WO2024255559A1 - Fourche de manipulation et dispositif de manipulation - Google Patents

Fourche de manipulation et dispositif de manipulation Download PDF

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Publication number
WO2024255559A1
WO2024255559A1 PCT/CN2024/094973 CN2024094973W WO2024255559A1 WO 2024255559 A1 WO2024255559 A1 WO 2024255559A1 CN 2024094973 W CN2024094973 W CN 2024094973W WO 2024255559 A1 WO2024255559 A1 WO 2024255559A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
telescopic
push rod
material box
suction cup
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/094973
Other languages
English (en)
Chinese (zh)
Inventor
崔瑞亮
刘普林
张真坚
倪菲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Quicktron Intelligent Technology Co Ltd
Original Assignee
Shanghai Quicktron Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Quicktron Intelligent Technology Co Ltd filed Critical Shanghai Quicktron Intelligent Technology Co Ltd
Publication of WO2024255559A1 publication Critical patent/WO2024255559A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means

Definitions

  • the present application relates to the technical field of material box handling, and in particular to a handling fork and a handling device.
  • the present application provides a carrying fork and a carrying device, which improve the safety in carrying a cargo box and enhance the user experience.
  • an embodiment of the present application provides a transport fork, which comprises: a bottom plate, two support plate assemblies, a telescopic fork drive assembly, a skateboard telescopic suction cup assembly and two push rod assemblies, wherein the support plate assembly, the telescopic fork drive assembly, the skateboard telescopic suction cup assembly and the push rod assembly are respectively arranged On the bottom plate; wherein,
  • the telescopic fork driving assembly is chain-linked with the skateboard telescopic suction cup assembly;
  • the two push rod assemblies are respectively located on both sides of the skateboard telescopic suction cup assembly and are slidably connected with the skateboard telescopic suction cup assembly;
  • the two support plates are respectively located on both sides of the skateboard telescopic suction cup assembly;
  • the slide plate telescopic suction cup assembly is used to drive the push rod assembly to extend along a preset direction under the drive of the telescopic fork drive assembly, and after the material box is adsorbed onto the push rod assembly, drive the push rod assembly to retract in the opposite direction so that the material box is carried on the support plate assembly.
  • the transport fork further includes two limit assemblies; the two limit assemblies are respectively arranged on the bottom plate and are respectively located on one side of the two support plate assemblies away from the central axis of the transport fork, for limiting the material box.
  • the support plate assembly includes: a support plate and a support plate bracket; wherein the support plate bracket is fixed on the base plate; and the support plate is fixed on the support plate bracket.
  • the telescopic fork drive assembly includes: a spring pull rod, a drive chain, a drive motor and a drive block; wherein, one end of the spring pull rod is fixed to the base plate, and the other end is connected to the push rod assembly; the drive chain is respectively connected to the drive motor and the drive block, and the drive block is connected to the skateboard telescopic suction cup assembly; the drive chain is used to move along a preset trajectory driven by the drive motor, so that the drive block drives the skateboard telescopic suction cup assembly to extend in a preset direction or retract in the opposite direction.
  • the telescopic fork drive assembly also includes: a vacuum detection switch, a sensor mounting bracket, a material box detection sensor, a rotating motor, a driver, an image acquisition device and a belt clamp; wherein the vacuum detection switch, the sensor mounting bracket, the rotating motor, the driver and the image acquisition device are all fixed on the base plate; the material box detection sensor is installed on the sensor mounting bracket; the rotating motor is used to drive the base plate to rotate; the driver is used to drive the material box robot to work when the material box is detected; the image acquisition device is used to collect the image of the material box and detect the status of the material box; the belt clamp is fixed to the base plate.
