems in the related art to some extent. To this end, the present application provides a carrying robot, which optimizes the structure of the carrying robot and reduces the production and use costs.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] A carrying robot, comprising a fork, the fork comprising a fork arm assembly, a load wheel assembly arranged on the fork arm assembly, and a load wheel driving assembly arranged correspondingly to the load wheel assembly, the load wheel assembly being hinged on the fork arm assembly, characterized in that the load wheel driving assembly comprises a first driving assembly and an elastic driving assembly, the first driving assembly being capable of driving the load wheel assembly to rotate around the hinge center of the load wheel assembly on the fork arm assembly, so as to swing the load wheel assembly to an extended state in which the load wheels of the load wheel assembly extend out of the fork arm assembly, and to store the elastic driving assembly, the elastic driving assembly being capable of driving the load wheel assembly to reset from the extended state to a retracted state in which the load wheels of the load wheel assembly are retracted into the fork arm assembly, and maintaining the load wheel assembly in the retracted state by releasing the stored energy.

[0008] In the technical solution, the bearing wheel driving assembly is designed to drive the bearing wheel assembly to extend into or retract from the fork arm assembly, so as to adapt to the carrying requirement of the cross-shaped supporting plate, wherein the bearing wheel driving assembly in the technical solution comprises a first driving assembly for driving the bearing wheel to extend and an elastic driving assembly matched with the first driving assembly, the elastic driving assembly can drive the bearing wheel to retract, so that the extension and retraction process of the bearing wheel are driven by two different structures in the design, the driving structure of the bearing wheel is optimized, each structure can be designed separately in actual arrangement, so that the complexity of a single mechanism can be greatly reduced, and the design and production costs are reduced; and the bearing wheel can be automatically retracted under the action of the force storage and release of the elastic driving assembly in the retraction process, the convenience of use is improved, and the structural layout of each component is more simple.

[0009] Further, the carrying robot comprises a vehicle body, the forks are arranged on the vehicle body, and the forks can be lifted along the vehicle body, the first driving assembly comprises a driving member and a transmission member, the transmission member is arranged on the fork arm assembly, a first end of the driving member is hingedly connected to the forks, a second end of the driving member is in contact with the vehicle body, one end of the transmission member is hingedly connected to the driving member, and the other end of the transmission member is hingedly connected to the bearing wheel assembly; the elastic driving assembly is connected between the fork arm assembly and the first driving assembly; in the lifting process of the fork arm assembly, the driving member drives the transmission member to move towards the end of the fork arm assembly under the driving of the fork arm assembly and the limiting action of the vehicle body, and the elastic driving assembly is charged.

[0010] The lifting action of the forks can be associated with the extension or retraction state of the bearing wheel assembly through the driving member and the transmission member, so as to improve the compactness of the overall structure of the carrying robot. The structure of the driving member in rotational connection can adapt to the requirement of driving the bearing wheel assembly to extend or retract in different directions, and the volume of the component is reduced, so that the arrangement is facilitated.

[0011] Further, the vehicle body comprises a vehicle frame, a pushing sliding block arranged on the bottom surface of the vehicle frame, and a fork mounting rack arranged on the load bearing surface of the vehicle frame, the bottom surface being opposite to the load bearing surface, the fork arm assembly being slidably arranged on the fork mounting rack, and the pushing sliding block being slidably arranged on the bottom of the vehicle frame; during the lifting of the fork arm assembly, the second end of the driving member can be in contact with and limited by the bottom surface of the pushing sliding block, so that the second end of the driving member can slide along the bottom surface of the pushing sliding block; the side surface of the pushing sliding block facing the fork arm assembly is a slope surface, the second end of the driving member can slide along the slope surface to the bottom surface of the pushing sliding block when the pushing sliding block moves towards the fork arm assembly, and the driving member can drive the transmission member to move towards the end of the fork arm assembly and store power in the elastic driving assembly. The pushing sliding block not only serves as a limiting member for the rotation of the driving member during the lifting of the fork, but also drives the rotation of the driving member by sliding itself, thereby providing another power source for the driving member and achieving the telescopic requirement of the load bearing wheel assembly in more working conditions.

[0012] Further, the driving member comprises a swing hinge part, a limiting guide part and a guide roller, the first end of the swing hinge part is formed as the first end of the driving member, the first end of the limiting guide part is fixedly connected with the second end of the swing hinge part, the guide roller is arranged at the second end of the limiting guide part, the guide roller is formed as the second end of the driving member, the limiting guide part extends towards the direction away from the fork arm assembly, so that the guide roller is in contact with the pushing sliding block, and the second end of the swing hinge part is hingedly connected with the transmission member. Through the structural arrangement of the driving member, the structural strength of the driving member is improved, and the driving member can be in rolling contact with the vehicle body, thereby reducing the damage risk of the driving member caused by frequent operation in use and prolonging the service life of the driving member.

[0013] Further, the vehicle frame further comprises a linear driving unit arranged at the back of the vehicle frame body, an output end of the linear driving unit being connected with the pushing slider to drive the pushing slider to linearly reciprocate at the back of the vehicle frame body; the pushing slider has a first position close to the fork arm assembly and a second position away from the fork arm assembly; when the pushing slider is at the first position, the driving member abuts against the bottom surface of the pushing slider and forms the limiting effect; when the pushing slider is at the second position, the driving member abuts against the inclined surface of the pushing slider; during the sliding process of the pushing slider from the second position to the first position, the pushing slider drives the driving member to rotate through the inclined surface, and the rotation of the driving member drives the transmission member to move towards the end of the fork arm assembly and makes the elastic driving assembly store the force. By arranging the first position and the second position of the pushing slider, the switching of different working states can be realized.

[0014] Further, the vehicle frame further comprises a first sensor and a second sensor arranged at the vehicle frame body, the first sensor corresponding to the first position of the pushing slider and the second sensor corresponding to the second position of the pushing slider, the first sensor and the second sensor being used to send corresponding arrival signals when the pushing slider reaches the corresponding position. The actual position of the pushing slider can be accurately known, and the control of the action of the carrying robot by the master control system is facilitated.

[0015] Further, the fork arm assembly comprises an adapter plate and a fork arm body, the adapter plate being arranged at one end of the fork arm body, the bottom of the fork arm body being formed with a receiving groove, the hinging center of the carrying wheel assembly and the fork arm assembly being located in the receiving groove, the swinging of the carrying wheel assembly around the hinging center of the carrying wheel assembly and the fork arm assembly being capable of making the carrying wheels of the carrying wheel assembly extend out of or retract into the receiving groove, the first driving assembly comprising a driving member and a transmission member, the transmission member comprising a first end arranged in the receiving groove and hinged with the carrying wheel assembly, and a second end extending in the direction of the vehicle body of the carrying robot along the receiving groove, the second end of the transmission member being hinged with the driving member, the elastic driving assembly being arranged in the receiving groove and being capable of storing or releasing the force in the receiving groove.

[0016] Further, the fork arm body comprises a top plate and protruding side plates arranged at the bottom of two side edges of the top plate, the top plate and the side plates jointly defining the receiving groove, the elastic driving assembly being arranged in the receiving groove and being connected between the outer side wall of the transmission member and the inner side wall of the receiving groove.

[0017] Further, the elastic driving assembly comprises a first connecting end, a second connecting end and an elastic force storage part connecting the first connecting end and the second connecting end, the elastic force storage part can store force when the load wheel of the load wheel assembly extends out of the fork arm assembly, and can release the stored force when the load wheel of the load wheel assembly retracts into the fork arm assembly, the inner side wall of the side plate is provided with a plurality of protruding first connecting columns, the two opposite side walls of the transmission part are respectively provided with a plurality of protruding second connecting columns corresponding to the first connecting columns one by one, the first connecting end of the elastic driving assembly is connected with the first connecting columns, and the second connecting end of the elastic driving assembly is connected with the second connecting columns.

