WO2024255559A1 - 一种搬运货叉及搬运装置 - Google Patents

一种搬运货叉及搬运装置 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.)
Ceased
Application number
PCT/CN2024/094973
Other languages
English (en)
French (fr)
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/zh
Anticipated expiration legal-status Critical
Ceased 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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Abstract

一种搬运货叉及搬运装置。该搬运货叉包括：底板（10）、两个支撑板组件（11）、伸缩叉驱动组件（12）、滑板伸缩吸盘组件（13）和两个推杆组件（14），支撑板组件（11）、伸缩叉驱动组件（12）、滑板伸缩吸盘组件（13）和推杆组件（14）分别设置在底板（10）上；其中，伸缩叉驱动组件（12）与滑板伸缩吸盘组件（13）链条链接；两个推杆组件（14）分别位于滑板伸缩吸盘组件（13）的两侧、且与滑板伸缩吸盘组件（13）滑动连接；两个支撑板组件（11）分别位于滑板伸缩吸盘组件（13）的两侧；滑板伸缩吸盘组件（13），用于在伸缩叉驱动组件（12）的驱动下带动推杆组件（14）一起沿预设方向伸出，并在吸附料箱（03）至推杆组件（14）上之后，带动推杆组件（14）一起反向回缩，使得料箱（03）承载在支撑板组件（11）上。该搬运货叉及搬运装置通过控制缩叉驱动组件和滑板伸缩吸盘组件搬运料箱，安全性高。

Description

一种搬运货叉及搬运装置
相关申请的引用
本申请要求申请日为2023年6月14日、申请号为202321523452.9，实用新型名称为“一种搬运货叉及搬运装置”的在中国递交的在先实用新型专利的优先权，该在先申请的全部内容通过引用合并于此。
技术领域
本申请涉及料箱搬运技术领域，尤其涉及一种搬运货叉及搬运装置。
背景技术
由于工厂地价越来越高，产品越来越多，种类越来越多，对仓库的存储量要求越来越高，同时对出货的速度及准确率也越来越高。为了应对货架较高的仓库商品，越来越重视搬运机器人的应用。
目前，现有技术中，箱式搬运机器人其取放料箱的方式，多采用夹抱式结构，这种结构在往货架上取放料箱的时候，由于其本身结构限制，对料箱的排布具有一定的要求，比如料箱左右、前后排布均有间隙要求，这种间隙会极大影响料箱的排布密集程度，造成单位面积的储存量下降，同时在搬运料箱的过程中存在安全隐患，安全性低，用户的使用体验较差。
发明内容
本申请提供了一种搬运货叉及搬运装置，提高搬运货箱中的安全性，提升用户的使用体验。
第一方面，本申请实施例提供了一种搬运货叉，搬运货叉包括：底板、两个支撑板组件、伸缩叉驱动组件、滑板伸缩吸盘组件和两个推杆组件，支撑板组件、伸缩叉驱动组件、滑板伸缩吸盘组件和推杆组件分别设置在 底板上；其中，
伸缩叉驱动组件与滑板伸缩吸盘组件链条链接；两个推杆组件分别位于滑板伸缩吸盘组件的两侧、且与滑板伸缩吸盘组件滑动连接；两个支撑板分别位于滑板伸缩吸盘组件的两侧；
滑板伸缩吸盘组件，用于在伸缩叉驱动组件的驱动下带动推杆组件一起沿预设方向伸出，并在吸附料箱至推杆组件上之后，带动推杆组件一起反向回缩，以使得料箱承载在支撑板组件上。
可选的，搬运货叉还包括两个限位组件；两个限位组件分别设置在底板上、且分别位于两个支撑板组件远离搬运货叉中轴线的一侧，用于对料箱进行限位。