  • the skateboard telescopic suction cup assembly includes: a telescopic fork fixing rail, a skateboard telescope, a telescopic The telescopic fork upper plate, the material box push rod, the suction cup, the rear push rod plate, the first belt, the second belt, the fixed plate, the connecting block, the second guide rail, the second guide rail bottom plate, the third guide rail and the third guide rail bottom plate; wherein the telescopic fork fixed guide rail is fixed to the bottom plate; the slide plate telescope is arranged on the second guide rail and connected to the third guide rail bottom plate; the telescopic fork upper plate is arranged on the side of the third guide rail bottom plate away from the telescopic fork fixed guide rail; the material box push rod and the suction cup are arranged on the telescopic fork upper plate, the material box push rod is used to drive the material box to move, and the suction cup is used to adsorb the material box ;
  • the rear push rod plate is arranged on one side of the second guide rail base
  • the push rod assembly includes: a connecting rod push wheel, a push rod, a telescopic spring and a rubber anti-collision block; wherein, the connecting rod push wheel is fixed on the push rod, the push rod is connected to one end of the telescopic spring, and the other end of the telescopic spring is connected to the spring pull rod; the rubber anti-collision block is fixed on one side of the push rod to prevent the material box from colliding.
  • the transport fork further comprises a blocking component; the blocking component is used to prevent the material box from sliding off.
  • the blocking assembly includes a blocking rod, a blocking rotating shaft and a blocking mounting seat; wherein the blocking rod is connected to the connecting rod push wheel; the blocking rotating shaft is connected to the blocking rod for controlling the rotation of the blocking rod; one end of the blocking mounting seat is fixed to the base plate, and the other end is connected to the blocking rotating shaft for fixing the blocking rotating shaft and the blocking rod.
  • an embodiment of the present application further provides a transport device, which includes: a transport body and any one of the transport forks described above; the transport fork is arranged on the transport body.
  • the technical solution of the embodiment of the present application comprises: a bottom plate, two support plate assemblies, a telescopic fork drive assembly, a skateboard telescopic suction cup assembly and two push rod assemblies, the support plate assembly, the telescopic The fork drive assembly, the skateboard telescopic suction cup assembly and the push rod assembly are respectively arranged on the bottom plate; wherein the telescopic fork drive assembly is chain-linked with the skateboard telescopic suction cup assembly; the two push rod assemblies are respectively located on both sides of the skateboard telescopic suction cup assembly and are slidably connected with the skateboard telescopic suction cup assembly; the two support plates are respectively located on both sides of the skateboard telescopic suction cup assembly; the skateboard telescopic suction cup assembly is used to drive the push rod assembly to extend along a preset direction under the drive of the telescopic fork drive assembly, and after the material box is adsorbed on the push rod assembly, drive the push rod assembly to retract in the opposite direction,
  • two support plate assemblies, a telescopic fork drive assembly, a skateboard telescopic suction cup assembly and two push rod assemblies are arranged on the bottom plate, and the skateboard telescopic suction cup assembly drives the push rod assembly to extend along a preset direction under the drive of the telescopic fork drive assembly, and after the material box is adsorbed on the push rod assembly, drives the push rod assembly to retract in the opposite direction, so that the material box is carried on the support plate assembly, thereby reducing the left and right front and back gaps of the material box on the shelf, thereby increasing the material box storage capacity per unit area, while improving the safety in handling cargo boxes, and enhancing the user experience.
  • FIG1 is a schematic diagram of the structure of a transport fork provided in Example 1 of the present application.
  • FIG2 is a schematic diagram of the structure of the material box support provided in Example 1 of the present application.
  • FIG3 is a schematic structural diagram of a support plate assembly provided in Embodiment 1 of the present application.
  • FIG4 is a schematic structural diagram of a telescopic fork drive assembly provided in Embodiment 1 of the present application;
  • FIG5 is a schematic diagram of the structure of a telescopic suction cup assembly of a skateboard provided in Example 1 of the present application;
  • FIG6 is a schematic structural diagram of a push rod assembly provided in Embodiment 1 of the present application.
  • FIG7 is a schematic diagram of the structure of a blocking assembly provided in Example 1 of the present application.
  • FIG8 is a schematic diagram of the structure of the limit assembly provided in Example 1 of the present application.