[0018] Further, the load wheel assembly comprises a load wheel support and a load wheel arranged on the load wheel support, the load wheel support comprises a third pivot connecting part pivotally connected with the inner wall of the accommodating groove and a fourth pivot connecting part pivotally connected with the transmission part, the third pivot connecting part and the fourth pivot connecting part are spaced apart, and the load wheel support rotates around the third pivot connecting part under the pushing and pulling action of the transmission part, so that the load wheel extends out of or retracts into the accommodating groove. The components in the accommodating groove are hidden, the overall appearance is improved, the stability of installation is improved, and the force storage process and the force release process of the elastic driving assembly are more stable.

[0019] Further, the fork comprises a connecting frame, a caster assembly and two fork arm assemblies arranged on the connecting frame and spaced apart, the connecting frame extends along the height direction of the carrying robot, the fork arm assemblies are fixed at the bottom of the connecting frame through the adapter plates and extend along the horizontal direction of the carrying robot in front of the carrying robot, the caster assembly is arranged at the bottom of the connecting frame, the bottom of the caster assembly protrudes from the bottom surface of the fork arm assemblies, and the fork is liftable installed on the fork mounting frame through the connecting frame.

[0020] Further, the vehicle body comprises a double-acting driving oil cylinder arranged on the vehicle frame and a plurality of second guide rails, the plurality of second guide rails are arranged on the fork mounting frame along the height direction of the vehicle body, both sides of the connecting frame are provided with pulleys, the connecting frame is slidably arranged on the second guide rails through the pulleys, and the output end of the double-acting driving oil cylinder is connected with the connecting frame and can drive the connecting frame to ascend and descend along the second guide rails in the height direction of the vehicle body.

[0021] Further, the elastic driving assembly is a spring.

[0022] The features and advantages of the present application will be more apparent from the following detailed description along with the accompanying drawings in which: The features, elements and components shown in the following detailed description and in the accompanying drawings are intended to provide illustrations of some embodiments of the present application and are not intended to be limiting. Like reference numerals can be used to denote like elements throughout the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0024] Fig. 1 is a bottom view of a carrying robot according to an embodiment of the present application;

[0025] Fig. 2 is an enlarged view of a portion of Fig. 1;

[0026] Fig. 3 is a view of a carrying wheel assembly according to an embodiment of the present application;

[0027] Fig. 4 is an enlarged view of a portion of Fig. 3;

[0028] Fig. 5 is a view of a carrying wheel assembly according to an embodiment of the present application;

[0029] Fig. 6 is a view of a carrying wheel assembly according to an embodiment of the present application;

[0030] Fig. 7 is a view of a carrying fork according to an embodiment of the present application;

[0031] Fig. 8 is an enlarged view of a portion of Fig. 7;

[0032] Fig. 9a is a view of a carrying robot according to an embodiment of the present application;

[0033] Fig. 9b is a bottom view of a pallet according to an embodiment of the present application;

[0034] Fig. 9c is a view of a carrying robot according to an embodiment of the present application;

[0035] Fig. 9d is a bottom view of a carrying robot according to an embodiment of the present application;

[0036] Fig. 10 is an enlarged view of a portion of Fig. 9a;

[0037] Fig. 11 is a front view of a carrying robot according to an embodiment of the present application;

[0038] Fig. 12a is a structure diagram of the inside of the rear side of the vehicle body of the carrying robot according to an embodiment of the present application;

[0039] Fig. 12b is a structure diagram of the inside of the rear side of the vehicle body of the carrying robot according to an embodiment of the present application, without showing the frame;

[0040] Fig. 12c is a structure diagram of the inside of the rear side of the vehicle body of the carrying robot according to an embodiment of the present application, without showing the fork mounting frame;

[0041] Fig. 13 is a structure diagram of the driving member according to an embodiment of the present application;

[0042] Fig. 14a is a position relationship diagram of the second power unit, the transmission member and the load wheel assembly according to an embodiment of the present application;

[0043] Fig. 14b is a structure diagram of the transmission member according to an embodiment of the present application;

[0044] Fig. 15 is a partial structure diagram of the push slider according to an embodiment of the present application.

[0045] In the figures, 10 is the vehicle body, 11 is the frame, 12 is the first sensor, 13 is the second sensor, 14 is the driving wheel, 15 is the linear driving unit, 16 is the first guide rail, 17 is the push slider, 171 is the inclined surface, 172 is the first plane, 173 is the baffle, 18 is the fork mounting frame, 20 is the fork, 21 is the connecting frame, 22 is the fork arm assembly, 221 is the top plate, 222 is the side plate, 2221 is the first connecting column, 223 is the accommodating groove, 225 is the adapter plate, 226 is the first avoiding hole, 227 is the second avoiding hole, 23 is the load wheel assembly, 231 is the load wheel support, 232 is the load wheel, 24 is the caster assembly, 30 is the driving member, 301 is the support plate, 302 is the rib plate, 303 is the first pivot connection part, 304 is the second pivot connection part, 305 is the guide roller, 306 is the swing hinge part, 307 is the limiting guide part, 31 is the transmission member, 310 is the sleeve, 311 is the second connecting column, 50 is the elastic driving assembly, 60 is the double-acting driving oil cylinder, 61 is the second guide rail, 70 is the T-shaped tray, 71 is the fork entering hole, and 72 is the extending hole. DETAILED DESCRIPTION

[0046] The present application will be further described below with reference to the drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0047] "one embodiment" or "an embodiment" or "example" or "exemplary" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0048] Referring to FIG. 1-FIG. 8, FIG. 1 is a bottom view of a carrying robot according to an embodiment of the present application, FIG. 2 is an enlarged view of D in FIG. 1, FIG. 3 is a structure view of a load wheel assembly retracted in a fork arm assembly according to an embodiment of the present application, FIG. 4 is an enlarged view of B in FIG. 3, FIG. 5 is a state view of the load wheel assembly extended according to an embodiment of the present application (forks in low position), FIG. 6 is a state view of the load wheel assembly extended out of the fork arm assembly according to an embodiment of the present application (forks in high position), FIG. 7 is a structure view of the forks according to an embodiment of the present application, and FIG. 8 is an enlarged view of C in FIG. 7. An embodiment of the present application discloses a carrying robot, which comprises forks 20, the forks 20 comprising a fork arm assembly 22, a load wheel assembly 23 arranged on the fork arm assembly 22, and a load wheel driving assembly arranged corresponding to the load wheel assembly 23.

