Search

WO-2026092236-A1 - HANDLING ROBOT

WO2026092236A1WO 2026092236 A1WO2026092236 A1WO 2026092236A1WO-2026092236-A1

Abstract

A handling robot comprises forks (20). Each fork (20) comprises a fork arm assembly (22), a load-bearing wheel assembly (23) disposed on the fork arm assembly (22), and a load-bearing wheel driving assembly disposed corresponding to the load-bearing wheel assembly (23), wherein the load-bearing wheel assembly (23) is hinged to the fork arm assembly (22), the load-bearing wheel driving assembly comprises a first driving assembly and an elastic driving assembly (50), the first driving assembly is capable of driving the load-bearing wheel assembly (23) to rotate about a hinge center of the load-bearing wheel assembly (23) on the fork arm assembly (22), so that the load-bearing wheel assembly (23) swings to an extended state in which a load-bearing wheel (232) of the load-bearing wheel assembly (23) extends out of the fork arm assembly (22) and thus the elastic driving assembly (50) stores energy, and the elastic driving assembly (50) is capable of, after the stored energy is released, driving the load-bearing wheel assembly (23) to reset from the extended state to a retracted state in which the load-bearing wheel of the load-bearing wheel assembly (23) retracts into the fork arm assembly (22), and it maintains the load-bearing wheel assembly (23) in the retracted state. The handling robot is capable of automatically retracting the load-bearing wheel.

Inventors

  • WANG, XIAOHUI
  • NA, Yaozong
  • LI, BIN

Assignees

  • 杭州海康机器人股份有限公司

Dates

Publication Date
20260507
Application Date
20251021
Priority Date
20241104

Claims (13)

