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CN-224226607-U - Transfer robot

CN224226607UCN 224226607 UCN224226607 UCN 224226607UCN-224226607-U

Abstract

The utility model relates to a transfer robot, including, frame, fork mechanism, fork front portion divide into fork point and fork plate transition portion, and fork point bottom surface is higher than the bottom surface of fork plate transition portion, and the fork point passes through the inclined plane transition to the junction of fork plate transition portion; the bottom of the fork plate transition part is of a flat linear structure and is used for guiding the bottom of the fork to be in contact with the tray; the bottom surface of the fork plate transition part is the lowest part of the fork, and the joint part of the fork plate transition part and the rear part of the fork is in transition through an inclined plane; the pallet loading mechanism also comprises a connecting rod locking mechanism which is used for locking the load wheel assembly in a suspended state during the process that the pallet fork enters or exits from the pallet. The scheme is based on the cooperation of the pure mechanical structure and through the synergistic effect of the fork plate transition part, the inclined plane and the idler wheels, and the pallet with the cross beam at the bottom of the American standard pallet and the like is low in speed and uniform in speed.

Inventors

  • HE KEJUN
  • HUANG CHAO
  • WU LILI
  • DAI JINCAI

Assignees

  • 浙江中力机械股份有限公司

Dates

Publication Date
20260512
Application Date
20250606

Claims (10)

  1. 1. A transfer robot includes a transfer robot, The frame of the vehicle is provided with a frame, The fork mechanism is arranged on the frame in a sliding lifting manner and comprises a fork frame and a fork arranged on the fork frame; The load wheel assembly comprises a first wheel frame and a load wheel arranged on the first wheel frame, and the load wheel assembly is driven by the connecting rod mechanism to switch between a bearing state and a suspending state; It is characterized in that the method comprises the steps of, The front part of the fork is divided into a fork tip and a fork plate transition part, the fork tip is positioned at the forefront end of the fork, the bottom surface of the fork tip is higher than the bottom surface of the fork plate transition part, and the joint part of the fork tip and the fork plate transition part is in transition through an inclined plane; the pallet loading mechanism also comprises a connecting rod locking mechanism which is used for locking the load wheel assembly in a suspended state during the process that the pallet fork enters or exits from the pallet.
  2. 2. A transfer robot as claimed in claim 1, characterized in that the fork point to fork plate transition joint is provided with a guide wheel assembly.
  3. 3. The transfer robot of claim 1, wherein the load wheel in a suspended state is positioned at the front part of the fork plate transition part, the bottom of the load wheel is exposed out of the fork plate transition part, and a roller assembly is arranged at the middle part or the rear part of the fork plate transition part, and the bottom of the roller assembly protrudes out of the bottom of the fork plate transition part.
  4. 4. A transfer robot according to claim 1, characterized in that the length of the fork plate transition is greater than the width of the gap between adjacent cross members of the matched pallet at the widest point.
  5. 5. The transfer robot of claim 1, wherein an avoidance portion protruding upwards is arranged on the inner side of the first wheel frame, the avoidance portion is arranged close to the long connecting rod, after the pallet fork enters the pallet in place, the load wheel assembly 30 is located at a first gap on the pallet, and in the process of switching from a suspended state to a bearing state, a gap is always formed between the first wheel frame and the edge of the first gap.
  6. 6. The transfer robot according to claim 1, wherein the link locking mechanism comprises a limiting member and a limiting seat, the link mechanism comprises a swing rod and a long swing rod, the limiting member is fixed on the swing rod, one end of the limiting member extends into a first space of the limiting seat, the limiting member moves in the first space of the limiting seat along with the swing rod, in a suspended state of the load wheel, the limiting member abuts against a first side of the first space, and the limiting member has a tendency of continuing to move to the first side.
  7. 7. A transfer robot according to claim 3, characterized in that the first wheel carrier of the load wheel is connected to the forks at a first hinge point, the first wheel carrier is hinged to the linkage at a second hinge point, and the wheel assembly is arranged at the second hinge point.
  8. 8. The transfer robot of claim 2, wherein the guide wheel assembly includes a plurality of lift guide wheels disposed along a stepped incline guide.
  9. 9. The transfer robot of claim 8, wherein the idler assembly includes a second wheel frame, and wherein the plurality of lift idlers are mounted to the fork via the same second wheel frame.
  10. 10. The transfer robot of claim 9, wherein the plurality of lift rollers are divided into two groups, and the two groups of lift rollers are respectively mounted on two sides of the second wheel frame and are staggered.