[0049] In operation, the fork arm assembly 22 generally supports the bottom of the material to be carried by inserting into the bottom of the material, so that the carrying robot can lift and carry the material by the forks 20. By arranging the load wheel assembly 23, the load wheel assembly 23 can be supported on the ground during the carrying and transporting process, which can improve the stability of the material transportation and reduce the torque on the fork arm assembly 22, thereby prolonging the service life of the fork arm. When carrying a cross-shaped pallet (of course, it can also carry a river-shaped pallet or other pallets with similar structures), due to the particularity of the structure of the cross-shaped pallet 70, referring to FIG. 9a-FIG. 9d, FIG. 9a is a schematic view of a carrying robot according to an embodiment of the present application before being connected with a cross-shaped pallet; FIG. 9b is a bottom view of the cross-shaped pallet shown in FIG. 9a; FIG. 9c is a schematic view of the carrying robot according to an embodiment of the present application connected with the cross-shaped pallet and lifted; and FIG. 9d is a bottom view of the cross-shaped pallet after being connected shown in FIG. 9c. When the fork arm assembly 22 wants to be inserted into the fork insertion hole 71 of the cross-shaped pallet 70, the load wheel assembly 23 on the fork arm assembly 22 needs to be retracted upwards into the fork arm assembly 22 first, so that the fork arm assembly 22 can smoothly pass through the fork insertion hole 71. After the fork arm assembly 22 passes through the fork insertion hole 71, the load wheel assembly 23 needs to be extended downwards out of the fork arm assembly 22, so that the load wheel assembly 23 can be extended out of the extension hole 72 at the bottom of the cross-shaped pallet 70 to assist in supporting and carrying.

[0050] To achieve the above-mentioned action of the load wheel assembly 23, referring to FIGS. 1-3, the load wheel assembly 23 in the embodiment is hinged on the fork arm assembly 22, and the load wheel driving assembly includes a first driving assembly and an elastic driving assembly 50. The first driving assembly can drive the load wheel assembly 23 to rotate around the hinge center of the load wheel assembly 23 on the fork arm assembly 22, so that the load wheel assembly 23 swings to an extended state in which the load wheels 232 of the load wheel assembly 23 extend out of the fork arm assembly 22, and the elastic driving assembly 50 stores energy. The elastic driving assembly 50 releases the stored energy to drive the load wheel assembly 23 to reset from the extended state to a retracted state in which the load wheels 232 of the load wheel assembly 23 retract into the fork arm assembly 22, and maintain the load wheel assembly 23 in the retracted state. The elastic driving assembly 50 can be a spring.

[0051] The extended state in the embodiment refers to that the load wheels 232 on the load wheel assembly 23 can protrude from the bottom of the fork arm assembly 22 and contact the ground (see FIGS. 5 and 6), facilitating the formation of auxiliary support and transportation effect; and the retracted state refers to that the load wheel assembly 23 is completely retracted into the fork arm assembly 22 (see FIG. 3), ensuring that the bottom of the fork arm assembly 22 has no protruding part, and ensuring that the fork arm assembly 22 can smoothly enter the fork hole 71 of the pallet.

[0052] The load wheel driving assembly in the embodiment includes a first driving assembly for driving the load wheels 232 to extend, and an elastic driving assembly 50 cooperating with the first driving assembly, which can drive the load wheels 232 to retract and reset. In this way, the extension and retraction processes of the load wheels 232 are driven by two different structures in the design, optimizing the driving structure of the load wheels 232, and each structure can be designed separately in actual setting. This can greatly reduce the complexity of a single mechanism and reduce design and production costs; and through the setting of the elastic driving assembly 50, the load wheels 232 can automatically reset under the action of the elastic driving assembly 50 storing and releasing energy during resetting, improving the convenience of use, and making the structure layout of each part more simple.

[0053] It should be noted that the specific structure of the load wheel driving assembly is not specifically limited in the embodiment, and in actual design, the first driving assembly in the load wheel driving assembly for driving the load wheels 232 to extend out of the fork arm assembly 22 can have only one power source, or different power sources can be used for driving in different use scenarios; and the specific setting position of the first driving assembly is not specifically limited, which can be set on the frame 11 and / or the forks 20 of the handling robot, as long as it can drive the load wheels 232 to extend out of the fork arm assembly 22.

[0054] In addition, the embodiment is not limited to the specific position, form, structure and number of the elastic driving assembly 50. The elastic driving assembly 50 can be arranged to act on the bearing wheel assembly 23 or the first driving assembly. The number of the elastic driving assembly 50 can be one or more, as long as the elastic driving assembly 50 can store energy when the bearing wheel 232 extends and drive the bearing wheel 232 to reset when the stored energy is released.

[0055] It should be noted that the energy storage of the elastic driving assembly in the embodiment can be set as follows: for example, the tension spring can be set to store energy by stretching or compressing (if it is a torsion spring, it corresponds to clockwise torsion energy storage or counterclockwise torsion energy storage). In addition to resetting and retracting the bearing wheel 232, the elastic driving assembly 50 in the embodiment can also keep the bearing wheel assembly 23 in the retracted state. Therefore, a certain elastic force needs to be preset for the elastic driving assembly 50 during assembly. The energy storage of the elastic driving assembly 50 mentioned above refers to further energy storage (the elastic force stored in the elastic driving assembly 50 is greater than the preset elastic force) based on the preset elastic force.

[0056] As one of the embodiments of the present application, as shown in FIGS. 11-12b, FIG. 11 is a front side structure diagram of the carrying robot according to one of the embodiments of the present application, FIG. 12a is a rear side internal structure diagram of the carrying robot according to one of the embodiments of the present application, and FIG. 12b is an internal structure diagram of the rear side vehicle body of the carrying robot shown in FIG. 12a without showing the frame. The carrying robot comprises a vehicle body 10, a fork 20 arranged on the vehicle body 10, and the fork 20 capable of lifting along the vehicle body 10, as shown in FIGS. 1, 3, 5 and 6. The first driving assembly comprises a driving member 30 and a transmission member 31, the transmission member 31 is arranged on the fork arm assembly 22, the first end of the driving member 30 is hinged on the fork 20, the second end of the driving member 30 is in contact with the vehicle body 10, one end of the transmission member 31 is hinged with the driving member 30, and the other end of the transmission member 31 is hinged with the bearing wheel assembly 23. The elastic driving assembly 50 is connected between the fork arm assembly 22 and the first driving assembly. During the lifting of the fork arm assembly 22, the driving member 30 drives the transmission member 31 to move towards the end of the fork arm assembly 22 under the driving of the fork arm assembly 22 and the limiting action of the vehicle body 10, and the elastic driving assembly 50 stores energy.

[0057] Referring to Figures 3-6, 11, and 12a, in this embodiment, the drive member 30 is hinged to the fork 20, and there is a mating part between the drive member 30 and the vehicle body 10. Thus, the lifting and lowering movement of the fork 20 in this embodiment can serve as the power source for the drive member 30 to drive the load-bearing wheel assembly 23 to swing to the extended state via the transmission member 31. The specific working principle is as follows: Under the action of the power source, the fork 20 rises and falls along the height direction of the vehicle body 10, driving the first end of the drive member 30 mounted on the fork 20 to move upwards. Since the second end of the drive member 30 contacts the vehicle body 10 (specifically, it contacts the bottom surface of the push slider 17 on the vehicle body 10, see below), it should be noted that the vehicle body 10 will contact the second end of the drive member 30. This creates a limiting effect (allowing the second end of the drive member 30 to slide horizontally, but not with the fork 20 in the height direction). Consequently, the sliding of the first and second ends of the drive member 30 in the vertical and horizontal directions, respectively, generates a torque on the drive member 30. This causes the drive member 30 to rotate around its hinge center with the fork 20. The rotation of the drive member 30 pushes the transmission member 31 toward the end of the fork arm assembly 22 (note that the end of the fork arm assembly 22 refers to the end of the fork arm assembly 22 away from the vehicle body 10). The transmission member 31 then drives the load-bearing wheel assembly 23 to swing to the extended state, as shown in Figure 6. It should also be noted that at this time, the elastic drive component 50 will generate stored force.

