WO2023230792A1 - Fork device and robot - Google Patents

Abstract

A fork device and a robot. The robot comprises a moving base (1), columns (2), and a fork device (3); the fork device comprises a support frame (30), a base plate, and a plurality of forks (31), and the base plate is mounted on the support frame (30); the plurality of forks (31) comprise two fixed forks (31a) and at least one movable fork (31b), the two fixed forks (31a) are arranged at intervals on the base plate in a first horizontal direction, the at least one movable fork (31b) is provided between the two fixed forks (31a), and the relative position between the movable fork (31b) and the two fixed forks (31a) is adjustable, such that a loading position having a variable width is formed between every two adjacent forks; each fork comprises a telescopic fork arm (310), each fork is equipped with a telescoping driving mechanism, and the telescoping driving mechanism is connected to the fork arm (310), so as to drive the fork arm (310) to telescopically move towards two sides in a second horizontal direction.

Description

Forklift devices and robots Technical field

This application relates to the field of intelligent warehousing technology, and in particular to a fork device and a robot.

Background technique

With the rapid development of artificial intelligence technology, automation technology and information technology, the degree of intelligence of terminal logistics is also constantly improving, and intelligent logistics terminals have become an inevitable trend in the development of terminal logistics. As one of the main equipment for automated lifting and handling operations in smart logistics terminals, robots can greatly reduce human heavy physical labor.

In the related technology, the robot includes a mobile base, a column, a lifting mechanism and a fork device. The column is set on the mobile base, the lifting mechanism and the fork are set on the column, and the lifting mechanism is connected to the fork device so that the fork device is lifted and lowered. It can move up and down in the vertical direction under the driving action of the mechanism. The fork device includes a support frame, a bottom plate arranged on the support frame and two fixed forks located on opposite sides of the bottom plate. A fixed width is formed between the two fixed forks. loading position.

However, in the related art, the fork device can only transport boxes of a single specification, and its applicable range is small.

Contents of the invention

In view of the above problems, embodiments of the present application provide a fork device and a robot that can transport boxes of different specifications, thereby increasing the applicable scope of the fork device.

In order to achieve the above objectives, the embodiments of this application provide the following technical solutions:

In a first aspect, embodiments of the present application provide a fork device, including: a support frame, a bottom plate and several forks, the bottom plate is installed on the support frame; the plurality of forks include two fixed forks. and at least one movable fork, two fixed forks are arranged at intervals along the first horizontal direction on the base plate, at least one movable fork is arranged between the two fixed forks, and the movable fork The relative position between the fork and the two fixed forks is adjustable, so that a loading space with variable width is formed between two adjacent forks; each of the forks includes a telescopic fork arm, And each of the cargo forks is equipped with a telescopic driving mechanism, and the telescopic driving mechanism is connected with the cargo fork arm to drive the cargo fork arm to telescopically move to both sides along the second horizontal direction; wherein, the first The horizontal direction and the second horizontal direction are perpendicular to each other.

As mentioned above, the telescopic driving mechanism includes a power component and a transmission component. The transmission component is connected between the fork arm and the power component, so that the power component passes through the transmission component. Power is provided to the fork arm to drive the fork arm to telescopically move along the second horizontal direction.

As mentioned above, the power assembly includes a first drive motor, a first transmission unit, a clutch and a second transmission unit, and the output shaft of the first drive motor is connected to the first transmission unit, The first transmission unit is selectively connected to one end of the clutch, the other end of the clutch is connected to the second transmission unit, and the second transmission unit is connected to the transmission assembly. When the first transmission unit When connected to the clutch, the first driving motor drives the first transmission unit to move, and the first transmission unit drives the second transmission unit to move through the clutch, so that the second transmission unit drives The transmission assembly moves.

In the fork device as described above, the first transmission unit includes a spline shaft and a first nut installed on the spline shaft, and the spline shaft is connected to the output shaft of the first drive motor, so The first nut is selectively connected to the clutch. When the first nut is connected to the clutch, the first drive motor drives the spline shaft to rotate, and the spline shaft passes through the third A nut drives the clutch to rotate.

In the fork device as described above, the spline shaft is one of a ball spline shaft or a trapezoidal spline shaft.

In the fork device as described above, the second transmission unit includes a first gear and a second gear meshed with the first gear, the first gear is connected to the clutch, and the second gear is connected to the clutch. Transmission component connections.

In the fork device as described above, the transmission assembly includes a first transmission wheel, a second transmission wheel and a flexible member, and the flexible member is wound around the first transmission wheel and the second transmission wheel, And the flexible member is configured to be connected with the fork arm and drive the fork arm to telescopically move along the second horizontal direction.

In the fork device as described above, the transmission assembly further includes a rack and pinion unit. The rack and pinion unit includes a third gear and a first rack. The third gear is connected to the flexible member and can be wound around. Its own axis rotates, the first rack is fixed on the fork arm and meshes with the third gear, the flexible member can drive the third gear to move along the second horizontal direction, and the The third gear rotates to drive the first rack to drive the fork arm to telescopically move in the second horizontal direction.

In the fork device as described above, the rack and pinion unit further includes a gear seat, an opening is provided on the flexible member, and the gear seat is disposed at the opening and connected with both sides of the opening of the flexible member. end connection, the third gear is rotatably arranged on the gear seat; a third rack meshing with the third gear is provided below the gear seat, when the flexible member drives the gear seat And when the third gear moves along the second horizontal direction, the third rack drives the third gear to rotate around its own axis relative to the gear seat.

As mentioned above, the transmission assembly further includes a first connecting member and a second connecting member, and the first connecting member and the second connecting member are respectively fixed to the fork arm; the first connecting member and the second connecting member are respectively fixed to the fork arm; The transmission wheel and the second transmission wheel are arranged side by side, the first end of the flexible member is fixed to the first connecting member, and the second end of the flexible member is wrapped around one side of the first transmission wheel. through the side of the second transmission wheel away from the first transmission wheel, and then extends to the side close to the first transmission wheel and is fixed to the second connecting member, so that the flexible member can pass through The first connecting piece and the second connecting piece drive the fork arm to telescopically move along the second horizontal direction.

In the fork device as described above, the transmission assembly further includes a chain rack, which is fixed on the fork arm and extends along the second horizontal direction, and the flexible member is connected to the chain. The rack is engaged, so that the flexible member drives the fork arm to telescopically move along the second horizontal direction through the rack.

In the fork device as mentioned above, the transmission assembly further includes a pressing member, and the pressing member is used to support the flexible member so that the flexible member engages with the sprocket rack.

In the fork device as described above, the flexible member is a chain, the first transmission wheel 330 is a first sprocket, and the second transmission wheel is a second sprocket; or

The flexible member is a synchronous belt, the first transmission pulley is a first synchronous pulley, and the second transmission pulley is a second synchronous pulley.