  1. A handling robot includes a fork (20), the fork (20) including a fork arm assembly (22), a load-bearing wheel assembly (23) disposed on the fork arm assembly (22), and a load-bearing wheel drive assembly corresponding to the load-bearing wheel assembly (23), the load-bearing wheel assembly (23) being hinged to the fork arm assembly (22), characterized in that the load-bearing wheel drive assembly includes a first drive assembly and an elastic drive assembly (50), the first drive assembly being capable of driving the load-bearing wheel assembly (23) around the load-bearing wheel assembly (23) in the fork arm assembly. The hinge center on component (22) rotates, causing the bearing wheel assembly (23) to swing to the extended state where the bearing wheel (232) of the bearing wheel assembly (23) extends out of the fork arm assembly (22), and causing the elastic drive assembly (50) to store force. The elastic drive assembly (50) releases the stored force to drive the bearing wheel assembly (23) to reset from the extended state to the retracted state where the bearing wheel (232) of the bearing wheel assembly (23) retracts into the retracted state within the fork arm assembly (22), and maintains the bearing wheel assembly (23) in the retracted state.
  2. The handling robot as claimed in claim 1, characterized in that the handling robot includes a vehicle body (10), the forks (20) are disposed on the vehicle body (10), and the forks (20) are capable of lifting and lowering along the vehicle body (10), the first drive assembly includes a drive member (30) and a transmission member (31), the transmission member (31) is disposed on the fork arm assembly (22), the first end of the drive member (30) is hinged to the forks (20), the second end of the drive member (30) contacts the vehicle body (10), and the transmission member (31) is... One end of the transmission component (31) is hinged to the drive component (30), and the other end of the transmission component (31) is hinged to the load-bearing wheel assembly (23); the elastic drive component (50) is connected between the fork arm assembly (22) and the first drive component; during the upward movement of the fork arm assembly (22), the drive component (30) drives the transmission component (31) to move toward the end of the fork arm assembly (22) under the drive of the fork arm assembly (22) and the limiting action of the vehicle body (10), and causes the elastic drive component (50) to store power.
  3. According to claim 2, the handling robot is characterized in that the vehicle body includes a frame (11), a push slider (17) disposed on the bottom surface of the frame (11), and a fork mounting bracket disposed on the bearing surface of the frame, the bottom surface being opposite to the bearing surface, the fork arm assembly being slidably disposed on the fork mounting bracket, and the push slider (17) being slidably disposed at the bottom of the frame (11); during the upward movement of the fork arm assembly (22), the second end of the drive member (30) is capable of engaging with the push slider (17). The bottom surface contacts and is limited by the bottom surface so that the second end of the drive member (30) can slide along the bottom surface of the push slider (17); the side of the push slider (17) facing the fork arm assembly is an inclined surface, and the second end of the drive member (30) can slide along the inclined surface to the bottom surface of the push slider (17) when the push slider moves toward the fork arm assembly, and the drive member (30) can drive the transmission member (31) to move toward the end of the fork arm assembly (22), and cause the elastic drive component (50) to store force.
  4. According to claim 3, the handling robot is characterized in that the driving member (30) includes a swing hinge (306), a limiting guide (307), and a guide roller (305), the first end of the swing hinge (306) is formed as the first end of the driving member (30), the first end of the limiting guide (307) is fixedly connected to the second end of the swing hinge (306), the guide roller (305) is disposed at the second end of the limiting guide (307), the guide roller (305) is formed as the second end of the driving member (30), the limiting guide (307) extends in a direction away from the fork arm assembly, so that the guide roller (305) contacts the push slider (17), and the second end of the swing hinge (306) is hinged to the transmission member (31).
  5. According to claim 3, the handling robot is characterized in that the frame further includes a linear drive unit (15), the linear drive unit (15) is disposed on the back of the frame body, the output end of the linear drive unit (15) is connected to the push slider (17) to drive the push slider (17) to perform linear reciprocating movement on the back of the frame body; the push slider (17) is located at a first position close to the fork arm assembly (22) and a second position away from the fork arm assembly (22). When the push slider (17) is in the first position, the drive member (30) and the... The bottom surface of the push slider (17) abuts against and forms the limiting effect; when the push slider (17) is in the second position, the drive member (30) abuts against the inclined surface (171) of the push slider (17). During the sliding process of the push slider (17) from the second position to the first position, the push slider (17) pushes the drive member (30) to rotate through the inclined surface (171), and the rotation of the drive member (30) can drive the transmission member (31) to move toward the end of the fork arm assembly (22), and cause the elastic drive assembly (50) to store force.
  6. According to claim 5, the transport robot is characterized in that the frame further includes a first sensor (12) and a second sensor (13), both the first sensor (12) and the second sensor (13) are disposed on the frame body, the first sensor (12) corresponds to the first position of the push slider (17) and the second sensor (13) corresponds to the second position of the push slider (17), and the first sensor (12) and the second sensor (13) are used to issue corresponding positioning signals when the push slider (17) reaches the corresponding position.
  7. The handling robot according to any one of claims 1 to 6 is characterized in that the fork arm assembly (22) includes a transition plate (225) and a fork arm body (21), the transition plate (225) is disposed at one end of the fork arm body, a receiving groove (223) is formed at the bottom of the fork arm body, the hinge center of the bearing wheel assembly (23) and the fork arm assembly (22) is located in the receiving groove (223), and the swing of the bearing wheel assembly (23) about the hinge center of the bearing wheel assembly (23) and the fork arm assembly (22) enables the bearing wheel (23) of the bearing wheel assembly (23) to swing. 2) Extend or retract the receiving groove (223). The first driving component includes a driving member (30) and a transmission member (31). The transmission member (31) includes a first end disposed in the receiving groove (223) and hinged to the bearing wheel assembly (23), and a second end extending along the receiving groove (223) toward the vehicle body (10) of the transport robot. The second end of the transmission member (31) is hinged to the driving member (30). The elastic driving component (50) is disposed in the receiving groove (223) and is able to complete the storage or release of the stored force in the receiving groove (223).
  8. According to claim 7, the handling robot is characterized in that the fork arm body includes a top plate (221) and protruding side plates (222) disposed on two sides at the bottom of the top plate (221), the top plate (221) and the side plates (222) together define the receiving groove (223), and the elastic drive assembly (50) is disposed in the receiving groove (223) and connected between the outer side wall of the transmission member (31) and the inner side wall of the receiving groove (223).
  9. According to claim 8, the handling robot is characterized in that the elastic drive assembly (50) includes a first connecting end, a second connecting end, and an elastic energy storage part connecting the first connecting end and the second connecting end. The elastic energy storage part can store energy when the bearing wheel (232) of the bearing wheel assembly (23) extends out of the fork arm assembly (22), and can release the stored energy when the bearing wheel (232) of the bearing wheel assembly (23) retracts into the fork arm assembly (22). A plurality of protruding first connecting posts (2221) are provided on the inner sidewall of the side plate (222), and a plurality of protruding second connecting posts (311) corresponding one-to-one with the first connecting posts (2221) are respectively provided on the two opposite sidewalls of the transmission member (31). The first connecting end of the elastic drive assembly (50) is connected to the first connecting post (2221), and the second connecting end of the elastic drive assembly (50) is connected to the second connecting post (311).
  10. The handling robot as claimed in claim 7 is characterized in that the bearing wheel assembly (23) includes a bearing wheel bracket (231) and a bearing wheel (232) disposed on the bearing wheel bracket (231). The bearing wheel bracket (231) includes a third pivot connection portion pivotally connected to the inner wall of the receiving groove (223) and a fourth pivot connection portion pivotally connected to the transmission member (31). The third pivot connection portion and the fourth pivot connection portion form a gap. The bearing wheel bracket (231) rotates around the third pivot connection portion under the pushing and pulling action of the transmission member (31) so that the bearing wheel (232) extends out of or retracts into the receiving groove (223).
  11. According to any one of claims 3 to 6, the fork (20) comprises a connecting frame (21), a caster assembly (24), and two fork arm assemblies (22) disposed on the connecting frame (21) and spaced apart. The fork arm assembly (22) comprises a transition plate (225) and a fork arm body (21). The connecting frame (21) extends along the height direction of the transport robot. The fork arm assembly (22) is fixed to the bottom of the connecting frame (21) by the transition plate (225) and extends forward of the transport robot along the horizontal direction of the transport robot. The caster assembly (24) is disposed at the bottom of the connecting frame (21), and the bottom of the caster assembly (24) protrudes from the bottom surface of the fork arm assembly (22). The fork (20) is vertically mounted on the fork mounting bracket (18) through the connecting frame (21).
  12. The handling robot as described in claim 11 is characterized in that the vehicle body (10) includes a double-acting drive cylinder (60) disposed on the frame (11) and a plurality of second guide rails (61), the plurality of second guide rails (61) being disposed on the fork mounting bracket (18) along the height direction of the vehicle body (10), pulleys being provided on both sides of the connecting frame (21), the connecting frame (21) being slidably disposed on the second guide rails (61) via the pulleys, the output end of the double-acting drive cylinder (60) being connected to the connecting frame (21), and being able to drive the connecting frame (21) to rise and fall along the second guide rails (61) in the height direction of the vehicle body (10).
  13. The handling robot according to any one of claims 1 to 6, wherein the elastic drive component (50) is configured as a spring.