[0058] When the fork 20 moves downward, the drive component 30 and the transmission component 31 move in the opposite direction to the above-described process (details omitted here). As the transmission component 31 moves towards the front end of the fork arm assembly 22 (here, the front end of the fork arm assembly 22 refers to the end of the fork arm assembly 22 opposite to the end of the fork arm assembly 22), the stored force of the elastic drive component 50 is released. The released stored force will cause the load-bearing wheel assembly 23 to swing in the opposite direction and retract towards the fork arm assembly 22. Referring to Figure 5, the figure shows the state in which the load-bearing wheel assembly 23 supports the fork 20 when the fork 20 is lowered to its lowest point. It can be seen that at this time, although the load-bearing wheel assembly 23 will swing towards the fork arm assembly 22, it will not completely retract into the fork arm assembly 22, and the load-bearing wheel 232 will still remain partially extended from the bottom of the fork arm assembly 22.

[0059] Referring to Figure 6, the figure shows the state where the fork 20 is supported by the load-bearing wheel assembly 23 when it is raised to its highest point. It can be seen that at this time, the load-bearing wheel assembly 23 is fully extended from the fork arm assembly 22, with the load-bearing wheel 232 fully extending from the bottom of the fork arm assembly 22. That is, as shown in Figures 5 and 6, when the second end of the drive member 30 is always in contact with the bottom surface of the push slider 17, the load-bearing wheel assembly 23 can extend out of the fork arm assembly 22. Simultaneously, the first end of the drive member 30 rises and falls vertically with the fork 20, causing the load-bearing wheel assembly 23 to fully or partially extend out of the fork arm assembly 22.

[0060] Referring to Figures 3 and 4, the figures show the state where the fork 20 is lowered to its lowest point and the load-bearing wheel assembly 23 does not support the fork 20. It can be seen that at this time, the load-bearing wheel assembly 23 is completely retracted into the fork arm assembly 22, so that the fork 20 is in a suspended state, so that the fork 20 can be extended into the grid pallet 70.

[0061] As shown in Figures 5 and 6, during the swinging process of the aforementioned load-bearing wheel assembly 23, the second end of the drive member 30 always abuts against the bottom surface of the push slider 17, so that the load-bearing wheel assembly 23 can always extend out of the fork arm assembly 22, and can always support the fork 20 during the switching between the low and high positions. As shown in Figures 3 and 4, when the fork 20 needs to extend into the grid pallet 70, the second end of the drive member 30 does not abut against the bottom surface of the push slider 17, so that the drive member 30 is completely retracted into the fork arm assembly 22, so that the fork 20 is suspended in the air.

[0062] Specifically, as shown in Figure 9a, the top surface of the grid pallet 70 is a flat plane, and the bottom surface has four recessed areas facing the top surface. The four recessed areas are adjacent to each other and spaced apart. The gaps between the four recessed areas form mutually perpendicular bottom crossbeams on the bottom surface of the grid pallet 70. The side wall of the grid pallet has forklift entry holes 71 that communicate with the recessed areas.

[0063] As shown in Figures 3 and 9a, the load-bearing wheel assembly 23 is fully retracted into the fork arm assembly 22, leaving the fork arm assembly 22 of the fork 20 suspended in the air. At this time, the suspended fork arm assembly 22 can be extended into the recessed area through the fork entry hole 71 on the side wall of the grid pallet 70.

[0064] As shown in Figures 5 and 6, when the fork arm assembly 22 extends into the recessed area, the push slider 17 slides, causing the second end of the drive member 30 to abut against the bottom surface of the push slider 17. At this time, at least a portion of the support wheel assembly 23 extends out of the fork arm assembly 22, enabling the support wheel assembly 23 to support the fork arm assembly 22 and the grid pallet 70 mounted thereon.

[0065] Meanwhile, the grid pallet 70 can be raised and lowered along with the forks 20. As shown in Figures 5 and 6, during the raising and lowering process, since the first end of the drive unit 30 is fixedly connected to the forks 20, the load-bearing wheel assembly 23 can extend and retract along with the raising and lowering of the forks 20, so that the load-bearing wheel assembly 23 can extend out from the recessed structure of the grid pallet 70 and always be in contact with the ground to support the forks 20 and the grid pallet 70.

[0066] In this embodiment, the lifting action of the forks 20 can be interconnected with the extension or retraction state of the load-bearing wheel assembly 23 through the drive component 30 and the transmission component 31, thereby improving the overall compactness of the handling robot structure. The rotating connection structure of the drive component 30 can adapt to the need for applying forces in different directions to drive the load-bearing wheel assembly 23 to extend or retract, and it also reduces the volume of components, making it convenient for layout.

[0067] Referring to Figures 7 and 12a to 12c, a first clearance hole 226 and a second clearance hole 227 can be provided on the top plate 221 of the fork arm assembly 22 to avoid interference between the load-bearing wheel assembly 23 and the fork arm assembly 22 during the extension and retraction process, thereby limiting the extension and retraction range of the load-bearing wheel assembly 23.

[0068] Specifically, referring to Figures 6, 12a, and 14a, the position of the first clearance hole 226 corresponds to the position of the load-bearing wheel bracket 231 of the load-bearing wheel assembly 23. Thus, when the load-bearing wheel assembly 23 extends out of the fork arm assembly 22 and the forks 20 are in a high position, the first clearance hole 226 can avoid the raised load-bearing wheel bracket 231, preventing interference between the load-bearing wheel bracket 231 and the top plate 221 of the fork arm assembly 22. Of course, the maximum height of the raised load-bearing wheel bracket 231 does not exceed the horizontal plane of the top plate 221, to prevent the load-bearing wheel bracket 231 from passing through the first clearance hole 226 and interfering with the grid pallet 70.

[0069] Referring to Figures 3, 12a, and 14a, the position of the second clearance hole 227 corresponds to that of the support wheel 232. When the support wheel assembly 23 is retracted inside the fork arm assembly, the second clearance hole 227 can avoid the support wheel 232, so as to prevent the support wheel 232 from interfering with the top plate 221 of the fork arm assembly 22.

[0070] As one embodiment of this application, as shown in Figures 3 to 6, the vehicle body 10 includes a frame 11, a push slider 17 disposed on the bottom surface of the frame 11, and a fork 20 mounting bracket 18 disposed on the bearing surface of the frame 11. The bottom surface is opposite to the bearing surface. The fork arm assembly 22 is slidably disposed on the fork 20 mounting bracket 18, and the push slider 17 is slidably disposed on the bottom of the frame 11. During the upward movement of the fork arm assembly 22, the second end of the drive member 30 can contact the bottom of the push slider 17. The surface of the drive member 30 is in contact with and limited by the bottom surface, allowing the second end of the drive member 30 to slide along the bottom surface of the push slider 17. The side of the push slider 17 facing the fork arm assembly 22 is an inclined surface 171. The second end of the drive member 30 can slide along the inclined surface 171 to the bottom surface of the push slider 17, i.e., the first plane 172, as the push slider 17 moves toward the fork arm assembly 22. The drive member 30 can drive the transmission member 31 to move toward the end of the fork arm assembly 22, and cause the elastic drive component 50 to store force. The drive wheel 14 at the bottom of the vehicle body 10 can drive the entire frame 10 to move.

[0071] The driving member 30 includes a swing hinge portion 306, a limiting guide portion 307, and a guide roller 305. The first end of the swing hinge portion 306 is formed as the first end of the driving member 30. The first end of the limiting guide portion 307 is fixedly connected to the second end of the swing hinge portion 306. The guide roller 305 is disposed at the second end of the limiting guide portion 307 and is formed as the second end of the driving member 30. The limiting guide portion 307 extends in a direction away from the fork arm assembly 22 so that the guide roller 305 contacts the push slider 17. The second end of the swing hinge portion 306 is hinged to the transmission member 31.