In the fork device as described above, the fork arm includes a fixed plate, a middle plate and an outer plate that are slidably connected in sequence; the middle plate is provided with at least two pulleys arranged at intervals and annularly sleeved on the said A conveyor belt on a pulley, the side of the conveyor belt facing the fixed plate is connected to the fixed plate, the side of the conveyor belt facing the outer plate is connected to the outer plate, the flexible member is configured as Connected to the middle plate; when the flexible member drives the middle plate to move in the second horizontal direction, the pulley rotates around its own axis to drive the conveyor belt to move, so that the conveyor belt drives the outer The plate moves in the second horizontal direction relative to the middle plate.

In the fork device as described above, a bracket is provided at the bottom of the movable fork, a guide rail extending along the first horizontal direction is provided on the bottom plate, and a side of the bracket facing the bottom plate is provided with a guide rail extending along the first horizontal direction. The guide rail matches the guide groove, and the guide rail is located in the guide groove and can move relative to the guide groove.

The fork device as described above, the fork device also includes a position adjustment component, the position adjustment component is connected with the movable fork, the position adjustment component 35 is used to drive the movable fork on the bottom plate move along the first horizontal direction.

In the fork device as described above, the position adjustment assembly includes a second drive motor, a screw rod, a second nut and an electromagnetic brake. The axial direction of the screw rod is the same as the direction of the first horizontal direction, and the third Two drive motors are connected to the screw rod, the second nut is installed on the screw rod and can rotate relative to the screw rod, and the electromagnetic brake can selectively connect or separate from the second nut. When the electromagnetic brake is connected to the second nut, the second nut moves relative to the screw rod along the axial direction of the screw rod, so that the second nut pushes the movable fork along the screw rod. axial movement.

In the fork device as described above, the position adjustment assembly includes a fourth gear, a second rack and a second drive motor, the second rack is installed on the base plate, and the second drive motor is connected to the The fork arm is connected, and the second driving motor is connected with the fourth gear to drive the fourth gear to rotate, so that the fourth gear drives the movable fork in the first horizontal direction relative to the rack. move.

In the fork device as described above, the telescopic driving mechanism and/or the position adjustment assembly are detachably connected to the base plate.

In the fork device as described above, there is a first pallet arranged horizontally between the bottom plate and each fork, and a second pallet arranged horizontally at one end of the fixed plate of each fork close to the bottom plate. The second pallet 37 is located directly below the fork and extends to both sides along the second horizontal direction. The second pallet on the movable fork can move along the first horizontal direction relative to the first pallet. The first pallet and the second pallet are used to carry the material box located on the fork device.

In the fork device as described above, the contact surface between each second pallet and the material box is higher than the contact surface between the first pallet and the material box, so that an avoidance space is formed between the second pallet and the bottom plate. Describe the avoidance space of the first pallet.

In the fork device as described above, each of the second pallets includes at least two load-bearing parts. The at least two load-bearing parts are spaced apart from the first pallet in the second horizontal direction, and each load-bearing part is in contact with the material box. The surface is flush with the contact surface between the first tray and the material box.

In the fork device as described above, each second pallet is further provided with an escape notch for avoiding the telescopic driving mechanism.

In the fork device as described above, along the second horizontal direction, both ends of each fork are equipped with finger assemblies. The finger assemblies include a third drive motor, a position detector and a finger block. The third drive The motor is used to drive the finger shield to rotate between a vertical retracted state and a horizontal expansion state, and the position detector is used to detect the position state of the finger shield.

In the fork device as described above, one end of the finger block close to the third driving motor has at least two grooves arranged at intervals along the circumferential direction, and one of the grooves corresponds to a preset position of the finger block. position, each groove is equipped with a position detector, and each position detector is used to identify the corresponding groove on the finger cover.

Compared with related technologies, the fork device provided by the embodiment of the present application has at least the following advantages:

The fork device provided by the embodiment of the present application is provided with two fixed forks and at least one movable fork located between the two fixed forks on the bottom plate. The relative position between the movable fork and the two fixed forks is It is adjustable, so that a loading space with variable width is formed between two adjacent forks, which can adapt to boxes of different specifications, thus increasing the scope of application of the fork device; in addition, each fork includes a retractable cargo fork. The fork arm and the telescopic drive mechanism connected to the cargo fork arm drive the cargo fork arm to telescopically move to both sides through the telescopic drive mechanism, so that the cargo fork arm can pick up and place the material boxes on both sides of the cargo fork, and the cargo fork device does not need to rotate. Picking and placing the material boxes located on both sides of the robot can reduce the storage space occupied by the robot, thereby improving the utilization rate of the storage space.

In a second aspect, embodiments of the present application also provide a robot, including a mobile base, a column and a fork device provided in the first aspect. The column is installed on the mobile base, and the fork device is installed on the column and can be positioned relative to the edge of the column. Lift and move in vertical direction.

The robot provided by the embodiment of the present application has the same beneficial effects as the above-mentioned fork device, which will not be described again here.

In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions and the beneficial effects brought by the technical features of these technical solutions described above, the fork device and robot provided by the embodiments of the present application can solve Other technical problems, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation modes.

Description of the drawings

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a robot provided by an embodiment of the present application;

Figure 2 is a schematic structural diagram of the fork device in the robot provided by the embodiment of the present application;

Figure 3 is a first structural schematic diagram of the transmission assembly in the fork device provided by the embodiment of the present application;

Figure 4 is a partial structural diagram of the fork in Figure 3;

Figure 5 is a partial enlarged view of position A in Figure 4;

Figure 6 is a second structural schematic diagram of the transmission assembly in the fork device provided by the embodiment of the present application;

Figure 7 is a third structural schematic diagram of the transmission assembly in the fork device provided by the embodiment of the present application;

Figure 8 is a structural schematic diagram of the position adjustment assembly in the fork device provided by the embodiment of the present application;

Figure 9 is another structural schematic diagram of the fork device provided by the embodiment of the present application;

Figure 10 is a schematic diagram of a state of the material box in Figure 9;

Figure 11 is a schematic diagram of another state of the material box in Figure 9;

Figure 12 is a schematic structural diagram of the finger assembly in the fork provided by the embodiment of the present application.

Reference signs:

10-Robot; 1-Mobile base; 2-Column;

3-Fork device; 30-Support frame; 31-Fork;

31a-fixed fork; 31b-movable fork; 310-fork arm;

311-fixed plate; 312-middle plate; 313-outer plate;

32-Power assembly; 321-Clutch; 322-First transmission unit;

323-Second transmission unit; 3231-First gear; 3232-Second gear;

33-Transmission component; 330-First transmission wheel; 331-Second transmission wheel;

332-flexible part; 333-third gear; 334-first rack;

335-gear seat; 336-first connecting piece; 337-second connecting piece;

338-chain rack; 34-bracket; 35-position adjustment component;

351-screw; 352-second nut; 353-electromagnetic brake;

354-the fourth gear; 355-the second rack; 356-the second drive motor;

357-carbon brush; 36-first pallet; 37-second pallet;

371-bending part; 38-finger assembly; 381-third drive motor;

382-position detector; 383-finger shield; 3831-groove;

39-The third rack; 40-pressing piece; 50-material box.