可选的，支撑板组件包括：支撑板和支撑板支架；其中，支撑板支架固定在底板上；支撑板固定在支撑板支架上。
可选的，伸缩叉驱动组件包括：弹簧拉杆、驱动链条、驱动电机和驱动块；其中，弹簧拉杆的一端固定在底板上，另一端与推杆组件连接；驱动链条分别与驱动电机、驱动块连接，驱动块与滑板伸缩吸盘组件连接；驱动链条，用于在驱动电机的带动下沿预设轨迹运动，以使得驱动块带动滑板伸缩吸盘组件沿预设方向伸出或者反向回缩。
可选的，伸缩叉驱动组件还包括：真空检测开关、传感器安装支架、料箱检测传感器、旋转电机、驱动器、图像采集设备和皮带夹板；其中，真空检测开关、传感器安装支架、旋转电机、驱动器和图像采集设备均固定在底板上；料箱检测传感器安装在传感器安装支架上；旋转电机，用于带动底板进行旋转；驱动器，用于在检测到料箱时，驱动料箱机器人进行工作；图像采集设备，用于对料箱图像进行采集，并对料箱的状态进行检测；皮带夹板固定在底板。
可选的，滑板伸缩吸盘组件包括：伸缩叉固定导轨、滑板伸缩器、伸 缩叉上板、料箱推杆、吸盘、后推杆板、第一皮带、第二皮带、固定板、连接块、第二导轨、第二导轨底板、第三导轨和第三导轨底板；其中，伸缩叉固定导轨固定在底板上；所述滑板伸缩器设置在所述第二导轨上、且与所述第三导轨底板连接；所述伸缩叉上板设置在所述第三导轨底板远离所述伸缩叉固定导轨的一侧；所述料箱推杆和所述吸盘设置在所述伸缩叉上板上，所述料箱推杆用于带动料箱运动，所述吸盘用于吸附料箱；所述后推杆板设置在所述第二导轨底板靠近所述伸缩叉固定导轨的一侧；所述固定板固定在所述第三导轨的滑块上；所述驱动块与所述连接块连接；所述第一皮带设置在所述第二导轨底板上，且所述第一皮带的一端与所述皮带夹板固定链接，所述第一皮带的另一端与所述第三导轨底板连接，所述第二皮带设置在所述第三导轨底板上，且所述第二皮带的一端与所述第二导轨底板连接，所述第二皮带的另一端与所述固定板连接。
可选的，推杆组件包括：连杆推轮、推杆、伸缩弹簧和橡胶防撞块；其中，连杆推轮固定在推杆上，推杆与伸缩弹簧一端连接，伸缩弹簧的另一端与弹簧拉杆连接；橡胶防撞块固定在推杆一侧，用于防止料箱发生碰撞。
可选的，搬运货叉还包括阻挡组件；阻挡组件，用于防止料箱滑落。
可选的，阻挡组件包括阻挡杆、阻挡旋转轴和阻挡安装座；其中，阻挡杆与连杆推轮连接；阻挡旋转轴与阻挡杆连接，用于控制阻挡杆进行旋转；阻挡安装座一端固定在底板上，另一端与阻挡旋转轴连接，用于固定阻挡旋转轴和阻挡杆。
第二方面，本申请实施例还提供了一种搬运装置，该搬运装置包括：搬运主体和任一所述的搬运货叉；搬运货叉设置在搬运主体上。
本申请实施例的技术方案，搬运货叉包括：底板、两个支撑板组件、伸缩叉驱动组件、滑板伸缩吸盘组件和两个推杆组件，支撑板组件、伸缩 叉驱动组件、滑板伸缩吸盘组件和推杆组件分别设置在底板上；其中，伸缩叉驱动组件与滑板伸缩吸盘组件链条链接；两个推杆组件分别位于滑板伸缩吸盘组件的两侧、且与滑板伸缩吸盘组件滑动连接；两个支撑板分别位于滑板伸缩吸盘组件的两侧；滑板伸缩吸盘组件，用于在伸缩叉驱动组件的驱动下带动推杆组件一起沿预设方向伸出，并在吸附料箱至推杆组件上之后，带动推杆组件一起反向回缩，以使得料箱承载在支撑板组件上。本申请实施例，通过在底板上设置两个支撑板组件、伸缩叉驱动组件、滑板伸缩吸盘组件和两个推杆组件，滑板伸缩吸盘组件在伸缩叉驱动组件的驱动下带动推杆组件一起沿预设方向伸出，并在吸附料箱至推杆组件上之后，带动推杆组件一起反向回缩，以使得料箱承载在支撑板组件上，减小料箱在货架上的左右前后间隙，提高了单位面积的料箱存储量，同时提高搬运货箱中的安全性，提升用户的使用体验。
应当理解，本部分所描述的内容并非旨在标识本申请的实施例的关键或重要特征，也不用于限制本申请的范围。本申请的其它特征将通过以下的说明书而变得容易理解。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例一中提供的一种搬运货叉的结构示意图；