[0072] The frame 11 also includes a linear drive unit 15, which is disposed on the back of the frame 11 body. The output end of the linear drive unit 15 is connected to the push slider 17 to drive the push slider to perform linear reciprocating movement on the back of the frame 11 body. The push slider 17 is located at a first position close to the fork arm assembly 22 and a second position away from the fork arm assembly 22. When the push slider 17 is in the first position, the drive member 30 abuts against the bottom surface of the push slider 17 and forms the limiting effect. When the push slider 17 is in the second position, the drive member 30 abuts against the inclined surface 171 of the push slider 17. During the sliding process of the push slider 17 from the second position to the first position, the push slider 17 pushes the drive member 30 to rotate through the inclined surface 171. The rotation of the drive member 30 can drive the transmission member 31 to move toward the end of the fork arm assembly 22 and cause the elastic drive component 50 to store force.

[0073] Referring to Figures 5, 10, and 14a, Figure 14a shows the positional relationship of the second power unit, transmission component, and load-bearing wheel assembly according to one embodiment of this application. In this embodiment, the top of the push slider 17 is slidably disposed on the vehicle body 10 and opposite to the drive component 30. Specifically, a horizontally arranged first guide rail 16 can be provided on the vehicle body 10 in this embodiment, and the push slider 17 is slidably disposed on the first guide rail 16. The sliding of the push slider 17 can interact with the drive component 30. In this embodiment, the second power unit is used to drive the push slider 17 to slide back and forth along the vehicle body 10. The second power unit can be configured as a linear drive component 30 such as an electric actuator, cylinder, or hydraulic cylinder, or it can be configured as a motor, which converts the rotational motion of the motor shaft into linear motion through a transmission mechanism. As shown in Figures 5 and 6, the push slider 17 in this embodiment includes a first position, at which time at least a portion of the load-bearing wheel assembly 23 extends out of the fork arm assembly 22. When the push slider 17 is in the first position, the drive member 30 abuts against the bottom surface of the push slider 17 and forms the limiting effect. As described above, when the lifting and lowering of the fork 20 drives the drive member 30 to rotate, the second end of the drive member 30 abuts against the bottom surface of the push slider 17 (the elastic drive assembly 50, through the elastic force preset during installation mentioned above, ensures that the guide roller 305 at the second end of the drive member 30 always maintains rolling contact with the bottom surface of the push slider 17). That is, during the lifting and lowering of the fork 20, the push slider 17 is always in the first position. In this application, the first position of the push slider 17 is set as the push slider 17 being far from the first power unit. As shown in Figure 14b, Figure 14b is a structural schematic diagram of the transmission member shown in Figure 14a. Both ends of the transmission member 31 are provided with sleeves 310. The second pivot connection 304 of the driving member 30 can be a fixing pin. The second pivot connection 304 passes through the sleeve 310 at the first end of the transmission member 31 and the driving member 30 to hinge the first end of the transmission member 31 to the driving member 30. Another fixing pin passes through the sleeve 310 at the second end of the transmission member 31 and the bearing wheel bracket 231 to hinge the second end of the transmission member 31 to the bearing wheel bracket 231.

[0074] As one embodiment of this application, see Figures 3, 4 and 15. Figure 15 is a partial structural diagram of the push slider according to one embodiment of this application. The push slider 17 forms an inclined surface 171 on the side facing the fork arm assembly. The inclined surface 171 intersects with the bottom surface of the push slider 17 (in actual installation, a smooth transition is formed at the intersection of the inclined surface 171 and the bottom surface of the push slider 17, making the switching of the drive member between the two smoother). The push slider 17 also includes a second position (the second position mentioned here is different from the first position; the second position can be set to be near the end of the first power unit). In the second position, the drive member 30 abuts against the inclined surface 171 of the push slider 17 (similarly, the guide roller 305 at the second end of the drive member 30 always keeps in contact with the inclined surface 171 under the action of the preset elastic force of the elastic drive assembly 50, which can avoid the gap between the push slider 17 and the drive member 30, avoid the idle sliding of the push slider 17, and improve the stability of the transportation of each component).

[0075] In this embodiment, as the push slider 17 slides from the second position to the first position, the guide roller 305 of the drive member 30 moves upward in the vertical direction, and the swing hinge portion 306 of the drive member 30 moves upward in the vertical direction, so that the push slider 17 can drive the drive member 30 to rotate through the inclined surface 171, and the rotation of the drive member 30 can drive the transmission member 31 to move toward the end of the fork arm assembly 22, and cause the elastic drive assembly 50 to store force. In this embodiment, the horizontal sliding of the push slider 17 can push the second end of the drive member 30 (the guide roller 305 is in direct contact with the inclined surface 171, forming rolling friction, with the same effect as the bottom surface of the guide roller 305 pushing the slider 17) to generate vertical movement through the inclined surface 171. This can also drive the drive member 30 to rotate around the first end, thereby driving the bearing wheel assembly 23 to swing until the guide roller 305 at the second end of the drive member 30 moves to the bottom surface of the push slider 17 and abuts against the bottom surface of the push slider 17. When the guide roller 305 at the second end of the drive member 30 abuts against the bottom surface of the push slider 17, the push slider 17 can no longer rotate if it continues to slide (when the fork 20 remains fixed).

[0076] As can be seen from the above, the swing extension fork assembly 22 of the load-bearing wheel assembly 23 in this application can be driven by two power sources, specifically:

[0077] First, the lifting and lowering of the fork 20 drives the bearing wheel assembly 23 to swing. At this time, the push slider 17 is in the first position. As shown above, the second end of the drive member 30 is in contact with the bottom surface of the push slider 17. When the fork 20 is lifted and lowered, the drive member 30 rotates and drives the bearing wheel assembly 23 to swing and extend through the transmission member 31. It should be noted that in this case, when the fork 20 rises to a certain height, the bearing wheel assembly 23 extends to its longest length, see Figure 6; when the fork 20 is lowered to the lowest position, the bearing wheel assembly 23 is still in the extended state, but the extension length is short, see Figure 5.

[0078] Second, the sliding drive of the push slider 17 drives the bearing wheel assembly 23 to swing. When the push slider 17 extends to the first position, as shown in Figure 5, the fork 20 is at its lowest position. The extension and sliding of the push slider 17 can push the drive member 30 to rotate through the inclined plane 171. When the push slider 17 retracts and slides to the second position, the bearing wheel assembly 23 can be completely retracted into the fork arm assembly 22 under the action of the elastic drive assembly 50, as shown in Figure 3. In this state, the fork arm assembly 22 can be inserted into the grid pallet 70 through the fork inlet hole 71 for handling.

[0079] In this embodiment, the push slider 17 can switch between different driving states, and the sliding of the push slider 17 itself can drive the bearing wheel assembly 23 to extend in one direction, which reduces the structural complexity of the push slider 17 during setup, making it easier to design and easier to control the process during use. The retraction of the bearing wheel assembly 23 toward the fork arm assembly 22 is achieved automatically by the elastic drive assembly 50, which can greatly simplify the structure of the power source that extends the bearing wheel assembly 23, making it easier to design and layout, and reducing production costs.

[0080] Referring to Figure 10, which is an enlarged view of section A in Figure 9a, one embodiment of this application has a vehicle body 10 equipped with a first sensor 12 corresponding to a first position of the push slider 17 and a second sensor 13 corresponding to a second position of the push slider 17. The first sensor 12 and the second sensor 13 are used to emit corresponding positioning signals when the push slider 17 reaches the corresponding position. This allows for accurate understanding of the actual position of the push slider 17, facilitating the control of the handling robot's movements by the main control system.