Detailed ways

In the related technology, the robot includes a mobile base, a column, a lifting mechanism and a fork device. The column is set on the mobile base, the lifting mechanism and the fork are set on the column, and the lifting mechanism is connected to the fork device so that the fork device is lifted and lowered. It can move up and down in the vertical direction under the driving action of the mechanism. The fork device includes a support frame, a bottom plate arranged on the support frame and two fixed forks located on opposite sides of the bottom plate. A fixed width is formed between the two fixed forks. loading position.

However, this fork device can only transport boxes of a single specification and has a small scope of application.

In order to solve the above problem, an embodiment of the present application provides a fork device, by arranging two fixed forks and at least one movable fork between the two fixed forks on the bottom plate. The movable fork and the two fixed forks are The relative position between the forks is adjustable, so that a loading space with variable width is formed between two adjacent forks, which can adapt to boxes of different specifications, thus increasing the scope of application of the fork device; in addition, each cargo The fork includes a telescopic cargo fork arm and a telescopic driving mechanism connected to the cargo fork arm. The telescopic driving mechanism drives the cargo fork arm to telescopically move to both sides, so that the cargo fork arm can pick up and place the material boxes on both sides of the cargo fork. The fork device can pick up and place the material boxes on both sides of the robot without rotating. In this way, the storage space occupied by the fork device can be reduced, thereby improving the utilization rate of the storage space.

In order to make the above purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without any creative work shall fall within the scope of protection of this application.

Figure 1 is a schematic structural diagram of a robot provided by an embodiment of the present application. As shown in Figure 1, the robot 10 provided by the embodiment of the present application includes a mobile base 1, a column 2 and a fork device 3. The column 2 is installed on the chassis, and the fork device 3 is installed on the column 2 and can be opposite to the column 2. Lift and move in the vertical direction.

Among them, the mobile base 1 is the support structure of the robot 10 and is used to support and carry other components and/or devices of the robot 10 to move in the storage space. In the embodiment of the present application, the mobile base 1 can carry the column 2 and be installed on the The fork device 3 on the column 2 and the pallet move. It can be understood that the fork device 3 is used to take out the material boxes at each location of the storage shelf and place them on the pallet of the robot 10, or to move the robot 10 to the pallet. The material boxes on the board are taken out and placed on the corresponding storage locations of the storage shelves. Optionally, target objects such as material boxes stored on the pallet can be moved together by the robot 10 .

In addition, a lifting transmission mechanism is provided on the column 2, and the lifting transmission mechanism is connected with the fork device 3, so that the lifting transmission mechanism drives the fork device 3 to move up and down in the vertical direction relative to the column 2.

Optionally, the lifting transmission mechanism can be a belt drive or a chain transmission, etc. The specific structure can refer to the lifting transmission mechanism commonly used by those skilled in the art, as long as it can drive the fork device 3 to move up and down in the vertical direction, which will not be discussed here. Repeat.

The specific structure of the fork device 3 provided by the embodiment of the present application will be introduced below with reference to the accompanying drawings:

Figure 2 is a schematic structural diagram of the fork device 3 in the robot 10 provided by the embodiment of the present application. Referring to Figure 2, the fork device 3 provided by the embodiment of the present application includes: a support frame 30, a bottom plate and several forks 31. The bottom plate is horizontally installed on the support frame 30. It can be understood that the several forks 31 Installed on the bottom plate, wherein the plurality of forks 31 include two fixed forks 31a and at least one movable fork 31b, the two fixed forks 31a are spaced apart along the first horizontal direction on the bottom plate, and at least one movable fork 31b is provided Between the two fixed forks 31a, and the relative position between the movable fork 31b and the two fixed forks 31a is adjustable, so that a loading space with variable width is formed between two adjacent forks 31, In this way, the loading space formed between two adjacent forks 31 can be adjusted according to the specifications and sizes of the material boxes, thereby adapting to material boxes of different specifications and sizes, thereby increasing the applicable scope of the robot 10 .

In Figure 1, the fork device 3 includes two fixed forks 31a and one movable fork 31b. The movable fork 31b is located between the two fixed forks 31a. In this way, the movable fork 31b is connected to the two adjacent fixed forks 31a. Loading spaces with adjustable width are respectively formed between the cargo forks 31a to adapt to boxes of different sizes.

In addition, each fork 31 includes a telescopic fork arm 310, and each fork 31 is equipped with a telescopic driving mechanism. The telescopic driving mechanism is connected to the fork arm 310 to drive the fork arm 310 to both sides along the second horizontal direction. Side telescopic movement, wherein the first horizontal direction and the second horizontal direction are perpendicular to each other. The second horizontal direction may be the entry and exit direction of the material box on the fork device 3 .

Specifically, the telescopic driving mechanism drives the fork arm 310 to telescopically move to both sides along the second horizontal direction. In this way, the fork device 3 can telescope to both sides through the fork arm 310 to pick up and place goods on both sides of the fork device 3 , without rotating the fork device 3, in this way, the space occupied by the robot 10 in the storage space can be saved to a certain extent, and the width of the lane formed between the shelves in the storage space can be reduced, thereby improving the space utilization of the storage space.

It should be noted that both the fixed fork 31a and the movable fork 31b are provided with a telescopic arm and a telescopic driving mechanism connected to the telescopic arm, so that the telescopic driving mechanism drives the telescopic arm to telescopically move to both sides along the second horizontal direction to obtain the goods. Place the material boxes on both sides of the robot 10.

Figure 3 is a first structural schematic diagram of the transmission assembly 33 in the fork device 3 provided by the embodiment of the present application; Figure 4 is a partial structural diagram of the fork 31 in Figure 3; Figure 5 is a partial enlarged view of position A in Figure 4 . Referring to Figures 3 to 5, optionally, the telescopic driving mechanism includes a power assembly 32 and a transmission assembly 33. The transmission assembly 33 is connected between the fork arm 310 and the power assembly 32, so that the power assembly 32 passes through the transmission assembly 33 Power is provided to the fork arm 310 to drive the fork arm 310 to telescopically move in the second horizontal direction.

It can be understood that the power assembly 32 provides power to the transmission assembly 33 to move the transmission assembly 33 and drive the fork arm 310 to telescopically move in the second horizontal direction.