  • FIG9 is a schematic diagram of the structure of the material box handling provided in Example 1 of the present application.
  • FIG. 10 is a schematic structural diagram of a transport device provided in Example 2 of the present application.
  • FIG1 is a schematic diagram of the structure of a transport fork provided in the first embodiment of the present application.
  • the present embodiment is applicable to the transport of a material box 03.
  • the transport fork 02 of the embodiment of the present application includes: a base plate 10, two support plate assemblies 11, a telescopic fork drive assembly 12, a skateboard telescopic suction cup assembly 13 and two push rod assemblies 14, and the support plate assembly 11, the telescopic fork drive assembly 12, the skateboard telescopic suction cup assembly 13 and the push rod assembly 14 are respectively arranged on the base plate 10.
  • the telescopic fork driving assembly 12 is chain-linked with the skateboard telescopic suction cup assembly 13; the two push rod assemblies 14 are respectively located on both sides of the skateboard telescopic suction cup assembly 13 and are slidably connected with the skateboard telescopic suction cup assembly 13; the two support plates 11 are respectively located on both sides of the skateboard telescopic suction cup assembly 13; the skateboard telescopic suction cup assembly 13 is used to drive the push rod assembly 14 to extend along a preset direction under the drive of the telescopic fork driving assembly 12, and after adsorbing the material box 03 to the push rod assembly 14, drive the push rod assembly 14 to retract in the opposite direction, so that the material box 03 is carried on the support plate assembly 11.
  • Figure 2 is a schematic diagram of the structure of the material box support provided in the first embodiment of the present application. As shown in Figure 2, the material box 03 is placed on two support plates 11, and the two support plates 11 are used to carry the material box 03.
  • the carrying fork 02 includes a base plate 10, two support plate assemblies 11, a telescopic fork drive assembly 12, a skateboard telescopic suction cup assembly 13 and two push rod assemblies 14.
  • the support plate assembly 11, the telescopic fork drive assembly 12, the skateboard telescopic suction cup assembly 13 and the push rod assembly 14 are respectively arranged on the base plate 10.
  • the telescopic fork drive assembly 12 is chain-linked with the skateboard telescopic suction cup assembly 13, and the skateboard telescopic suction cup assembly 13 is driven to extend along a preset direction by the telescopic fork drive assembly 12, and then the skateboard telescopic suction cup assembly 13 is driven to drive the push rod assembly 14 to extend along the preset direction together.
  • the skateboard telescopic suction cup assembly 13 adsorbs the material box 03 on the push rod assembly 14, the skateboard telescopic suction cup assembly 13 is driven to drive the push rod assembly 14 to retract in the opposite direction, so that the material box 03 is carried on the support plate assembly 11.
  • the support plate assembly 11 includes: a support plate 1101 and a support plate bracket 1102 .
  • FIG 3 is a schematic diagram of the structure of the support plate assembly provided in the first embodiment of the present application. As shown in FIG3 , the support plate 1101 is fixed to the base plate 10; the support plate 1101 is fixed to the support plate 1101. On the board bracket 1102.
  • one end of the support plate 1101 has a slope for moving the material box 03 to the support plate assembly 11; one end of the support plate bracket 1102 is fixed to the base plate 10 through a fixing hole on the support plate bracket 1102, and the fixing hole can be fixed with screws and other components, which is not limited in this embodiment; the other end is fixed to the support plate 1101, and is used to support the support plate 1101, so that the support plate 1101 is more stable.
  • the advantage of this arrangement is that one end of the support plate 1101 has a slope, which improves the efficiency of moving the material box 03 to the support plate assembly 11, and the support plate bracket 1102 is used to support the support plate 1101, making the support plate 1101 more stable and less prone to shaking.
  • Figure 4 is a structural schematic diagram of the telescopic fork drive assembly provided in Example 1 of the present application.
  • the telescopic fork drive assembly 12 includes: a spring pull rod 1201, a drive chain 1202, a drive motor 1203 and a drive block 1204.