[0081] The first sensor 12 and the second sensor 13 may include light emitting surfaces and light output surfaces arranged opposite to each other. A baffle 173 may be fixedly disposed on the push slider 17. The baffle 173 can pass through the gap between the light emitting surface and the light output surface. When the push slider 17 slides to the first position, the baffle 173 on the push slider 17 is in the gap between the emitting surface and the light output surface corresponding to the first sensor 12. At this time, the first sensor 12 can be triggered to send a first positioning signal that the push slider 17 has reached the first position. When the push slider 17 slides to the second position, the baffle 173 on the push slider 17 is in the gap between the emitting surface and the light output surface corresponding to the second sensor 13. At this time, the second sensor 13 can be triggered to send a second positioning signal that the push slider 17 has reached the second position.

[0082] As shown in Figure 13, which is a structural diagram of a drive component according to one embodiment of this application, the drive component 30 in this embodiment can be configured as an arc-shaped structure. The arc-shaped structure of the drive component 30, along with the support plate 301 and the rib plate 302 connecting the two support plates 301, can improve the structural strength of the drive component 30 and change the orientation of the second end of the drive component 30, allowing the second end of the drive component 30 to contact the bottom surface of the push slider 17 on the vehicle body 10 and slide horizontally along the bottom surface of the push slider 17. In addition, the second end of the drive component 30 in this embodiment is provided with a guide roller 305. During use, the guide roller 305 can form rolling friction with the bottom surface of the push slider 17, reducing the resistance of the drive component 30 during its movement, reducing energy loss, and making the movement of each component smoother.

[0083] As shown in Figure 10, the baffle 173 on the push slider 17 can extend to the same height as the first sensor 12 and the second sensor 13. The first sensor 12 and the second sensor 13 can be slot-type photoelectric sensors, and the opening direction of the slot structure on the first sensor 12 and the second sensor 13 is towards the baffle 173.

[0084] The baffle 173 can move as the push slider 17 slides. When the push slider 17 slides to the first position, the baffle 173 inserts into the slot of the first sensor 12. After detecting the baffle 173, the first sensor 12 sends a positioning signal and controls the linear drive unit to stop moving, so that the push slider 17 stops sliding. At this time, at least a portion of the bearing wheel assembly 23 extends out of the fork arm assembly 22.

[0085] When the push slider 17 slides to the second position, the baffle 173 inserts into the slot of the second sensor 13. After detecting the baffle 173, the second sensor 13 sends a positioning signal, thereby detecting the position of the push slider 17. The second sensor 13 controls the linear drive unit to stop moving, so that the push slider 17 stops sliding. At this time, the load-bearing wheel assembly 23 is fully retracted into the fork arm assembly 22.

[0086] As one embodiment of this application, as shown in Figures 1 and 12c, Figure 12c is an internal structural diagram of the rear vehicle body of the handling robot shown in Figure 12a, without a fork mounting bracket shown. The fork arm assembly 22 includes an adapter plate 225 and a fork arm body. The adapter plate 225 is disposed at one end of the fork arm body. A receiving groove 223 is formed at the bottom of the fork arm body. The hinge center of the bearing wheel assembly 23 and the fork arm assembly 22 is located in the receiving groove 223. The swing of the bearing wheel assembly 23 around the hinge center of the bearing wheel assembly 23 and the fork arm assembly 22 can cause the bearing wheel 232 of the bearing wheel assembly 23 to extend or retract into the receiving groove 223. The first drive assembly includes a drive member 30 and a transmission member 31. The transmission member 31 includes a first end disposed in the receiving groove 223 and hinged to the bearing wheel assembly 23, and a second end extending along the receiving groove 223 toward the vehicle body 10 of the transport robot. The second end of the transmission member 31 is hinged to the drive member 30. The elastic drive assembly 50 is disposed in the receiving groove 223 and can complete the storage or release of the stored force within the receiving groove 223.

[0087] In this embodiment, the fork arm assembly 22 is provided with a receiving groove 223 for installation. The transmission component 31, the bearing wheel assembly 23, and the elastic drive assembly 50 can all be disposed in the receiving groove 223. This can improve the overall appearance of the fork arm assembly 22. This embodiment does not specify how the receiving groove 223 is formed. It can be formed by splicing multiple components or by opening a slot in a component, as long as it can satisfy the installation of the components mentioned above.

[0088] Specifically, as shown in Figure 13, a first pivot connection 303 and a second pivot connection 304 can be provided on the drive member 30. As shown in Figures 3, 5, 6, and 12c, two spaced transition plates 225 are provided on the connecting frame 21 at positions corresponding to the two forks of the fork assembly 22. The drive member 30 is positioned between the two transition plates 225, and both ends of the first pivot connection 303 are hinged to the two transition plates 225 respectively to fix the drive member 30 to the forks 20. The drive member 30 is hinged to the transmission member 31 via the second pivot connection 304.

[0089] As one embodiment of this application, as shown in Figures 1, 3, 5, 6 and 7, the fork arm body includes a top plate 221 and protruding side plates 222 disposed on two sides of the bottom of the top plate 221. The top plate 221 and the side plates 222 together define the receiving groove 223. The elastic drive assembly 50 is disposed in the receiving groove 223 and connected between the outer side wall of the transmission member 31 and the inner side wall of the receiving groove 223.

[0090] Referring to Figures 1, 7, and 8, the fork arm assembly 22 in this embodiment is configured to consist of the top plate 221 and the side plate 222. The top plate 221 and the side plate 222 together define the receiving groove 223. The transmission component 31 in this application can be configured as a linkage structure as shown in the figure. The linkage has a certain length and can extend from the front end of the fork arm assembly 22 to the middle and rear part of the fork arm assembly 22. This can realize the transmission of the driving force of the first power unit on the vehicle body 10 and the lifting of the fork 20 to the load-bearing wheel drive assembly. In addition, the structure of the linkage can also improve the structural strength of the transmission component 31, making it suitable for use under large load conditions and ensuring sufficient strength.

[0091] As shown in Figures 1 and 2, in order to ensure the stability of the operation of the transmission component 31 and the elastic drive component 30, the elastic drive assembly 50 of one embodiment of this application includes a first connecting end, a second connecting end, and an elastic energy storage part connecting the first connecting end and the second connecting end. The elastic energy storage part can store energy when the bearing wheel 232 of the bearing wheel assembly 23 extends out of the fork arm assembly 22, and can release the stored energy when the bearing wheel 232 of the bearing wheel assembly 23 retracts into the fork arm assembly 22. As shown in Figure 2, a plurality of protruding first connecting posts 2221 are provided on the inner sidewall of the side plate 222, and a plurality of protruding second connecting posts 311 corresponding one-to-one with the first connecting posts 2221 are respectively provided on the two opposite sidewalls of the transmission component 31. The first connecting end of the elastic drive assembly 50 is connected to the first connecting post 2221, and the second connecting end of the elastic drive assembly 50 is connected to the second connecting post 311.

[0092] One embodiment of the present application includes a support wheel assembly 23, which includes a support wheel bracket 231 and a support wheel 232 disposed on the support wheel bracket 231. The support wheel bracket 231 includes a third pivot connection portion pivotally connected to the inner wall of the receiving groove 223 and a fourth pivot connection portion pivotally connected to the transmission member 31. The third pivot connection portion and the fourth pivot connection portion are spaced apart. The support wheel bracket 231 rotates around the third pivot connection portion under the pushing and pulling action of the transmission member 31, so that the support wheel 232 extends out of or retracts into the receiving groove 223.