Optionally, continuing to refer to FIGS. 4 and 5 , the power assembly 32 may include a first drive motor (not shown in the figure), a first transmission unit 322 , a clutch 321 and a second transmission unit 323 . The output shaft is connected to the first transmission unit 322, so that the first drive motor drives the first transmission unit 322 to move, and the first transmission unit 322 is selectively connected to one end of the clutch 321, and the other end of the clutch 321 is connected to the second transmission unit 322. The unit 323 is connected, and the second transmission unit 323 is connected to the transmission assembly 33. In this way, when the first transmission unit 322 is connected to the clutch 321, the first drive motor drives the first transmission unit 322 to move, and the first transmission unit 322 drives the first transmission unit 322 through the clutch 321. The second transmission unit 323 moves, so that the second transmission unit 323 drives the transmission assembly 33 to move.

Among them, the clutch 321 can be an electromagnetic clutch 321, and the nut and the clutch 321 can be connected according to the needs to realize the transmission of motion, or the nut and the clutch 321 can be separated to transmit the contact power, thereby realizing controllable and independent motion.

In one embodiment, the first transmission unit 322 includes a spline shaft and a first nut installed on the spline shaft. The spline shaft is connected to the output shaft of the first drive motor, and the first nut is selectively connected to the clutch 321 connection, when the first nut is connected to the clutch 321, the first drive motor drives the spline shaft to rotate, the spline shaft drives the first nut to rotate, and the first nut drives the clutch 321 to rotate, thereby transmitting power to the second through the clutch 321. The transmission unit 323 enables the second transmission unit 323 to drive the transmission assembly 33 to move, so that the transmission assembly 33 drives the fork arm 310 to telescopically move in the second horizontal direction.

For example, the spline shaft may be one of a ball spline shaft or a trapezoidal spline shaft, which is not limited by the embodiment of the present application.

Continuing to refer to FIGS. 4 and 5 , the second transmission unit 323 may include a first gear 3231 and a second gear 3232 meshed with the first gear 3231 , wherein the first gear 3231 is connected to the clutch 321 and the second gear 3232 is connected to the clutch 321 . The transmission assembly 33 is connected.

The first gear 3231 and the second gear 3232 can both be cylindrical spur gears, helical gears, herringbone gears, etc., as long as they can transmit motion, and the embodiment of the present application does not impose specific limitations on this.

Continuing to refer to FIG. 4 , the transmission assembly 33 may include a first transmission wheel 330 , a second transmission wheel 331 and a flexible member 332 . The flexible member 332 is annularly arranged on the first transmission wheel 330 and the second transmission wheel 331 . And the flexible member 332 is configured to be connected with the fork arm 310 and drive the fork arm 310 to telescopically move in the second horizontal direction.

It can be understood that the first transmission wheel 330 and the second gear 3232 can be arranged coaxially. That is to say, the first transmission wheel 330 and the second gear 3232 are installed on the same axis. The second gear 3232 and the first transmission wheel 330 It can be connected to the shaft through keyed connectors such as flat keys and splines. In this way, when the second gear 3232 rotates, it can drive the shaft and other parts on the shaft to move synchronously. When the first transmission wheel 330 rotates, , can drive the flexible member 332 set on the first transmission wheel 330 to move, the flexible member 332 drives the second transmission wheel 331 to move, the cargo fork arm 310 is connected to the flexible member 332, in this way, the flexible member 332 can drive The fork arm 310 telescopically moves along the second horizontal direction.

In one embodiment, the flexible member 332 can be a chain. Correspondingly, the first transmission wheel 330 is a first sprocket, the second transmission wheel 331 is a second sprocket, and the chain is annularly wound around the first sprocket and the third sprocket. On the second sprocket.

Or in another embodiment, the flexible member 332 can be a conveyor belt. Correspondingly, the first transmission pulley 330 is a first pulley, and the second transmission pulley 331 is a second pulley. The conveyor belt can be an ordinary flat belt, It can also be a synchronous belt; when the conveyor belt is a synchronous belt, the first transmission wheel 330 is the first synchronous pulley, and the second transmission wheel 331 is the second synchronous pulley. The synchronous belt can improve the synchronization of the transmission motion and reduce the transmission time. error.

In addition, continuing to refer to FIG. 4 , the transmission assembly 33 also includes a rack and pinion unit. The rack and pinion unit includes a third gear 333 and a first rack 334 . The third gear 333 is connected to the flexible member 332 and can rotate around its own axis. Rotate, the first rack 334 is fixed on the fork arm 310 and meshes with the third gear 333. The flexible member 332 can drive the third gear 333 to move in the second horizontal direction, and the third gear 333 rotates to drive the first gear. The bar 334 drives the fork arm 310 to telescopically move in the second horizontal direction.

Specifically, the third gear 333 is connected to the flexible member 332. In this way, when the flexible member 332 moves in the second horizontal direction, it can drive the third gear 333 to move in the second horizontal direction, and the third gear 333 can move relative to the second horizontal direction. The flexible member 332 rotates around its own axis, and the third gear 333 meshes with the first rack 334 fixed on the fork arm 310. In this way, when the third gear 333 rotates around its own axis, it can drive the first rack 334. Move along the second horizontal direction, so that the first rack 334 drives the fork arm 310 to move along the second horizontal direction; in addition, the third gear 333 also moves along the second horizontal direction with the flexible member 332, so that it can be further The efficiency of the fork 31 moving along the second horizontal direction is accelerated, thereby improving the efficiency of the telescopic fork arm 310 along the second horizontal direction, saving time, and improving the efficiency of picking and placing goods.

Optionally, the rack and pinion unit also includes a gear seat 335. The flexible member 332 is provided with an opening. The gear seat 335 is provided at the opening and is fixedly connected to both ends of the opening of the flexible member 332. The third gear 333 can The gear seat 335 is rotatably arranged on the gear seat 335 , and a third rack 39 meshing with the third gear 333 is fixedly provided on one side of the gear seat 335 . In this way, when the flexible member 332 drives the gear seat 335 and is arranged on the gear seat 335 When the third gear 333 moves along the second horizontal direction, since the third gear 333 meshes with the third rack 39, the third rack 39 will drive the third gear 333 to rotate around its own axis relative to the gear seat 335, and when When the third gear 333 rotates, the third gear 333 drives the first rack 334 to drive the fork arm 310 to telescopically move in the second horizontal direction.

Optionally, the fork arm 310 includes a fixed plate 311, a middle plate 312 and an outer plate 313 that are slidably connected in sequence; the middle plate 312 is provided with at least two spaced apart pulleys (not shown in the figure) and an annular sleeve. A conveyor belt (not shown in the figure) is provided on the pulley. The side of the conveyor belt facing the fixed plate 311 is connected to the fixed plate 311. The side of the conveyor belt facing the outer plate 313 is connected to the outer plate 313. The flexible member 332 is configured as Connected to the middle plate 312; when the flexible member 332 drives the middle plate 312 to move along the second horizontal direction, the pulley rotates around its own axis to drive the conveyor belt to move, so that the conveyor belt drives the outer plate 313 relative to the middle plate 312 along the second horizontal direction. In this way, the middle plate 312 can move relative to the fixed plate 311, and the outer plate 313 can move relative to the middle plate 312, thereby realizing telescopic movement of the fork arm 310.