图2是本申请实施例一中提供的料箱承载的结构示意图；
图3是本申请实施例一中提供的支撑板组件的结构示意图；
图4是本申请实施例一中提供的伸缩叉驱动组件的结构示意图；
图5是本申请实施例一中提供的滑板伸缩吸盘组件的结构示意图；
图6是本申请实施例一中提供的推杆组件的结构示意图；
图7是本申请实施例一中提供的阻挡组件的结构示意图；
图8是本申请实施例一中提供的限位组件的结构示意图；
图9是本申请实施例一中提供的料箱搬运的结构示意图；
图10是本申请实施例二中提供的一种搬运装置的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请的方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例一
图1是本申请实施例一中提供的一种搬运货叉的结构示意图，本实施例可适用于对料箱03的搬运情况，在一个具体的实施例中，如图1所示， 本申请实施例的搬运货叉02包括：底板10、两个支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和两个推杆组件14，支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和推杆组件14分别设置在底板10上。
其中，伸缩叉驱动组件12与滑板伸缩吸盘组件13链条链接；两个推杆组件14分别位于滑板伸缩吸盘组件13的两侧、且与滑板伸缩吸盘组件13滑动连接；两个支撑板11分别位于滑板伸缩吸盘组件13的两侧；滑板伸缩吸盘组件13，用于在伸缩叉驱动组件12的驱动下带动推杆组件14一起沿预设方向伸出，并在吸附料箱03至推杆组件14上之后，带动推杆组件14一起反向回缩，以使得料箱03承载在支撑板组件11上。图2是本申请实施例一中提供的料箱承载的结构示意图，如图2所示，料箱03放置在两个支撑板11上，两个支撑板11用于承载料箱03。
具体的，搬运货叉02包括底板10、两个支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和两个推杆组件14，支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和推杆组件14分别设置在底板10上，在需要从货架04上取料箱03时，伸缩叉驱动组件12与滑板伸缩吸盘组件13链条链接，通过伸缩叉驱动组件12驱动滑板伸缩吸盘组件13沿着预设方向伸出，然后驱动滑板伸缩吸盘组件13带动推杆组件14一起沿着预设方向伸出，并且使得滑板伸缩吸盘组件13将料箱03吸附在推杆组件14上之后，驱动滑板伸缩吸盘组件13带动推杆组件14一起反向回缩，以使得料箱03承载在支撑板组件11上。
在上述实施例的基础上，可选的，支撑板组件11包括：支撑板1101和支撑板支架1102。
其中，图3是本申请实施例一中提供的支撑板组件的结构示意图，如图3所示，支撑板1101支架固定在底板10上；支撑板1101固定在支撑 板支架1102上。
具体的，支撑板1101的一端带有一个斜坡，用于使得料箱03移动到支撑板组件11；支撑板支架1102的一端通过支撑板支架1102上的固定孔固定在底板10上，固定孔中可以用螺丝等组件进行固定，本实施例对此不进行限定；另一端固定在支撑板1101上，用于支撑支撑板1101，使得支撑板1101更加稳定。
这样设置的好处在于，支撑板1101的一端带有一个斜坡，提升料箱03移动到支撑板组件11的高效性，支撑板支架1102用于支撑支撑板1101，使得支撑板1101更加稳定，不易晃动。
在上述实施例的基础上，可选的，图4是本申请实施例一中提供的伸缩叉驱动组件的结构示意图，如图4所示，伸缩叉驱动组件12包括：弹簧拉杆1201、驱动链条1202、驱动电机1203和驱动块1204。