[0093] The first pivot connection 303, the second pivot connection 304, the third pivot connection and the fourth pivot connection mentioned above in this application can be provided in various forms. For example, they can be provided as either a pin shaft or a pin hole structure. In actual installation, pin holes can be directly opened on the corresponding components or connecting pin shafts can be provided. Alternatively, a sleeve can be provided, and pin holes for pivot connection can be formed on the sleeve. This application does not make specific limitations in this regard.

[0094] As mentioned above, the elastic drive component 50 in various embodiments of the handling robot can include a first connecting end, a second connecting end, and an elastic energy storage section connecting the first connecting end and the second connecting end. The first connecting end and the second connecting end are used to connect other components. The elastic energy storage section can store energy when the bearing wheel 232 of the bearing wheel assembly 23 extends out of the fork arm assembly 22, and can release the stored energy when the bearing wheel 232 of the bearing wheel assembly 23 retracts into the fork arm assembly 22. As mentioned above, the elastic energy storage section can be configured to store tension or compression (if it is a torsion spring, it corresponds to clockwise torsion or counterclockwise torsion). Specifically, when the elastic drive component 50 is configured as a torsion spring, the torsion spring can be located at the hinge joint between the bearing wheel assembly 23 and the fork arm assembly 22. In this case, the first connecting end of the torsion spring can be connected to the side plate 222, and the second connecting end can be connected to the bearing wheel bracket 231. In this way, when the bearing wheel assembly 23 swings, it can drive the torsion spring to torsion to store or release the stored energy.

[0095] The elastic drive assembly 50 in this application is connected to the side plate 222 and the transmission component 31 respectively via the first connecting post 2221 and the second connecting post 311, which can improve the stability of the installation of the elastic drive assembly 50. In specific settings, the number of elastic drive assemblies 50 can be set to multiple, and multiple elastic drive assemblies 50 can be arranged on both sides of the transmission component 31 as shown in Figures 1 and 2. This can improve the stability of the transmission component 31 under force on both sides during movement, and ensure that the movement of the transmission component 31 and the swing of the bearing wheel assembly 23 are smooth. In addition, multiple sets of elastic drive assemblies 50 can be arranged along the length of the transmission component 31. In this way, multiple elastic drive assemblies 50 can store and release stored force separately during use, which can avoid the problem of the bearing wheel assembly 23 being unable to reset due to the failure of a certain elastic drive assembly 50, and can also improve the driving force for the reset of the elastic drive assembly 50, and improve the reliability of the extension and retraction of the bearing wheel 232.

[0096] As one embodiment of this application, referring to Figures 9a, 11, and 12a, the fork 20 includes a connecting frame 21, a caster assembly 24, and two fork arm assemblies 22 disposed on the connecting frame 21 and spaced apart. The connecting frame 21 extends along the height direction of the handling robot. The fork arm assemblies 22 are fixed to the bottom of the connecting frame 21 by the adapter plate 225 and extend forward of the handling robot along the horizontal direction of the handling robot. The caster assembly 24 is disposed at the bottom of the connecting frame 21, and the bottom of the caster assembly 24 protrudes from the bottom surface of the fork arm assemblies 22. The fork 20 is vertically and flexibly mounted on the fork 20 mounting bracket 18 through the connecting frame 21.

[0097] The fork 20 in this application has an overall L-shaped shape, and the number of fork arm assemblies 22 is not limited to two. It can also be set to one or more. In specific settings, a load-bearing wheel assembly 23 and a corresponding load-bearing wheel drive assembly can be set on at least one fork arm assembly 22. Of course, each fork arm assembly 22 can also be equipped with a load-bearing wheel assembly 23 and a corresponding load-bearing wheel drive assembly.

[0098] Referring to Figure 3, in this application, when the fork 20 is in its lowest position, the caster assembly 24 on the fork 20 is in contact with the bottom surface. This, combined with the aforementioned situation where the support wheel 232 can extend out of the fork arm assembly 22 and contact the ground, provides stable support for the fork 20. In actual arrangement, the caster assembly 24 can be one or more. This application does not specifically limit the number or location of the caster assembly 24. In one preferred embodiment of this application, the number of caster assemblies 24 is two, and the two caster assemblies 24 are respectively located on the outer side of the connecting frame 21, which is located on the fork arm assembly 22.

[0099] In one embodiment of this application, the vehicle body 10 includes a double-acting drive cylinder 60 disposed on the frame 11 and a plurality of second guide rails 61. The plurality of second guide rails 61 are disposed on the fork 20 mounting bracket 18 along the height direction of the vehicle body 10. The connecting frame 21 is provided with pulleys on both sides. The connecting frame 21 is slidably disposed on the second guide rails 61 through the pulleys. The output end of the double-acting drive cylinder 60 is connected to the connecting frame 21 and can drive the connecting frame 21 to move up and down along the second guide rails 61 in the height direction of the vehicle body 10.

[0100] Referring to Figure 9a, in actual installation, the base of the double-acting drive cylinder 60 can be fixed to the frame 11. The output end of the double-acting drive cylinder is connected to the middle of the frame in the width direction (this connection can be a fixed connection or a rotatable connection). When the telescopic rod of the double-acting drive cylinder 60 extends or retracts, it can apply a driving force to the middle of the fork 20, thereby driving the fork 20 to smoothly rise and slide along the second guide rail 61. The double-acting drive cylinder 60 provides driving force throughout the lifting and lowering process of the fork 20, ensuring sufficient driving force for the fork 20 and making the accuracy easier to control, thus allowing for better control of the extension and retraction of the load-bearing wheel assembly 23. Of course, to more accurately control the height of the fork, a position sensor corresponding to the fork can be installed on the frame to detect the height position of the fork relative to the vehicle body during the lifting and lowering process.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A handling robot, comprising a fork (20), the fork (20) comprising a fork arm assembly (22), a load-bearing wheel assembly (23) disposed on the fork arm assembly (22), and a load-bearing wheel drive assembly corresponding to the load-bearing wheel assembly (23), the load-bearing wheel assembly (23) being hinged to the fork arm assembly (22), characterized in that, The load-bearing wheel drive assembly includes a first drive assembly and an elastic drive assembly (50). The first drive assembly can drive the load-bearing wheel assembly (23) to rotate around the hinge center of the load-bearing wheel assembly (23) on the fork arm assembly (22), causing the load-bearing wheel assembly (23) to swing to the extended state where the load-bearing wheel (232) of the load-bearing wheel assembly (23) extends out of the fork arm assembly (22), and causing the elastic drive assembly (50) to store force. When the elastic drive assembly (50) releases the stored force, it can drive the load-bearing wheel assembly (23) to reset from the extended state to the retracted state where the load-bearing wheel (232) of the load-bearing wheel assembly (23) retracts into the retracted state of the fork arm assembly (22), and maintain the load-bearing wheel assembly (23) in the retracted state.

2. The handling robot as described in claim 1, characterized in that, The handling robot includes a vehicle body (10), and forks (20) are mounted on the vehicle body (10) and are capable of lifting and lowering along the vehicle body (10). The first drive assembly includes a drive member (30) and a transmission member (31). The transmission member (31) is mounted on the fork arm assembly (22). The first end of the drive member (30) is hinged to the forks (20), and the second end of the drive member (30) contacts the vehicle body (10). One end of the transmission member (31) is connected to the drive member (30). The transmission component (31) is hinged to the other end of the transmission component (30), and the load-bearing wheel assembly (23) is hinged to the other end of the transmission component (31). The elastic drive assembly (50) is connected between the fork arm assembly (22) and the first drive assembly. During the upward movement of the fork arm assembly (22), the drive component (30) drives the transmission component (31) to move toward the end of the fork arm assembly (22) under the drive of the fork arm assembly (22) and the limiting action of the vehicle body (10), and causes the elastic drive assembly (50) to store power.