  • one end of the spring pull rod 1201 is fixed on the base plate 10, and the other end is connected to the push rod assembly 14 through a spring;
  • the drive chain 1202 is respectively connected to the drive motor 1203 and the drive block 1204, and the drive block 1204 is connected to the skateboard telescopic suction cup assembly 13;
  • the drive chain 1202 is used to move along a preset trajectory driven by the drive motor 1203, so that the drive block 1204 drives the skateboard telescopic suction cup assembly 13 to extend in a preset direction or retract in the opposite direction.
  • one end of the spring pull rod 1201 is fixed on the bottom plate, and the other end is connected to the push rod assembly 14 through a spring.
  • the drive chain 1202 moves along a preset trajectory driven by the drive motor 1203, so that when the drive block 1204 drives the skateboard telescopic suction cup assembly 13 to extend in a preset direction or retract in the opposite direction, the spring pull rod 1201 drives the push rod assembly 14 to extend along the preset direction along with the skateboard telescopic suction cup assembly 13.
  • the bottom of the skateboard telescopic suction cup assembly 13 is firmly fixed on the bottom plate 10.
  • the advantage of such a configuration is that when the drive block 1204 drives the skateboard telescopic suction cup assembly 13 to extend in a preset direction or retract in the opposite direction, the skateboard telescopic suction cup assembly 13 will not separate from the bottom plate 10.
  • the drive chain 1202 is respectively connected to the drive motor 1203 and the drive block 1204, and the drive block 1204 is connected to the skateboard telescopic suction cup assembly 13.
  • the driving motor 1203 drives the driving chain 1202 to move along a preset trajectory
  • the driving block 1204 drives the telescopic suction cup assembly 13 of the skateboard to extend or retract in the reverse direction.
  • the telescopic fork drive assembly 12 also includes: a vacuum detection switch 1205, a sensor mounting bracket 1206, a material box detection sensor 1207, a rotating motor 1208, a driver 1209, an image acquisition device 1210 and a belt clamp 1211.
  • the vacuum detection switch 1205 , the sensor mounting bracket 1206 , the rotating motor 1208 , the driver 1209 and the image acquisition device 1210 are all fixed on the base plate 10 ; the material box detection sensor 1207 is installed on the sensor mounting bracket 1206 .
  • the vacuum detection switch 1205 is fixed on the bottom plate 10, and a vacuum detection device is installed on the vacuum detection switch 1205, such as a vacuum detector, etc., which is not limited in this embodiment.
  • the vacuum detection switch 1205 is used to detect the vacuum degree of the suction cup 1305.
  • the suction cup assembly 13 is allowed to perform the telescopic action.
  • the set value is a pre-set value for judging the vacuum degree of the suction cup, which can be set according to the specific use environment, which is not limited in this embodiment.
  • the material box detection sensor 1207 is installed on the sensor mounting bracket 1206.
  • the sensor mounting bracket 1206 is used to install the material box detection sensor 1207 to make the material box detection sensor 1207 safer during use and improve the safety of use.
  • the material box detection sensor 1207 is used to detect the material box 03 existing in the working environment of the material box robot.
  • the rotating motor 1208 is fixed on the bottom plate 10, and the bottom plate 10 is driven to rotate by the rotating motor 1208.
  • the advantage of such a setting is that the flexibility of the bottom plate 10 is improved, so that the bottom plate 10 can be rotated at any angle, and the material box 03 at any angle can be carried at the same time.
  • the driver 1209 is fixed on the base plate 10 and is used to control the driving motor 1203 to work.
  • the image acquisition device 1210 is fixed on the bottom plate 10 and is used to acquire the image of the material box 03.
  • the image acquisition device 1210 can be, for example, a video camera, a video recorder, a camera, etc.
  • the advantage of such a configuration is that the image of the material box 03 is collected by the image acquisition device 1210, and the state of the material box 03 is detected in real time, thereby improving the efficiency, accuracy and safety of the material box 03 handling process.
  • the belt clamp 1211 is fixed on the base plate 10 and is used to fix the first belt 1307 .