其中，弹簧拉杆1201的一端固定在底板10上，另一端通过弹簧与推杆组件14连接；驱动链条1202分别与驱动电机1203、驱动块1204连接，驱动块1204与滑板伸缩吸盘组件13连接；驱动链条1202，用于在驱动电机1203的带动下沿预设轨迹运动，以使得驱动块1204带动滑板伸缩吸盘组件13沿预设方向伸出或者反向回缩。
具体的，弹簧拉杆1201的一端固定在底板上，另一端通过弹簧与推杆组件14连接，驱动链条1202在驱动电机1203的带动下沿预设轨迹运动，以使得驱动块1204带动滑板伸缩吸盘组件13沿预设方向伸出或者反向回缩时，弹簧拉杆1201带动推杆组件14跟随滑板伸缩吸盘组件13沿预设方向一起伸出。滑板伸缩吸盘组件13的底部稳固在底板10上，这样设置的好处在于，当驱动块1204带动滑板伸缩吸盘组件13沿预设方向伸出或者反向回缩时，滑板伸缩吸盘组件13不会脱离底板10。驱动链条1202分别与驱动电机1203、驱动块1204连接，驱动块1204与滑板伸缩吸盘组 件13连接，在滑板伸缩吸盘组件13需要进行伸出或者反向回缩时，驱动电机1203带动驱动链条1202沿预设轨迹运动，并且使得驱动块1204带动滑板伸缩吸盘组件13沿预设方向伸出或者反向回缩。
在上述实施例的基础上，可选的，伸缩叉驱动组件12还包括：真空检测开关1205、传感器安装支架1206、料箱检测传感器1207、旋转电机1208、驱动器1209、图像采集设备1210和皮带夹板1211。
其中，真空检测开关1205、传感器安装支架1206、旋转电机1208、驱动器1209和图像采集设备1210均固定在底板10上；料箱检测传感器1207安装在传感器安装支架1206上。
具体的，真空检测开关1205固定在底板10上，真空检测开关1205上安装有真空检测设备，例如可以是真空检测仪等，本实施例对此不进行限定。真空检测开关1205用于检测吸盘1305的真空度，当真空度达到设定值时，才允许吸盘组件13执行伸缩动作。其中，设定值为预先设定的判断吸盘真空度的值，可以根据具体使用环境进行设定，本实施例对此不进行限定。
料箱检测传感器1207安装在传感器安装支架1206上，传感器安装支架1206用于安装料箱检测传感器1207，以使得料箱检测传感器1207在使用过程中更加安全，提升使用的安全性，料箱检测传感器1207用于对料箱机器人在工作环境中存在的料箱03进行检测。
旋转电机1208固定在底板10上，通过旋转电机1208带动底板10进行旋转。这样设置的好处在于，提升底板10的灵活性，使得底板10可以进行任一旋转，同时实现对任一角度的料箱03进行搬运。
驱动器1209固定在底板10上，用于控制驱动电机1203进行工作。
图像采集设备1210固定在底板10上，用于对料箱03的图像进行采集，图像采集设备1210例如可以是摄像机、录像机、相机等，本实施例对此 不进行限定。这样设置的好处在于，通过图像采集设备1210对料箱03的图像进行采集，并对料箱03的状态进行实时检测，提升料箱03搬运过程的高效性、准确性和安全性。
皮带夹板1211固定在底板10上，用于固定第一皮带1307。
在上述实施例的基础上，可选的，图5是本申请实施例一中提供的滑板伸缩吸盘组件的结构示意图，如图5所示，滑板伸缩吸盘组件13包括：伸缩叉固定导轨1301、滑板伸缩器1302、伸缩叉上板1303、料箱推杆1304、吸盘1305、后推杆板1306、第一皮带1307、第二皮带1308、固定板1309、连接块1310、第二导轨1311、第二导轨底板1312、第三导轨1313和第三导轨底板1314。