3. The handling robot according to claim 2, characterized in that, The vehicle body includes a frame (11), a push slider (17) disposed on the bottom surface of the frame (11), and a fork mount disposed on the bearing surface of the frame. The bottom surface is opposite to the bearing surface. The fork arm assembly is slidably disposed on the fork mount, and the push slider (17) is slidably disposed at the bottom of the frame (11). During the upward movement of the fork arm assembly (22), the second end of the drive member (30) can contact the bottom surface of the push slider (17) and be limited by the bottom surface. Positioned so that the second end of the drive member (30) can slide along the bottom surface of the push slider (17); the side of the push slider (17) facing the fork arm assembly is inclined, and the second end of the drive member (30) can slide along the inclined surface to the bottom surface of the push slider (17) when the push slider moves toward the fork arm assembly, and the drive member (30) can drive the transmission member (31) to move toward the end of the fork arm assembly (22), and cause the elastic drive component (50) to store force.

4. The handling robot according to claim 3, characterized in that, The driving member (30) includes a swing hinge (306), a limiting guide (307), and a guide roller (305). The first end of the swing hinge (306) is formed as the first end of the driving member (30). The first end of the limiting guide (307) is fixedly connected to the second end of the swing hinge (306). The guide roller (305) is disposed at the second end of the limiting guide (307) and is formed as the second end of the driving member (30). The limiting guide (307) extends in a direction away from the fork arm assembly so that the guide roller (305) contacts the push slider (17). The second end of the swing hinge (306) is hinged to the transmission member (31).

5. The handling robot according to claim 3, characterized in that, The frame also includes a linear drive unit (15), which is disposed on the back of the frame body. The output end of the linear drive unit (15) is connected to the push slider (17) to drive the push slider (17) to perform linear reciprocating movement on the back of the frame body. The push slider (17) is located at a first position close to the fork arm assembly (22) and a second position away from the fork arm assembly (22). When the push slider (17) is in the first position, the drive member (30) and the bottom of the push slider (17) are... The surface abuts and forms the limiting effect; when the push slider (17) is in the second position, the drive member (30) abuts against the inclined surface (171) of the push slider (17), and during the sliding process of the push slider (17) from the second position to the first position, the push slider (17) pushes the drive member (30) to rotate through the inclined surface (171), and the rotation of the drive member (30) can drive the transmission member (31) to move toward the end of the fork arm assembly (22), and cause the elastic drive assembly (50) to store force.

6. The handling robot according to claim 5, characterized in that, The frame also includes a first sensor (12) and a second sensor (13). The first sensor (12) and the second sensor (13) are both disposed on the frame body. The first sensor (12) corresponds to the first position of the push slider (17), and the second sensor (13) corresponds to the second position of the push slider (17). The first sensor (12) and the second sensor (13) are used to send corresponding positioning signals when the push slider (17) reaches the corresponding position.

7. The handling robot according to any one of claims 1 to 6, characterized in that, The fork arm assembly (22) includes a transition plate (225) and a fork arm body (21). The transition plate (225) is disposed at one end of the fork arm body. A receiving groove (223) is formed at the bottom of the fork arm body. The hinge center of the bearing wheel assembly (23) and the fork arm assembly (22) is located in the receiving groove (223). The swing of the bearing wheel assembly (23) around the hinge center of the bearing wheel assembly (23) and the fork arm assembly (22) can cause the bearing wheel (232) of the bearing wheel assembly (23) to extend or retract into the receiving groove (223). 23), the first drive assembly includes a drive member (30) and a transmission member (31). The transmission member (31) includes a first end disposed in the receiving groove (223) and hinged to the bearing wheel assembly (23), and a second end extending along the receiving groove (223) toward the vehicle body (10) of the transport robot. The second end of the transmission member (31) is hinged to the drive member (30). The elastic drive assembly (50) is disposed in the receiving groove (223) and is able to complete the storage or release of the stored force in the receiving groove (223).

8. The handling robot according to claim 7, characterized in that, The fork arm body includes a top plate (221) and protruding side plates (222) disposed on two sides of the bottom of the top plate (221). The top plate (221) and the side plates (222) together define the receiving groove (223). The elastic drive assembly (50) is disposed in the receiving groove (223) and connected between the outer wall of the transmission member (31) and the inner wall of the receiving groove (223).

9. The handling robot according to claim 8, characterized in that, The elastic drive assembly (50) includes a first connecting end, a second connecting end, and an elastic energy storage part connecting the first connecting end and the second connecting end. The elastic energy storage part can store energy when the bearing wheel (232) of the bearing wheel assembly (23) extends out of the fork arm assembly (22), and can release the stored energy when the bearing wheel (232) of the bearing wheel assembly (23) retracts into the fork arm assembly (22). The inner side wall of the side plate (222) is provided with a plurality of protruding first connecting posts (2221). The two opposite side walls of the transmission member (31) are respectively provided with a plurality of protruding second connecting posts (311) corresponding one-to-one with the first connecting posts (2221). The first connecting end of the elastic drive assembly (50) is connected to the first connecting post (2221), and the second connecting end of the elastic drive assembly (50) is connected to the second connecting post (311).

10. The handling robot as described in claim 7, characterized in that, The bearing wheel assembly (23) includes a bearing wheel bracket (231) and a bearing wheel (232) disposed on the bearing wheel bracket (231). The bearing wheel bracket (231) includes a third pivot connection portion pivotally connected to the inner wall of the receiving groove (223) and a fourth pivot connection portion pivotally connected to the transmission member (31). The third pivot connection portion and the fourth pivot connection portion form a gap. The bearing wheel bracket (231) rotates around the third pivot connection portion under the pushing and pulling action of the transmission member (31) so that the bearing wheel (232) extends out or retracts into the receiving groove (223).

11. The handling robot according to any one of claims 3 to 6, characterized in that, The fork (20) includes a connecting frame (21), a caster assembly (24), and two fork arm assemblies (22) arranged at intervals on the connecting frame (21). The fork arm assembly (22) includes a transition plate (225) and a fork arm body (21). The connecting frame (21) extends along the height direction of the handling robot. The fork arm assembly (22) is fixed to the bottom of the connecting frame (21) by the transition plate (225) and extends in front of the handling robot along the horizontal direction of the handling robot. The caster assembly (24) is located at the bottom of the connecting frame (21), and the bottom of the caster assembly (24) protrudes from the bottom surface of the fork arm assembly (22). The fork (20) is vertically mounted on the fork mounting bracket (18) through the connecting frame (21).

12. The handling robot as described in claim 11, characterized in that, The vehicle body (10) includes a double-acting drive cylinder (60) disposed on the frame (11) and a plurality of second guide rails (61). The plurality of second guide rails (61) are disposed on the fork mounting bracket (18) along the height direction of the vehicle body (10). The connecting frame (21) is provided with pulleys on both sides. The connecting frame (21) is slidably disposed on the second guide rails (61) through the pulleys. The output end of the double-acting drive cylinder (60) is connected to the connecting frame (21) and can drive the connecting frame (21) to rise and fall along the second guide rails (61) in the height direction of the vehicle body (10).

13. The handling robot according to any one of claims 1 to 6, characterized in that, The elastic drive component (50) is configured as a spring.

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