  • Figure 5 is a structural schematic diagram of the skateboard telescopic suction cup assembly provided in Example 1 of the present application.
  • the skateboard telescopic suction cup assembly 13 includes: a telescopic fork fixed guide rail 1301, a skateboard telescope 1302, a telescopic fork upper plate 1303, a material box push rod 1304, a suction cup 1305, a rear push rod plate 1306, a first belt 1307, a second belt 1308, a fixed plate 1309, a connecting block 1310, a second guide rail 1311, a second guide rail bottom plate 1312, a third guide rail 1313 and a third guide rail bottom plate 1314.
  • the telescopic fork fixed rail 1301 is fixed on the bottom plate 10; the second rail 1311 is fixed on the second rail bottom plate 1312, and the third rail 1313 is fixed on the third rail bottom plate 1314.
  • the slide plate telescope 1302 is connected with the second rail 1311 and the third rail bottom plate 1314; the telescopic fork upper plate 1303 is arranged on the side of the third rail bottom plate 1314 away from the telescopic fork fixed rail 1301, and the material box push rod 1304 and the suction cup 1305 are arranged on the telescopic fork upper plate 1303, the suction cup 1305 is used to absorb the material box 03, and the material box push rod 1304 is used to drive the material box 03 to move.
  • the rear push rod plate 1306 is arranged on the side of the second guide rail bottom plate 1312 close to the telescopic fork fixed guide rail 1301, the first belt 1307 is arranged on the second guide rail bottom plate 1312, and one end of the first belt 1307 is fixedly linked to the belt clamping plate 1211, and the other end of the first belt 1307 is connected to the third guide rail bottom plate 1314, the second belt 1308 is arranged on the third guide rail bottom plate 1314, and one end of the second belt 1308 is connected to the second guide rail bottom plate 1312, and the other end of the second belt 1308 is connected to the fixed plate 1309. Since the first belt 1307 and the second belt 1308 are connected, the fixed plate 1309 and the parts thereon are driven to extend.
  • the telescopic fork fixing rail 1301 is fixed to the base plate 10 through the fixing hole, and can also be fixed by welding, gluing, etc., which is not limited in this embodiment; 1302 is arranged on the second guide rail 1311 and connected to the third guide rail bottom plate 1314.
  • the driving block 1204 is connected to the connecting block 1310, and the driving block 1204 drives the connecting block 1310 so that the second guide rail 1311 can slide on the telescopic fork fixed guide rail 1301.
  • the material box push rod 1304 and the suction cup 1305 are arranged on the telescopic fork upper plate 1303.
  • the driving block 1204 drives the second guide rail 1311 and further enables the slide plate telescope 1302 to drive the third guide rail 1313 and the third guide rail bottom plate 1314 to slide on the second guide rail 1311 and extend the material box 03
  • the suction cup 1305 absorbs the material box 03
  • the material box push rod 1304 starts to drive the material box 03 to move and retract.
  • the slide plate telescopic device 1302 is used to fix the second guide rail 1311 and is connected to the slider of the second guide rail 1311; the rear push rod plate 1306 is fixed on the second guide rail bottom plate 1312; the fixing plate 1309 is fixed on the slider of the third guide rail 1313; when the driving motor 1203 drives the small chain to move, the small chain drives the driving chain 1202 to start sliding, and then the driving block 1204 drives the connecting block 1310 to drive the second guide rail 1311 and the second guide rail bottom plate 1312 to move on the telescopic fork fixed guide rail 130 1, and at the same time, under the action of the first belt 1307, the slide plate retractor 1302 is driven to retract, and the third guide rail 1313 and the third guide rail bottom plate 1314 are made to slide on the second guide rail 1311, and further under the action of the second belt 1308, the fixed plate 1309 is driven to retract; the telescopic fork upper plate 1303, the material box push rod 1304 and the suction cup 1305 are connected with the fixed plate 1309
  • the advantage of such a configuration is that after the suction cup 1305 absorbs the material box 03, the material box 03 is pulled to move and the material box 03 is pulled back; when the material box 03 is pushed out, the material box push rod 1304 acts to prevent damage to the suction cup 1305.
