Compact Fork Assembly for AMRs Using Parallelogram Linkage
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Solution Overview
Problem
Conventional fork assemblies for autonomous mobile robots (AMRs) and automated guided vehicles (AGVs) are bulky, designed for specific cart handling, and have high design and infrastructure costs due to large openings and mast units, limiting their efficiency and versatility in handling various payloads.
Innovation Solution
A compact fork assembly with a first plate having Linear Motion guide rails and motors, roller movement enabler blocks, and rollers that allow efficient lifting of high loads with low motor power, enabling integration with AMRs/AGVs for efficient pallet and roller cage handling, reducing energy usage and costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If conventional fork assemblies with mast units are used for lifting payloads, then lifting capability is achieved, but device complexity and infrastructure costs increase
Solution Approach 1:
The patent extracts and removes the complex mast unit from the fork assembly, retaining only the essential fork plates and lifting mechanism. This simplifies the overall structure while maintaining the core lifting function through a more compact design that integrates directly with the AMR chassis.
Solution Approach 2:
Instead of using a traditional mast structure that extends upward to achieve lifting, the patent inverts the approach by using a horizontal linear motion mechanism that converts rotational motor movement into vertical fork displacement through a parallelogram linkage system, eliminating the need for vertical mast structures.
2Adaptability or versatility
If conventional AMRs are designed with large openings for cart handling, then cart handling capability is achieved, but the vehicle becomes bulky and space utilization decreases
Solution Approach 1:
The fork assembly is designed with universal applicability to handle multiple payload types including stringer pallets, non-stringer pallets, and roller cages. The adjustable fork plate configuration and versatile gripping mechanism enable the same compact structure to perform multiple handling functions without requiring large openings or specialized structures.
3Power
If high capacity motors are used to lift heavy payloads, then lifting power is sufficient, but energy consumption increases
Solution Approach 1:
The patent changes the operational parameters of the lifting system by using a parallelogram linkage mechanism that provides mechanical advantage throughout the lifting stroke. This allows low-capacity motors to generate sufficient lifting force through leverage, reducing energy consumption while maintaining the ability to lift heavy payloads efficiently.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The fork assembly effectively lifts high loads with low power consumption, reducing motor power and torque requirements, allowing for higher capacity payloads to be lifted with low-capacity motors, and optimizing energy usage while minimizing the carbon footprint.
Implementation Method 1
each of the first side wall and the second side wall comprises a first Linear Motion (LM) guide rail and a second Linear Motion (LM) guide rail mounted therein respectively, and wherein each of the first Linear Motion (LM) guide rail and the second Linear Motion (LM) guide rail comprises one or more LM blocks
Implementation Method 2
the second side of the first roller movement enabler block and the second roller movement enabler block comprises a first roller guide and a second roller guide that are tapered at one or more pre-defined angles
Data Source
Figure 1A~1B
Figure 1C~2
Figure 3~5
AI summary
Conventional fork-type autonomous mobile robots (AMRs) have been suited to handle pallets and are typically designed with two forks. Such AMRs are very bulky in nature and specifically designed for a cart handling application, and usually have large openings and less suitable for lifting roller carts. Present disclosure provides a fork assembly for AMRs/Autonomous Guided Vehicles (AGVs) for transporting roller cages/carts within warehouses. The fork assembly when integrated with AMR enables performing various tasks. More specifically, the fork assembly includes a first plate and a second plate. The fork assembly further include roller movement enabler blocks that are driven by respective fork motors. Movement of the roller movement enabler blocks enable rolling of rollers on respective roller guides within tapered region thereby enable lowering and rising of the second plate with reference to the first plate for lifting a payload and movement thereof to a desired location.