It can be understood that the conveyor belt can be a synchronous belt. The side of the fixed plate 311 facing the conveyor belt has a fourth rack (not shown in the figure) that engages with the synchronous belt. The side of the outer plate 313 facing the conveyor belt has a core that engages with the synchronous belt. The fifth rack (not shown in the figure), in this way, when the flexible member 332 drives the middle plate 312 to move, the middle plate 312 drives the transmission belt to move, and one side of the transmission belt engages with the fourth rack on the fixed plate 311 , in this way, the meshing motion between the transmission belt and the fourth rack will drive the pulley to rotate, and the rotation of the pulley will further drive the conveyor belt to move. The transmission belt also meshes with the fifth rack on the outer plate 313. In this way, the transmission belt and the fifth tooth The meshing motion between the bars will drive the fifth rack to drive the outer plate 313 to move relative to the middle plate 312, thereby realizing telescopic movement of the middle plate 312 and the outer plate 313 in the fork arm 310 relative to the fixed plate 311.

In FIG. 3 , the first rack 334 is fixed on the middle plate 312 and meshes with the third gear 333 . In this way, when the flexible member 332 drives the third gear 333 to move in the second horizontal direction, the third gear 333 Rotating around its own axis, the third gear 333 drives the first rack 334 to drive the middle plate 312 to move in the second horizontal direction, and the middle plate 312 drives the conveyor belt to move in the second horizontal direction, so that the second conveyor belt drives the fifth rack. The outer plate 313 moves in the second horizontal direction relative to the middle plate 312 .

In another optional embodiment, as shown in FIG. 6 , the transmission assembly 33 includes a first connecting member 336 and a second connecting member 337 . The first connecting member 336 and the second connecting member 337 are respectively connected to the fork arm 310 . The middle plate 312 is fixedly connected, in which the first transmission wheel 330 and the second transmission wheel 331 are arranged side by side. The first end of the flexible member 332 is fixed to the first connecting member 336, and the second end of the flexible member 332 is connected by the first connecting member 336. One side of the transmission wheel 330 bypasses the side of the second transmission wheel 331 away from the first transmission wheel 330, and then extends to the side close to the first transmission wheel 330 and is fixed to the second connecting member 337, so that the flexible member 332 drives the fork arm 310 to telescopically move in the second horizontal direction through the first connecting member 336 and the second connecting member 337 .

It can be understood that the flexible member 332 is wound around the first transmission wheel 330 and the second transmission wheel 331 in an S shape, and both ends of the flexible member 332 are connected to the first connecting member 336 and the second connecting member 337 respectively. . Among them, the first connecting member 336 and the second connecting member 337 can be structures such as connecting plates and connecting blocks respectively.

Specifically, the first drive motor in the power assembly 32 drives the spline shaft to rotate, the spline shaft drives the first nut to rotate, the first nut drives the first gear 3231 to rotate through the clutch 321, and the first gear 3231 drives the first gear 3231 The meshed second gear 3232 rotates. The second gear 3232 is coaxially arranged with the first transmission wheel 330 to drive the first transmission wheel 330 to rotate. The first transmission wheel 330 drives the second transmission wheel 331 to rotate through the flexible member 332. The flexibility The member 332 moves along the second horizontal direction driven by the first transmission wheel 330. Both ends of the flexible member 332 are connected to the middle plate 312 of the fork arm 310 through the first connecting member 336 and the second connecting member 337 respectively, so that , when the flexible member 332 moves along the second horizontal direction, it will drive the middle plate 312 to move. The middle plate 312 drives the outer plate 313 to move relative to the middle plate 312 through the conveyor belt structure between the outer plate 313 and the fixed plate 311, thereby realizing the cargo. The fork arm 310 telescopically moves along the second horizontal direction.

In another embodiment, as shown in FIG. 7 , the transmission assembly 33 includes a sprocket rack 338 , which is fixed on the fork arm 310 and extends along the second horizontal direction. The flexible member 332 and the sprocket rack 338 Engage, so that the flexible member 332 drives the fork arm 310 to telescopically move in the second horizontal direction through the sprocket 338 .

Optionally, the sprocket rack 338 is fixed on the side of the middle plate 312 of the fork arm 310 facing the flexible member 332. The side of the flexible member 332 facing the middle plate 312 is provided with gear teeth that mesh with the sprocket rack 338. When the flexible member 332 moves along the second horizontal direction, because the flexible member 332 engages with the sprocket rack 338, the flexible member 332 can drive the sprocket rack 338 to drive the middle plate 312 to move along the second horizontal direction.

Specifically, the first drive motor in the power assembly 32 drives the spline shaft to rotate, the spline shaft drives the first nut to rotate, the first nut drives the first gear 3231 to rotate through the clutch 321, and the first gear 3231 drives the first gear 3231 The meshed second gear 3232 rotates. The second gear 3232 is coaxially arranged with the first transmission wheel 330 to drive the first transmission wheel 330 to rotate. The first transmission wheel 330 drives the second transmission wheel 331 to rotate through the flexible member 332. The flexibility The flexible member 332 moves along the second horizontal direction driven by the first transmission wheel 330. The flexible member 332 engages with the sprocket rack 338 fixed on the middle plate 312 of the fork arm 310. The flexible member 332 drives the sprocket rack 338. The middle plate 312 moves along the second horizontal direction, and the middle plate 312 drives the outer plate 313 to move relative to the middle plate 312 through the conveyor belt structure between the outer plate 313 and the fixed plate 311, thereby realizing the telescopic movement of the fork arm 310 along the second horizontal direction. .

In addition, in order to improve the reliability of the engagement between the flexible member 332 and the sprocket rack 338, in the embodiment of the present application, the transmission assembly 33 also includes a pressing member 40, and the pressing member 40 is used to support the flexible member 332 to Flexure 332 is engaged with sprocket 338 .

It can be understood that the pressing member 40 can provide a supporting force for the flexible member 332 to approach the sprocket bar 338 so that the flexible member 332 is engaged with the sprocket bar 338. In this way, when the flexible member 332 moves along the second horizontal When moving in the second horizontal direction, the sprocket rack 338 can be driven to drive the middle plate 312 to move in the second horizontal direction.

Wherein, the pressing member 40 may be a pressing plate or a pressing block located on the side of the flexible member 332 away from the sprocket rack 338, and the pressing member 40 may be a long strip extending along the second horizontal direction. In this way, The pressing area of the flexible member 332 can be increased, thereby improving the engagement reliability between the flexible member 332 and the sprocket rack 338 .