  • the push rod assembly 14 includes: a connecting rod push wheel 1401 , a push rod 1402 , a telescopic spring 1403 and a rubber anti-collision block 1404 .
  • FIG 6 is a schematic diagram of the structure of the push rod assembly provided in the first embodiment of the present application.
  • the connecting rod push wheel 1401 is fixed on the push rod 1402
  • the push rod 1402 is connected to one end of the telescopic spring 1403, and the other end of the telescopic spring 1403 is connected to the spring pull rod 1201;
  • the rubber anti-collision block 1404 It is fixed on one side of the push rod 1402 to prevent the material box 03 from colliding.
  • the other end of the telescopic spring 1403 of the push rod assembly 14 is connected to the spring pull rod 1201.
  • the push rod assembly 14 is driven to extend or retract together.
  • the push rod 1402 extends out under the action of the spring force, and 1401 pushes 15 flat; when the suction cup 1305 contacts the material box 03, and after adsorbing the material box 03, when the material box 03 is to be retracted, the drive chain 1202 drives the drive block 1204 to retract, and the drive block 1204 drives the connecting block 1310 to retract, and under the action of the first belt 1307 and the second belt 1308, the fixed plate 1309 and the telescopic fork upper plate 1303 thereon, the material box push rod 1304 and the suction cup 1305 are retracted.
  • the transport fork 02 further includes a blocking component 15.
  • FIG 7 is a schematic diagram of the structure of the blocking assembly provided in the first embodiment of the present application. As shown in FIG7 , the blocking assembly 15 is used to prevent the material box 03 from sliding off.
  • the blocking assembly 15 includes a blocking rod 1501 , a blocking rotating shaft 1502 and a blocking mounting seat 1503 .
  • the blocking rod 1501 is connected to the connecting rod push wheel 1401;
  • the blocking rotating shaft 1502 is connected to the blocking rod 1501, and is used to control the rotation of the blocking rod;
  • one end of the blocking mounting seat 1503 is fixed on the base plate 10, and the other end is connected to the blocking rotating shaft 1502, and is used to fix the blocking rotating shaft 1502 and the blocking rod 1501.
  • the suction cup 1305 absorbs the material box 03 and pulls the material box 03 back; while pulling it back, the side push rod of the telescopic suction cup assembly 13 of the skateboard drives the push rod 1402 to retract, and the connecting rod push wheel 1401 brings the blocking rod 1501 back, and the blocking rod 1501 changes from a horizontal state to a vertical state, thereby blocking the material box 03;
  • the material box push rod 1304 pushes the material box to move, and at this time the telescopic fork upper plate 1303 extends as a whole, and under the action of the telescopic spring 1403, the push rod 1402 extends, thereby driving the blocking rod 1501 from a vertical state to a horizontal state, so that the material box 03 is smoothly pushed out.
  • the transport fork 02 further includes two limit assemblies 16 .
  • Figure 8 is a structural schematic diagram of the limit assembly provided in Example 1 of the present application. As shown in Figure 8, two limit assemblies 16 are respectively arranged on the base plate 10 and are respectively located on the side of the two support plate assemblies 11 away from the central axis of the transport fork 02, for limiting the material box 03.
  • the position of the material box 03 is controlled by two limit assemblies 16, so that the position occupied by the material box 03 on the push rod assembly 14 becomes smaller, and at the same time the material box 03 is accurately transferred to the support plate assembly 11.
  • the advantage of such a configuration is that it reduces the left and right front and back gaps between the material box 03 on the shelf 04, while improving the safety during the transportation of the cargo box and enhancing the user experience.
  • the driver 1209 is fixed on the base plate 10, and is used to send a work instruction to the material box robot when the material box 03 is detected.