其中，伸缩叉固定导轨1301固定在底板10上；第二导轨1311固定在第二导轨底板1312上，第三导轨1313固定在第三导轨底板1314。滑板伸缩器1302与第二导轨1311和第三导轨底板1314连接；伸缩叉上板1303设置在第三导轨底板1314远离伸缩叉固定导轨1301的一侧，料箱推杆1304和吸盘1305设置在伸缩叉上板1303上，吸盘1305用于吸附料箱03，料箱推杆1304用于带动料箱03运动。
后推杆板1306设置在第二导轨底板1312靠近伸缩叉固定导轨1301的一侧，第一皮带1307设置在第二导轨底板1312上，且第一皮带1307的一端与皮带夹板1211固定链接，第一皮带1307的另一端与第三导轨底板1314连接，第二皮带1308设置在第三导轨底板1314上，且第二皮带1308的一端与第二导轨底板1312连接，第二皮带1308的另一端与固定板1309连接。由于第一皮带1307和第二皮带1308皮带连接，从而带动固定板1309及其上的零件伸出。
其中，伸缩叉固定导轨1301的通过固定孔固定在底板10上，也可以通过焊接、黏贴等方式进行固定，本实施例对此不进行限定；滑板伸缩器 1302设置在第二导轨1311上、且与和第三导轨底板1314连接。驱动块1204与连接块1310连接，驱动块1204驱动连接块1310，使得第二导轨1311可以在伸缩叉固定导轨1301上滑动。料箱推杆1304和吸盘1305设置在伸缩叉上板1303上，当驱动块1204驱动第二导轨1311并进一步使得滑板伸缩器1302带动第三导轨1313和第三导轨底板1314在第二导轨1311上滑动，并伸出取料箱03时，通过吸盘1305吸附住料箱03后，料箱推杆1304开始带动料箱03运动，并回缩。
具体的，滑板伸缩器1302用于固定第二导轨1311，与第二导轨1311的滑块链接；后推杆板1306固定在第二导轨底板1312上；固定板1309固定在第三导轨1313的滑块上；当驱动电机1203驱动小链条运动时，小链条带动驱动链条1202开始滑动，然后使得驱动块1204驱动连接块1310带动第二导轨1311和第二导轨底板1312在伸缩叉固定导轨1301上滑动，同时在第一皮带1307的作用下，带动滑板伸缩器1302伸缩，并使得第三导轨1313和第三导轨底板1314在第二导轨1311上滑动，进一步在第二皮带1308的作用下，带动固定板1309伸缩；伸缩叉上板1303、料箱推杆1304和吸盘1305与固定板1309链接，固定板1309伸缩时，带动伸缩叉上板1303、料箱推杆1304和吸盘1305动作。
这样设置的好处在于，通过吸盘1305吸附住料箱03后，拉动料箱03运动，将料箱03拉回；在将料箱03推出时，由料箱推杆1304起作用，防止损坏吸盘1305。
在上述实施例的基础上，可选的，推杆组件14包括：连杆推轮1401、推杆1402、伸缩弹簧1403和橡胶防撞块1404。
其中，图6是本申请实施例一中提供的推杆组件的结构示意图，如图6所示，连杆推轮1401固定在推杆1402上，推杆1402与伸缩弹簧1403一端连接，伸缩弹簧1403的另一端与弹簧拉杆1201连接；橡胶防撞块1404 固定在推杆1402一侧，用于防止料箱03发生碰撞。
具体的，推杆组件14的伸缩弹簧1403的另一端与弹簧拉杆1201连接，在滑板伸缩吸盘组件13进行伸出或者回缩时，带动推杆组件14一起进行伸出或者回缩。
进一步的，推杆1402在弹簧力的作用下伸出，1401将15推平；当吸盘1305与料箱03接触，吸附料箱03后，带料箱03要缩回时，驱动链条1202带动驱动块1204缩回，驱动块1204带动连接块1310缩回，在第一皮带1307、第二皮带1308的作用下，带动固定板1309及其上的伸缩叉上板1303、料箱推杆1304和吸盘1305缩回。
在上述实施例的基础上，可选的，搬运货叉02还包括阻挡组件15。
其中，图7是本申请实施例一中提供的阻挡组件的结构示意图，如图7所示，阻挡组件15，用于防止料箱03滑落。