Description

Transfer robot Technical Field The utility model relates to an AGV vehicle, in particular to a transfer robot. Background In recent years, the transfer robot is widely applied to the field of logistics storage, but has significant defects in adaptability to trays (such as American standard trays, tian Zituo trays and the like) with cross beams at the bottom. Taking the American standard tray as an example, the American standard tray takes the dominant position in the global market due to mature process and low cost, but the existing transfer robot keeps the characteristics of uniform speed and low speed movement when entering and exiting the tray, so that the existing transfer robot can not smoothly enter and exit the American standard tray, especially for an empty American standard tray, because the empty tray of the tray is lighter in weight, and the bottom of the American standard tray is provided with a multi-section upward protruding structure, the condition that the pallet is driven to move together by a pallet fork when entering and exiting the tray easily occurs, and the entering and exiting of the American standard tray can not be stabilized, so that a user is forced to adopt a nonstandard tray or a customized solution, and the use cost is greatly increased. In the prior art, an independent power source is generally required to be arranged for lifting the pallet fork to enable the pallet fork to smoothly enter and exit the pallet when the pallet enters and exits, such as an industrial carrying vehicle disclosed by CN118479396A, and the double-sided pallet fork is realized by tilting a vehicle body through a jacking mechanism, but the double-sided pallet fork is dependent on a hydraulic or electric power source, and has a complex structure and high energy consumption. Disclosure of utility model The utility model provides a transfer robot, which can enable a fork to smoothly enter and exit a American standard pallet by using a pure mechanical structure without arranging an additional power source, solves the problem that the pallet is easy to be blocked when the forklift robot enters and exits under the characteristics of uniform speed and low-speed movement, and has low cost. A transfer robot includes a transfer robot, The frame of the vehicle is provided with a frame, The fork mechanism is arranged on the frame in a sliding lifting manner and comprises a fork frame and a fork arranged on the fork frame; The load wheel assembly comprises a first wheel frame and a load wheel arranged on the first wheel frame, and the load wheel assembly is driven by the connecting rod mechanism to switch between a bearing state and a suspending state; The front part of the fork is divided into a fork tip and a fork plate transition part, the fork tip is positioned at the forefront end of the fork, the bottom surface of the fork tip is higher than the bottom surface of the fork plate transition part, and the joint part of the fork tip and the fork plate transition part is in transition through an inclined plane; the pallet loading mechanism also comprises a connecting rod locking mechanism which is used for locking the load wheel assembly in a suspended state during the process that the pallet fork enters or exits from the pallet. Preferably, the connection part between the fork tip and the fork plate transition part is provided with a guide wheel assembly. Preferably, the load wheel in a suspended state is positioned at the front part of the fork plate transition part, the bottom of the load wheel is downwards exposed out of the fork plate transition part, a roller assembly is arranged at the middle part or the rear part of the fork plate transition part, and the bottom of the roller assembly protrudes out of the bottom of the fork plate transition part. Preferably, the length of the fork plate transition is greater than the width of the gap at the widest point between adjacent cross-beams of the matched pallet. Preferably, an avoidance part protruding upwards is arranged on the inner side of the first wheel frame, the avoidance part is arranged close to the long connecting rod, after the pallet fork enters the pallet in place, the load wheel assembly 30 is positioned at a first gap on the pallet, and in the switching process from a suspended state to a bearing state, a gap is always reserved between the first wheel frame and the edge of the first gap. Preferably, the connecting rod locking mechanism comprises a limiting piece and a limiting seat, the connecting rod mechanism comprises a swinging rod and a long swinging rod, the limiting piece is fixed on the swinging rod, one end of the limiting piece stretches into a first space of the limiting seat, the limiting piece moves in the first space of the limiting seat along with the swinging rod, in a suspended state of a load wheel, the limiting piece is abutted with a first side of the first space, and the limiting piece has a trend of continuing to move towards the