Optionally, as shown in Figures 7 and 8, a bracket 34 is provided at the bottom of the movable fork 31b. A guide rail extending along the first horizontal direction is provided on the side of the bracket 34 facing the bottom plate. The bottom plate is provided with a guide rail that matches the guide rail. The guide rail is located in the guide groove and can move along the guide groove.

In the above solution, the bracket 34 is provided at the bottom of the movable fork 31b. The brackets 34 can be provided at both ends and the middle position of the movable fork 31b to support the movable fork 31b through the bracket 34. The power assembly 32 It can be set on the bracket 34 at one end of the movable fork 31b to improve space utilization. The bracket 34 is provided with a guide groove or a guide hole at one end facing the bottom plate, and the guide rail is located in the guide groove or the guide hole, so that the movable fork 31b can move along the guide rail. The extension direction moves so that the position of the movable fork 31b in the first horizontal direction is adjustable, so that the width between the movable fork 31b and the adjacent fork 31 is adjustable to form loading spaces with different widths.

Optionally, the movable fork 31b also includes a position adjustment component 35. The position adjustment component 35 is connected to the movable fork 31b. The position adjustment component 35 is used to drive the movable fork 31b to move along the first horizontal direction on the bottom plate. In this way, by The position adjustment component 35 can automatically drive the movable fork 31b to move along the first horizontal direction as needed, thereby improving the automation level of the robot 10 .

In an optional implementation, as shown in FIG. 7 , the position adjustment assembly 35 includes a second drive motor (not shown in the figure), a screw rod 351 , a second nut 352 and an electromagnetic brake 353 . The screw rod 351 The axial direction is the same as the first horizontal direction. The second drive motor is connected to the screw rod 351. The second nut 352 is installed on the screw rod 351 and can rotate relative to the screw rod 351. The electromagnetic brake 353 can selectively connect with the second screw rod 351. The nut 352 is connected or separated. When the electromagnetic brake 353 is connected to the second nut 352, the second nut 352 moves relative to the screw rod 351 along the axial direction of the screw rod 351, so that the second nut 352 pushes the movable fork 31b along the screw rod 351. axial movement.

It can be understood that when the electromagnetic brake 353 is separated from the second nut 352, the second nut 352 rotates synchronously with the screw, and the second nut 352 does not move relative to the screw 351 in the first horizontal direction. When the electromagnetic brake 353 When connected to the second nut 352, when the screw rod 351 rotates, the electromagnetic brake 353 brakes the second nut 352 so that the second nut 352 does not rotate with the screw rod 351. In this way, the connection between the screw rod 351 and the second nut 352 is The relative rotation between the two nuts 352 will drive the second nut 352 to move in the first horizontal direction relative to the screw rod 351, so that the second nut 352 pushes the movable fork 31b to move in the first horizontal direction.

As another optional implementation, as shown in Figure 8, the position adjustment assembly 35 includes a fourth gear 354, a second rack 355 and a second drive motor 356. The second rack 355 is installed on the base plate. The driving motor 356 is connected to the fork arm 310, and the second driving motor 356 is connected to the fourth gear 354 to drive the fourth gear 354 to rotate, so that the fourth gear 354 drives the movable fork 31b to move relative to the rack in the first horizontal direction.

Specifically, the second drive motor 356 is fixed on the fixed plate 311 of the fork arm 310, and the output shaft of the second drive motor 356 is connected to the fourth gear 354 to drive the fourth gear 354 to rotate. The fourth gear 354 is fixed to the The second rack 355 on the bottom plate is engaged, so that when the fourth gear 354 rotates around its own axis, it moves along the extension direction of the second rack 355. In this way, the fourth gear 354 drives the movable fork 31b to move along the first horizontal direction. , thereby achieving the purpose of adjusting the position of the movable fork 31b in the first horizontal direction.

In the embodiment of the present application, the telescopic drive mechanism and/or the position adjustment assembly 35 and the bottom plate can be detachably connected, so as to facilitate the disassembly of the telescopic drive mechanism and/or the position adjustment assembly 35 for replacement or repair of parts, thereby improving the efficiency of the operation. Economy.

In addition, the position adjustment assembly 35 also includes carbon brushes 357. For example, in Figure 8, the position adjustment assembly 35 includes four carbon brushes 357 arranged side by side and spaced apart. The bottom plate is provided with copper strips in frictional contact with the carbon brushes 357. The frictional contact between the copper strip and the carbon brush 357 can form a power supply loop for supplying power to the second drive motor 356 and other devices that require power.

Optionally, there is a first pallet 36 arranged horizontally between the bottom plate and each fork 31, a second pallet 37 arranged horizontally at one end of the fixed plate 311 of each fork 31 close to the bottom plate, and a third pallet 37 on the movable fork 31b. The second pallet 37 can move along the first horizontal direction relative to the first pallet 36 . The first pallet 36 and the second pallet 37 are used to carry the material boxes located on the fork device 3 .

Optionally, the second pallet 37 is located directly below each fork 31 and extends to both sides along the second horizontal direction.

In an optional implementation, as shown in FIG. 9 , the contact surface between each second pallet 37 and the material box is higher than the contact surface between the first pallet 36 and the material box, so that the distance between the second pallet 37 and the bottom plate An avoidance space capable of avoiding the first pallet 36 can be formed. In this way, when the second pallet 37 on the movable fork 31b moves along the first horizontal direction with the movable fork 31b, an interference between the second pallet 37 and the first pallet 36 can be avoided. Interference occurs and cannot be moved.

It can be understood that the heights of the second pallets 37 on each fork 31 are equal, so that the second pallets 37 on each fork 31 are jointly used to carry the material box, so as to improve the reliability of loading the material box.

In Figure 9, the contact surface between each second pallet 37 and the material box is higher than the contact surface between the first pallet 36 and the material box. Therefore, when picking up and placing the material box, the movable fork 31b and the adjacent fixed fork 31a When the spacing between them matches the size of the material box, the second pallet 37 mainly supports the material box, as shown in Figure 10; when the spacing between the movable fork 31b and the adjacent fixed fork 31a needs to be adjusted When large, the movement of the movable fork 31b will cause the side of the material box 50 close to the movable fork 31b to tilt. At this time, the second pallet 37 on the movable fork 31b supports the material box 50 by the first pallet. 36 for support, as shown in Figure 11, thereby improving the support reliability of the material box 50.

In addition, the connection between the second pallet 37 and the first pallet 36 is provided with a bending portion 371 that is bent toward the side of the first pallet 36. The bending portion 371 can reduce the contact required when the movable fork 31b is close to the material box. motivation.