在上述实施例的基础上，可选的，阻挡组件15包括阻挡杆1501、阻挡旋转轴1502和阻挡安装座1503。
其中，阻挡杆1501与连杆推轮1401连接；阻挡旋转轴1502与阻挡杆1501连接，用于控制阻挡杆进行旋转；阻挡安装座1503一端固定在底板10上，另一端与阻挡旋转轴1502连接，用于固定阻挡旋转轴1502和阻挡杆1501。
具体的，在取料箱03时，吸盘1305吸附住料箱03，将料箱03拉回；在拉回的同时，滑板伸缩吸盘组件13的侧推杆带动推杆1402收回，连杆推轮1401将阻挡杆1501带回，阻挡杆1501由水平状态变为竖直状态，起到阻挡料箱03的作用；当要将料箱03推出时，料箱推杆1304推动料箱动作，此时伸缩叉上板1303整体伸出，在伸缩弹簧1403的作用下，推杆1402伸出，从而带动阻挡杆1501由竖直状态到水平状态，使得料箱03顺利推出。
在上述实施例的基础上，可选的，搬运货叉02还包括两个限位组件16。
其中，图8是本申请实施例一中提供的限位组件的结构示意图，如图8所示，两个限位组件16分别设置在底板10上、且分别位于两个支撑板组件11远离搬运货叉02中轴线的一侧，用于对料箱03进行限位。
具体的，在对料箱03进行搬运的过程中，当料箱03搬运到推杆组件14上时，通过两个限位组件16控制料箱03的位置，使得料箱03在推杆组件14上的占用位置变小，同时使得料箱03准确传输到支撑板组件11上。
这样设置的好处在于，减小料箱03在货架04上的左右前后间隙，同时提高搬运货箱中的安全性，提升用户的使用体验。
示例性的，在驱动器1209固定在底板10上，用于在检测到料箱03时，向料箱机器人发送工作指令，通过工作指令驱动料箱机器人进行工作时，工作指令通知料箱机器人开始进行取料箱03的工作，通过驱动电机1203开启使得小链条开始动作，从而带动驱动链条1202沿着预设轨迹进行运动，并使得驱动链条1202带动驱动块1204，从而使得连接块1310带动第二导轨1311和第二导轨底板1312在伸缩叉固定导轨1301上滑动，同时在第一皮带1307的作用下，带动滑板伸缩器1302伸缩，使得第三导轨1313和第三导轨底板1314在第二导轨1311上滑动，进一步在第二皮带1308的作用下，带动固定板1309伸缩。在滑板伸缩吸盘组件13的第二导轨1311和第三导轨1313沿着预设方向伸出后，在伸缩弹簧1403的作用下，推杆组件14也一起跟随第二导轨1311和第三导轨1313沿着预设方向伸出，使得推杆1402伸出后抵至放置料箱03的货架04上，图9是本申请实施例一中提供的料箱搬运的结构示意图，如图9所示，如图9所示，推杆1402抵至货架04上。在推杆1402伸出的同时固定在推杆1402 上的连杆推轮1401也会随之伸出，并将阻挡组件15的阻挡杆1501推平。在阻挡组件15的阻挡杆1501推平后，吸盘1305开始吸附放置在货架04上的料箱03，并在吸附料箱03完成后，滑板伸缩吸盘组件13开始回缩，此时料箱03开始从货架04上滑动至推杆组件14的推杆1402上，直至推杆组件14回缩至料箱03接触到支撑板组件11的支撑板1101时，料箱03从推杆组件14的推杆1402滑动至支撑板组件11的支撑板1101上，推杆组件14的推杆1402的高度低于支撑板组件11的支撑板1101的设置。当料箱03滑动到支撑板组件11的支撑板1101上时，推杆组件14暂时不会回缩，进一步当滑板伸缩吸盘组件13回缩至预设位置时，在后推杆板1306侧板的带动下，推杆组件14开始回缩，预设位置为预先设定的滑板伸缩吸盘组件13回缩的位置。推杆组件14开始回缩直到与放置料箱03的货架04分离时，推杆组件14的推杆1402带动阻挡组件15的阻挡杆1501，并且使得阻挡组件15的阻挡杆1501竖立起来，这样能够保证在整个搬运货叉02旋转的时候，阻挡料箱03滑落。