  • the work instruction notifies the material box robot to start taking the material box 03, and the small chain starts to move by turning on the drive motor 1203, thereby driving the drive chain 1202 to move along a preset trajectory, and the drive chain 1202 drives the drive block 1204, so that the connecting block 1310 drives the second guide rail 1311 and the second guide rail bottom plate 1312 to slide on the telescopic fork fixed guide rail 1301, and at the same time, under the action of the first belt 1307, the skateboard telescope 1302 is driven to telescope, so that the third guide rail 1313 and the third guide rail bottom plate 1314 slide on the second guide rail 1311, and further under the action of the second belt 1308, the fixed plate 1309 is driven to telescope.
  • FIG9 is a schematic diagram of the structure of the material box handling provided in the first embodiment of the present application, as shown in FIG9, as shown in FIG9, the push rod 1402 abuts against the shelf 04.
  • the push rod 1402 extends, it is fixed on the push rod 1402.
  • the connecting rod push wheel 1401 on the shelf 04 will also extend out and push the blocking rod 1501 of the blocking assembly 15 flat.
  • the suction cup 1305 starts to absorb the material box 03 placed on the shelf 04, and after the absorption of the material box 03 is completed, the slide plate telescopic suction cup assembly 13 starts to retract, and the material box 03 starts to slide from the shelf 04 to the push rod 1402 of the push rod assembly 14, until the push rod assembly 14 retracts until the material box 03 contacts the support plate 1101 of the support plate assembly 11, and the material box 03 slides from the push rod 1402 of the push rod assembly 14 to the support plate 1101 of the support plate assembly 11, and the height of the push rod 1402 of the push rod assembly 14 is lower than the setting of the support plate 1101 of the support plate assembly 11.
  • the push rod assembly 14 When the material box 03 slides onto the support plate 1101 of the support plate assembly 11, the push rod assembly 14 will not retract temporarily. Further, when the slide plate telescopic suction cup assembly 13 retracts to the preset position, the push rod assembly 14 starts to retract under the drive of the side plate of the rear push rod plate 1306.
  • the preset position is the pre-set position of the slide plate telescopic suction cup assembly 13 retracts.
  • the push rod 1402 of the push rod assembly 14 drives the blocking rod 1501 of the blocking assembly 15 and makes the blocking rod 1501 of the blocking assembly 15 stand up, so that the material box 03 can be prevented from sliding down when the entire transport fork 02 rotates.
  • the material box push rod 1304 pushes the material box 03 to move along the preset direction.
  • the push rod 1402 will extend until the push rod 1402 hits the shelf 04.
  • the connecting rod push wheel 1401 will flatten the blocking rod 1501 of the blocking assembly 15, and the material box 03 is successfully pushed onto the shelf 04.
  • a transport fork 02 comprising: a base plate 10, two support plate assemblies 11, a telescopic fork drive assembly 12, a skateboard telescopic suction cup assembly 13 and two push rod assemblies 14, wherein the support plate assembly 11, the telescopic fork drive assembly 12, the skateboard telescopic suction cup assembly 13 and the push rod assembly 14 are respectively arranged on the base plate 10; wherein the telescopic fork drive assembly 12 is chain-linked with the skateboard telescopic suction cup assembly 13; the two push rod assemblies 14 are respectively located on the two ends of the skateboard telescopic suction cup assembly 13 side, and is slidably connected with the skateboard telescopic suction cup assembly 13; the two support plates 11 are respectively located on both sides of the skateboard telescopic suction cup assembly 13; the skateboard telescopic suction cup assembly 13 is used to drive the push rod assembly 14 to extend along a preset direction under the drive of the telescopic fork drive assembly 12, and after
  • two support plate assemblies 11, a telescopic fork drive assembly 12, a skateboard telescopic suction cup assembly 13 and two push rod assemblies 14 are arranged on the base plate 10.
  • the skateboard telescopic suction cup assembly 13 drives the push rod assembly 14 to extend along a preset direction under the drive of the telescopic fork drive assembly 12, and after adsorbing the material box 03 to the push rod assembly 14, it drives the push rod assembly 14 to retract in the opposite direction, so that the material box 03 is carried on the support plate assembly 11, reducing the left and right front and back gaps of the material box 03 on the shelf 04, thereby increasing the storage capacity of the material box 03 per unit area, while improving the safety in transporting cargo boxes and enhancing the user experience.