Description

A transport robot This application claims priority to Chinese Patent Application No. 202422687754.0, filed on November 4, 2024, entitled "A Handling Robot", the entire contents of which are incorporated herein by reference. Technical Field This application relates to the field of handling robot technology, and specifically to a handling robot for handling crisscross pallets. Background Technology In industrial production, there are many different types of handling robots. When handling standardized pallets (such as grid pallets), the robot's forks need to be inserted into the holes of the grid pallet due to the pallet's special structure. Existing handling robots for pallet handling typically have retractable load-bearing wheel assemblies on their fork arm components. These load-bearing wheel assemblies extend or retract the fork arms as needed to accommodate pallet handling. However, the retractable structure of the load-bearing wheels in existing technologies is quite complex, increasing production and usage costs. Summary of the Invention This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a handling robot with an optimized structure, reducing production and usage costs. To achieve the above objectives, this application adopts the following technical solution: A handling robot includes a fork, the fork comprising a fork arm assembly, a load-bearing wheel assembly disposed on the fork arm assembly, and a load-bearing wheel drive assembly corresponding to the load-bearing wheel assembly, the load-bearing wheel assembly being hinged to the fork arm assembly. The load-bearing wheel drive assembly comprises a first drive assembly and an elastic drive assembly. The first drive assembly is capable of driving the load-bearing wheel assembly to rotate about a hinge center on the fork arm assembly, causing the load-bearing wheel assembly to swing to an extended state where its load-bearing wheel extends out of the fork arm assembly, and causing the elastic drive assembly to store force. The elastic drive assembly releases the stored force to drive the load-bearing wheel assembly back from the extended state to a retracted state where its load-bearing wheel retracts into the fork arm assembly, and maintains the load-bearing wheel assembly in the retracted state. In this technical solution, a load-bearing wheel drive assembly is designed to extend/retract the load-bearing wheel assembly into the fork arm assembly, adapting to the handling requirements of the grid pallet. The load-bearing wheel drive assembly includes a first drive assembly for extending the load-bearing wheel and an elastic drive assembly that cooperates with the first drive assembly. The elastic drive assembly drives the load-bearing wheel to retract and reset. This design optimizes the load-bearing wheel drive structure by using two different structures to drive the extension and retraction processes. In actual implementation, each structure can be designed independently, significantly reducing the complexity of individual mechanisms and lowering design and production costs. Furthermore, the elastic drive assembly allows the load-bearing wheel to automatically reset under the force released by the elastic drive assembly, improving ease of use and simplifying the structural layout of each component. Furthermore, the handling robot includes a vehicle body, the forks are mounted on the vehicle body and are capable of rising and falling along the vehicle body, the first drive assembly includes a drive member and a transmission member, the transmission member is mounted on the fork arm assembly, the first end of the drive member is hinged to the forks, the second end of the drive member is in contact with the vehicle body, one end of the transmission member is hinged to the drive member, and the other end of the transmission member is hinged to the load-bearing wheel assembly; the elastic drive assembly is connected between the fork arm assembly and the first drive assembly; during the rising of the fork arm assembly, the drive member, driven by the fork arm assembly and limited by the vehicle body, drives the transmission member to move toward the end of the fork arm assembly, and causes the elastic drive assembly to store force. The lifting and lowering of the forks can be correlated with the extension or retraction of the load-bearing wheel assembly through the drive and transmission components, improving the overall compactness of the handling robot's structure. The rotating connection structure of the drive components can adapt to the need for forces applied in different directions to extend or retract the load-bearing wheel assembly, and also reduces the volume of components, facilitating layout. Furthermore, the vehicle body includes a frame, a push slider disposed on the bottom surface of the frame, and a fork mounting bracket disposed on the load-bea