示例性的，通知料箱机器人将料箱03放置到货架04上时，料箱推杆1304推动料箱03沿着预设方向进行运动，此时在伸缩弹簧1403作用下，推杆1402会跟随伸出，直至推杆1402顶到货架04，于此同时，连杆推轮1401会将阻挡组件15的阻挡杆1501推平，料箱03顺利推出到货架04上。在确定料箱03顺利推出到货架04上之后，滑板伸缩吸盘组件13回缩回来时，吸盘1305不起作用。
本申请实施例的技术方案，通过搬运货叉02包括：底板10、两个支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和两个推杆组件14，支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和推杆组件14分别设置在底板10上；其中，伸缩叉驱动组件12与滑板伸缩吸盘组件13链条链接；两个推杆组件14分别位于滑板伸缩吸盘组件13的两 侧、且与滑板伸缩吸盘组件13滑动连接；两个支撑板11分别位于滑板伸缩吸盘组件13的两侧；滑板伸缩吸盘组件13，用于在伸缩叉驱动组件12的驱动下带动推杆组件14一起沿预设方向伸出，并在吸附料箱03至推杆组件上之后，带动推杆组件14一起反向回缩，以使得料箱03承载在支撑板组件11上。在上述实施例的基础上，通过在底板10上设置两个支撑板组件11、伸缩叉驱动组件12、滑板伸缩吸盘组件13和两个推杆组件14，滑板伸缩吸盘组件13在伸缩叉驱动组件12的驱动下带动推杆组件14一起沿预设方向伸出，并在吸附料箱03至推杆组件14上之后，带动推杆组件14一起反向回缩，以使得料箱03承载在支撑板组件11上，减小料箱03在货架04上的左右前后间隙，提高了单位面积的料箱03的存储量，同时提高搬运货箱中的安全性，提升用户的使用体验。
实施例二
图10是本申请实施例二中提供的一种搬运装置的结构示意图，如图10所示，该搬运装置具体包括：搬运主体01和任一所述的搬运货叉02。
其中，搬运货叉02设置在搬运主体01上，搬运主体01可以是机械手臂、搬运机器人、可移动机械设备等，本实施例对此不进行限定。
具体的，搬运货叉02设置在搬运主体01上，搬运主体01控制搬运货叉02，使得搬运货叉02完成料箱03的搬运工作，提升料箱03搬运的工作效率。
本申请实施例的技术方案，通过将搬运货叉02设置在搬运主体01上，搬运主体01开始控制搬运货叉02进行工作。在上述实施例的基础上，通过搬运主体01控制搬运货叉02，使得搬运货叉02完成料箱03的搬运工作，提升料箱03搬运的工作效率。
上述具体实施方式，并不构成对本申请保护范围的限制。本领域技术 人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本申请的精神和原则之内所作的修改、等同替换和改进等，均应包含在本申请保护范围之内。

Claims (10)

  1. 一种搬运货叉，其特征在于，所述搬运货叉包括：底板、两个支撑板组件、伸缩叉驱动组件、滑板伸缩吸盘组件和两个推杆组件，所述支撑板组件、所述伸缩叉驱动组件、所述滑板伸缩吸盘组件和所述推杆组件分别设置在所述底板上；其中，
    所述伸缩叉驱动组件与所述滑板伸缩吸盘组件链条链接；两个所述推杆组件分别位于所述滑板伸缩吸盘组件的两侧、且与所述滑板伸缩吸盘组件滑动连接；两个所述支撑板分别位于所述滑板伸缩吸盘组件的两侧；
    所述滑板伸缩吸盘组件，用于在所述伸缩叉驱动组件的驱动下带动所述推杆组件一起沿预设方向伸出，并在吸附料箱至所述推杆组件上之后，带动所述推杆组件一起反向回缩，以使得所述料箱承载在所述支撑板组件上。
  2. 根据权利要求1所述的搬运货叉，其特征在于，所述搬运货叉还包括两个限位组件；
    两个所述限位组件分别设置在所述底板上、且分别位于两个所述支撑板组件远离搬运货叉中轴线的一侧，用于对所述料箱进行限位。