  • FIG. 10 is a schematic structural diagram of a transport device provided in the second embodiment of the present application. As shown in FIG. 10 , the transport device specifically includes: a transport body 01 and any one of the transport forks 02 .
  • the transport fork 02 is set on the transport body 01, and the transport body 01 can be a mechanical arm, a transport robot, a movable mechanical equipment, etc., which is not limited in this embodiment.
  • the transport fork 02 is disposed on the transport body 01 , and the transport body 01 controls the transport fork 02 , so that the transport fork 02 completes the transport work of the material box 03 , thereby improving the work efficiency of transporting the material box 03 .
  • the technical solution of the embodiment of the present application is to set the transport fork 02 on the transport body 01, and the transport body 01 starts to control the transport fork 02 to work.
  • the transport body 01 controls the transport fork 02, so that the transport fork 02 completes the transport work of the material box 03, thereby improving the work efficiency of the transport of the material box 03.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne une fourche de manipulation et un dispositif de manipulation. La fourche de manipulation comprend une plaque inférieure (10), deux ensembles plaques de support (11), un ensemble d'entraînement de fourche télescopique (12), un ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13), et deux ensembles tiges de poussée (14) ; les ensembles plaques de support (11), l'ensemble d'entraînement de fourche télescopique (12), l'ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13), et les ensembles tiges de poussée (14) sont respectivement disposés sur la plaque inférieure (10) ; l'ensemble d'entraînement de fourche télescopique (12) est en liaison de chaîne avec l'ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13) ; les deux ensembles tiges de poussée (14) sont respectivement situés sur deux côtés de l'ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13) et sont reliés coulissants à l'ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13) ; les deux ensembles plaques de support (11) sont respectivement situés sur deux côtés de l'ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13) ; l'ensemble coupelle d'extension et de rétraction et d'aspiration de plaque coulissante (13) est entraîné par l'ensemble d'entraînement de fourche télescopique (12) pour entraîner les ensembles tiges de poussée (14) pour s'étendre le long d'une direction prédéfinie, aspire une boîte de matériau (03) vers les ensembles tiges de poussée (14), puis entraîne les ensembles tiges de poussée (14) pour se rétracter en sens inverse, de sorte que la boîte de matériau (03) est portée sur les ensembles plaques de support (11). Selon la fourche de manipulation et le dispositif de manipulation, l'ensemble d'entraînement de fourche télescopique et l'ensemble coupelle d'extension et de rétraction de plaque coulissante sont commandés pour manipuler des boîtes de matériau, de sorte qu'une sécurité élevée est obtenue.
PCT/CN2024/094973 2023-06-14 2024-05-23 Fourche de manipulation et dispositif de manipulation Pending WO2024255559A1 (fr)

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CN202321523452.9U CN219906898U (zh) 2023-06-14 2023-06-14 一种搬运货叉及搬运装置
CN202321523452.9 2023-06-14

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CN120987052A (zh) * 2025-10-23 2025-11-21 江苏鹿鹿通食品有限公司 一种卤蛋加工用运输装置

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CN219906898U (zh) * 2023-06-14 2023-10-27 上海快仓智能科技有限公司 一种搬运货叉及搬运装置
CN121225186A (zh) * 2025-12-03 2025-12-30 新华三工业互联网有限公司 伸缩装置、料箱机器人及其控制方法

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CN218200946U (zh) * 2022-09-07 2023-01-03 上海快仓智能科技有限公司 货箱搬运装置及搬运机器人
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CN208200273U (zh) * 2018-05-30 2018-12-07 涿州市益通机械科技有限公司 电磁吸盘式平衡送料车
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CN120987052A (zh) * 2025-10-23 2025-11-21 江苏鹿鹿通食品有限公司 一种卤蛋加工用运输装置

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