In another optional implementation, as shown in FIG. 2 , each second tray 37 includes at least two load-bearing parts, and the at least two load-bearing parts are spaced apart from the first tray 36 in sequence in the second horizontal direction, and The contact surface between each carrying part and the material box is flush with the contact surface between the first pallet 36 and the material box. In this way, the second pallet 37 and the first pallet 36 jointly carry the material box, which can increase the area for carrying the material box. The material box is more evenly stressed, reducing wear on the contact surface of the material box, and when the movable fork 31b moves, the material box will not tilt, allowing the material box to always remain stable when the movable fork 31b moves; In addition, the contact force required when the movable fork 31b approaches the magazine can be reduced.

In Figure 2, there are three load-bearing parts in the second tray 37 and two in the first tray 36. The two first trays 36 and the three load-bearing parts are arranged at intervals in the second horizontal direction, and each load-bearing part is The heights of each first pallet 36 are equal.

Wherein, each bearing part is an independent piece, for example, the bearing part is a structure such as a bearing plate. In this way, the second tray 37 is formed of several dispersed carrying parts.

It can be understood that, in order to avoid mutual interference between the second pallet 37 and the telescopic driving mechanism in each fork 31, in the embodiment of the present application, each second pallet 37 is provided with an escape notch to avoid the telescopic driving mechanism.

Optionally, as shown in Figure 12, along the second horizontal direction, both ends of each fork 31 are provided with finger assemblies 38. The finger assemblies 38 include a third drive motor 381, a position detector 382 and a finger block 383. The three drive motors 381 are used to drive the finger shield 383 to rotate between the vertical retracted state and the horizontal expansion state, and the position detector 382 is used to detect the position state of the finger shield 383 .

It can be understood that when the position detector 382 detects that the finger shield 383 has not rotated to the corresponding position, a signal of the current position status can be sent to the robot 10, and the robot 10 sends a signal to the third driver according to the signal fed back by the position detector 382. The motor 381 sends a signal to drive the finger block 383 to continue to rotate to a preset position.

Optionally, the electric energy of the third driving motor 381 may be provided through a power supply loop formed by frictional contact between the carbon brush 357 and the copper strip on the base plate.

Continuing to refer to FIG. 12 , one end of the finger block 383 close to the third driving motor 381 has at least two grooves 3831 spaced apart along the circumferential direction. One groove 3831 corresponds to a preset position of the finger block 383 , and each groove 3831 corresponds to a preset position of the finger block 383 . Each groove 3831 is equipped with a position detector 382, and each position detector 382 is used to identify the corresponding groove 3831 on the finger shield 383.

In FIG. 12 , one end of the finger block 383 close to the third driving motor 381 has two grooves 3831 spaced apart along the circumferential direction, and each groove 3831 is equipped with a position detector 382 .

During specific operation, the control method can be: for example, the state when the position detector 382 detects the groove 3831 can be marked as 0, and the other states when the groove 3831 is not detected are 1. In this way, in Figure 12 , the state marks when the finger block 383 rotates from the vertical initial state to the preset position from left to right can be 00, 11, and 01 in sequence, where 00 is the initial position state, and 11 is any position during the rotation. 01 is the preset angle position for rotation. In the same way, it can be detected that the status display sequence when returning to the original position can be 01-11-00; it is understandable that when rotating from the initial status from right to left, the status marks in sequence can be 00-11-10.

It should be noted that the finger shield 383 needs to be initialized during initial startup. Therefore, the mark of its position detection status may appear in four situations: 00, 11, 01, and 10. Among them, 00, 01 and 10 are known fixed position states. The third drive motor 381 can drive the finger block 383 to directly return to the initial position. If the mark state at this time is 11, it needs to be rotated to either side first. , until the status mark changes to the mark of the determined position, and then restores it to the initial position.

It can be understood that by setting the position detector 382 and feeding back the current position status of the finger shield 383 in the form of specific symbols, the accuracy of the robot 10 in controlling the rotation of the finger shield 383 can be improved.

The position detector 382 may be a position detection sensor or the like, as long as it can detect the current position status, and there is no specific limitation on this.

The fork device provided by the embodiment of the present application is provided with two fixed forks and at least one movable fork located between the two fixed forks on the bottom plate. The relative position between the movable fork and the two fixed forks is It is adjustable, so that a loading space with variable width is formed between two adjacent forks, which can adapt to boxes of different specifications, thus increasing the scope of application of the fork device; in addition, each fork includes a retractable cargo fork. The fork arm and the telescopic drive mechanism connected to the cargo fork arm drive the cargo fork arm to telescopically move to both sides through the telescopic drive mechanism, so that the cargo fork arm can pick up and place the material boxes on both sides of the cargo fork, and the cargo fork device does not need to rotate. Picking and placing boxes located on both sides of the robot can reduce the storage space occupied by the fork device, thus improving the utilization of storage space.

Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be in conjunction with the description of the embodiments. or examples describe specific features, structures, materials, or characteristics that are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application. scope.

Claims (26)