  3. 根据权利要求1所述的搬运货叉，其特征在于，所述支撑板组件包括：支撑板和支撑板支架；其中，
    所述支撑板支架固定在所述底板上；所述支撑板固定在所述支撑板支架上。
  4. 根据权利要求1所述的搬运货叉，其特征在于，所述伸缩叉驱动组件包括：弹簧拉杆、驱动链条、驱动电机和驱动块；其中，
    所述弹簧拉杆的一端固定在所述底板上，另一端与所述推杆组件连接；
    所述驱动链条分别与所述驱动电机、所述驱动块连接，所述驱动块与所述滑板伸缩吸盘组件连接；所述驱动链条，用于在所述驱动电机的带动下沿预设轨迹运动，以使得所述驱动块带动所述滑板伸缩吸盘组件沿预设方向伸出或者反向回缩。
  5. 根据权利要求4所述的搬运货叉，其特征在于，所述伸缩叉驱动组件还包括：真空检测开关、传感器安装支架、料箱检测传感器、旋转电机、驱动器、图像采集设备和皮带夹板；其中，
    所述真空检测开关、所述传感器安装支架、所述旋转电机、所述驱动器和所述图像采集设备均固定在所述底板上；所述料箱检测传感器安装在所述传感器安装支架上；
    所述旋转电机，用于带动所述底板进行旋转；
    所述驱动器，用于在检测到料箱时，驱动所述料箱机器人进行工作；
    所述图像采集设备，用于对料箱图像进行采集，并对料箱的状态进行检测；
    所述皮带夹板固定在所述底板。
  6. 根据权利要求5所述的搬运货叉，其特征在于，所述滑板伸缩吸盘组件包括：伸缩叉固定导轨、滑板伸缩器、伸缩叉上板、料箱推杆、吸盘、后推杆板、第一皮带、第二皮带、固定板、连接块、第二导轨、第二导轨底板、第三导轨和第三导轨底板；其中，
    所述伸缩叉固定导轨固定在所述底板上；
    所述滑板伸缩器设置在所述第二导轨上、且与所述第三导轨底板连接；
    所述伸缩叉上板设置在所述第三导轨底板远离所述伸缩叉固定导轨的一侧；
    所述料箱推杆和所述吸盘设置在所述伸缩叉上板上，所述料箱推杆用于带动料箱运动，所述吸盘用于吸附料箱；
    所述后推杆板设置在所述第二导轨底板靠近所述伸缩叉固定导轨的一侧；
    所述固定板固定在所述第三导轨的滑块上；
    所述驱动块与所述连接块连接；
    所述第一皮带设置在所述第二导轨底板上，且所述第一皮带的一端与所 述皮带夹板固定链接，所述第一皮带的另一端与所述第三导轨底板连接，所述第二皮带设置在所述第三导轨底板上，且所述第二皮带的一端与所述第二导轨底板连接，所述第二皮带的另一端与所述固定板连接。
  7. 根据权利要求4所述的搬运货叉，其特征在于，所述推杆组件包括：连杆推轮、推杆、伸缩弹簧和橡胶防撞块；其中，
    所述连杆推轮固定在所述推杆上，所述推杆与所述伸缩弹簧一端连接，所述伸缩弹簧的另一端与所述弹簧拉杆连接；
    所述橡胶防撞块固定在所述推杆一侧，用于防止料箱发生碰撞。
  8. 根据权利要求7所述的搬运货叉，其特征在于，所述搬运货叉还包括阻挡组件；
    所述阻挡组件，用于防止所述料箱滑落。
  9. 根据权利要求8所述的搬运货叉，其特征在于，所述阻挡组件包括阻挡杆、阻挡旋转轴和阻挡安装座；其中，
    所述阻挡杆与所述连杆推轮连接；
    所述阻挡旋转轴与所述阻挡杆连接，用于控制所述阻挡杆进行旋转；
    所述阻挡安装座一端固定在所述底板上，另一端与所述阻挡旋转轴连接，用于固定所述阻挡旋转轴和所述阻挡杆。
  10. 一种搬运装置，所述搬运装置包括搬运主体和如权利要求1-9所述的搬运货叉；所述搬运货叉设置在所述搬运主体上。
PCT/CN2024/094973 2023-06-14 2024-05-23 一种搬运货叉及搬运装置 Ceased WO2024255559A1 (zh)

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