A cargo fork device, characterized in that it includes: a support frame, a bottom plate and several cargo forks, the bottom plate is installed on the support frame; Several of the forks include two fixed forks and at least one movable fork. The two fixed forks are spaced apart along the first horizontal direction on the bottom plate. At least one of the movable forks is arranged on two The relative position between the fixed forks and between the movable fork and the two fixed forks is adjustable, so that a loading space with variable width is formed between two adjacent forks; Each of the forks includes a telescopic fork arm, and each of the forks is equipped with a telescopic driving mechanism. The telescopic driving mechanism is connected to the fork arm to drive the fork arm along the second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular to each other. The fork device according to claim 1, characterized in that the telescopic driving mechanism includes a power assembly and a transmission assembly, and the transmission assembly is connected between the fork arm and the power assembly, so that the The power assembly provides power to the fork arm through the transmission assembly to drive the fork arm to telescopically move along the second horizontal direction. The fork device according to claim 2, wherein the power assembly includes a first drive motor, a first transmission unit, a clutch and a second transmission unit, and the output shaft of the first drive motor is connected with the third transmission unit. A transmission unit is connected, the first transmission unit is selectively connected to one end of the clutch, the other end of the clutch is connected to the second transmission unit, the second transmission unit is connected to the transmission assembly, When the first transmission unit is connected to the clutch, the first driving motor drives the first transmission unit to move, and the first transmission unit drives the second transmission unit to move through the clutch, thereby causing The second transmission unit drives the transmission assembly to move. The fork device according to claim 3, wherein the first transmission unit includes a spline shaft and a first nut (not shown in the figure) installed on the spline shaft, and the spline The shaft is connected to the output shaft of the first drive motor, the first nut is selectively connected to the clutch, and when the first nut is connected to the clutch, the first drive motor drives the The spline shaft rotates, and the spline shaft drives the clutch to rotate through the first nut. The fork device according to claim 4, wherein the spline shaft is one of a ball spline shaft or a trapezoidal spline shaft. The fork device according to claim 3, characterized in that the second transmission unit includes a first gear and a second gear meshed with the first gear, the first gear is connected with the clutch, The second gear is connected with the transmission assembly. The fork device according to any one of claims 2-6, wherein the transmission assembly includes a first transmission wheel, a second transmission wheel and a flexible member, and the flexible member is wound around the first transmission wheel. On a transmission wheel and the second transmission wheel, the flexible member is configured to be connected with the fork arm and drive the fork arm to telescopically move along the second horizontal direction. The fork device according to claim 7, characterized in that the transmission assembly further includes a rack and pinion unit, the rack and pinion unit includes a third gear and a first rack, the third gear and the The flexible member is connected and can rotate around its own axis. The first rack is fixed on the fork arm and meshes with the third gear. The flexible member can drive the third gear along the third gear. The second horizontal direction moves, and the third gear rotates to drive the first rack to drive the fork arm to telescopically move in the second horizontal direction. The fork device according to claim 8, wherein the rack and pinion unit further includes a gear seat, an opening is provided on the flexible member, and the gear seat is disposed at the opening and connected with the flexible member. The two ends of the opening of the sexual member are connected, and the third gear is rotatably provided on the gear seat; a third rack meshing with the third gear is provided on one side of the gear seat. When the When the flexible member drives the gear seat and the third gear to move along the second horizontal direction, the third rack drives the third gear to rotate around its own axis relative to the gear seat. The cargo fork device according to claim 7, characterized in that the transmission assembly further includes a first connecting piece and a second connecting piece, and the first connecting piece and the second connecting piece are respectively fixed to the cargo. wishbone; The first transmission wheel and the second transmission wheel are arranged side by side, the first end of the flexible member is fixed to the first connecting member, and the second end of the flexible member is connected by the first transmission wheel. One side of the second transmission wheel bypasses the side of the second transmission wheel that is away from the first transmission wheel, and then extends to the side close to the first transmission wheel and is fixed to the second connecting member, so that the The flexible member drives the fork arm to telescopically move along the second horizontal direction through the first connecting member and the second connecting member. The fork device according to claim 7, wherein the transmission assembly further includes a sprocket rack, the sprocket rack is fixed on the fork arm and extends along the second horizontal direction, The flexible member is engaged with the sprocket rack, so that the flexible member drives the fork arm to telescopically move along the second horizontal direction through the sprocket rack. The fork device according to claim 11, characterized in that the transmission assembly further includes a pressing member, the pressing member is used to support the flexible member so that the flexible member is in contact with the chain. Rack mesh. The fork device according to claim 7, wherein the flexible member is a chain, the first transmission wheel is a first sprocket, and the second transmission wheel is a second sprocket; or The flexible member is a synchronous belt, the first transmission pulley is a first synchronous pulley, and the second transmission pulley is a second synchronous pulley. The fork device according to claim 7, wherein the fork arm includes a fixed plate, a middle plate and an outer plate that are slidably connected in sequence; The middle plate is provided with at least two spaced apart pulleys and a conveyor belt that is annularly sleeved on the pulleys. The side of the conveyor belt facing the fixed plate is connected to the fixed plate. The conveyor belt The side facing the outer panel is connected to the outer panel, and the flexible member is configured to be connected to the middle panel; When the flexible member drives the middle plate to move along the second horizontal direction, the pulley rotates around its own axis to drive the conveyor belt to move, so that the conveyor belt drives the outer plate relative to the middle plate along the edge. The second horizontal direction moves. The fork device according to any one of claims 1 to 6, characterized in that a bracket is provided at the bottom of the movable fork, and a guide rail extending along the first horizontal direction is provided on the bottom plate, and the bracket There is a guide groove matching the guide rail, and the guide rail is located in the guide groove and can move relative to the guide groove. The fork device according to claim 15, characterized in that the fork device further includes a position adjustment component, the position adjustment component is connected to the movable fork, and the position adjustment component is used to drive the movable fork. The fork moves along the first horizontal direction on the base plate. The fork device according to claim 16, wherein the position adjustment assembly includes a second drive motor, a screw rod, a second nut and an electromagnetic brake, and the axial direction of the screw rod is in the same direction as the first horizontal direction. in the same direction, the second drive motor is connected to the screw rod, the second nut is installed on the screw rod and can rotate relative to the screw rod, and the electromagnetic brake can selectively interact with the second screw rod. The nuts are connected or separated. When the electromagnetic brake is connected to the second nut, the second nut moves relative to the screw rod along the axial direction of the screw rod, so that the second nut pushes the movable The fork moves along the axial direction of the screw rod. The fork device according to claim 16, wherein the position adjustment assembly includes a fourth gear, a second rack and a second drive motor, the second rack is installed on the base plate, and the A second driving motor is connected to the fork arm, and a second driving motor is connected to the fourth gear to drive the fourth gear to rotate, so that the fourth gear drives the movable fork relative to the rack. Move along the first horizontal direction. The fork device according to claim 16, wherein the telescopic driving mechanism and/or the position adjustment assembly are detachably connected to the base plate. The fork device according to claim 14, characterized in that there is a first pallet arranged horizontally between the bottom plate and each of the forks, and one end of the fixed plate of each of the forks close to the bottom plate has a horizontal A second pallet is provided, the second pallet is located directly below the fork and extends to both sides along the second horizontal direction. The second pallet on the movable fork can be along the edge relative to the first pallet. Moving in the first horizontal direction, the first pallet and the second pallet are used to carry the material box located on the fork device. The fork device according to claim 20, wherein the contact surface between each second pallet and the material box is higher than the contact surface between the first pallet and the material box, so that the second pallet and the material box are in contact with each other. An escape space for avoiding the first tray is formed between the bottom plates. The fork device according to claim 20, wherein each second pallet includes at least two load-bearing parts, and the at least two load-bearing parts are spaced apart from the first pallet in the second horizontal direction, and each The contact surface between the carrying part and the material box is flush with the contact surface between the first tray and the material box. The fork device according to claim 20, wherein each second pallet is further provided with an escape notch for avoiding the telescopic driving mechanism. The fork device according to any one of claims 1 to 6, characterized in that, along the second horizontal direction, both ends of each of the forks are provided with finger assemblies, and the finger assemblies include a third drive motor, A position detector and a finger shield. The third drive motor is used to drive the finger shield to rotate between a vertically retracted state and a horizontal expansion state. The position detector is used to detect the position state of the finger shield. . The fork device according to claim 24, wherein one end of the finger block close to the third driving motor has at least two grooves arranged at intervals along the circumferential direction, and one of the grooves corresponds to the A preset position of the finger shield, each groove is equipped with a position detector, and each position detector is used to identify the corresponding groove on the finger shield. A robot, characterized in that it includes a movable base, a column and the fork device according to any one of the above claims 1-25, the column is installed on the mobile base, and the fork device is installed on the mobile base. on the upright column, and can move up and down in the vertical direction relative to the upright column.

Images