WO2023274320A1 - 货叉组件、搬运机器人及仓储*** - Google Patents

货叉组件、搬运机器人及仓储*** Download PDF

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Publication number
WO2023274320A1
WO2023274320A1 PCT/CN2022/102489 CN2022102489W WO2023274320A1 WO 2023274320 A1 WO2023274320 A1 WO 2023274320A1 CN 2022102489 W CN2022102489 W CN 2022102489W WO 2023274320 A1 WO2023274320 A1 WO 2023274320A1
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WO
WIPO (PCT)
Prior art keywords
pallet
fork
guide rail
tray
locking
Prior art date
Application number
PCT/CN2022/102489
Other languages
English (en)
French (fr)
Inventor
高明
孔哲
詹庆鑫
陈叶广
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2023274320A1 publication Critical patent/WO2023274320A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/19—Additional means for facilitating unloading

Definitions

  • This application relates to intelligent storage and logistics technology, in particular to a fork assembly, a handling robot and a storage system.
  • the handling robot as the main equipment to realize the automatic handling operation in the intelligent warehouse logistics, can greatly reduce the heavy physical labor of human beings.
  • An embodiment of the present application provides a fork assembly, including:
  • a fork body having an opening
  • a locking mechanism installed between the pallet and the fork body the locking mechanism is used to relatively lock the pallet and the fork body when the pallet extends out to a preset length.
  • the locking mechanism is an active locking mechanism, and when the pallet extends to a preset length, the locking mechanism applies a pretightening force to the pallet, so that The pallet is relatively locked with the fork body.
  • the driving part includes a motor and a screw rod
  • the motor is connected to the screw rod and can drive the screw rod to rotate
  • the friction plate is provided with a threaded hole
  • the The friction plate is threadedly connected with the screw rod through the threaded hole.
  • the friction plate includes a first friction plate and a second friction plate respectively arranged on both sides of the brake plate, a first threaded hole is provided on the first friction plate, The second friction plate is provided with a second threaded hole, and the thread direction in the first threaded hole is opposite to that in the second threaded hole;
  • the screw rod includes a first rod body and a second rod body, the first rod body and the second rod body are coaxially arranged, and the screw direction on the first rod body is the same as that in the first threaded hole, The direction of rotation of the thread on the second rod is the same as the direction of rotation of the thread in the second threaded hole, the first rod passes through the first threaded hole, and the second rod passes through the in the second threaded hole.
  • the brake pads are arranged along the extending direction of the guide rail, the friction pads are parallel to the brake pads, and the driving member is arranged at a position where the friction pads are far away from the brake pads. side of the slice.
  • the pallet includes a pallet bottom wall, a first pallet side wall and two opposite second pallet side walls, and the two ends of the first pallet side wall are respectively connected to the two The side walls of the second tray are fixedly connected, and the side of the tray away from the side wall of the first tray forms an opening;
  • the brake pad is arranged on the side of the pallet bottom wall facing the fork body, and the friction pad and the driving member are arranged between the pallet bottom wall and the fork body.
  • the locking mechanism includes a telescopic element and a controller, the telescopic element is installed on the pallet, and can be extended or retracted together with the pallet; the The controller is connected to the telescopic member, and the controller is used to control the locking of the telescopic member when the pallet is stretched out to a preset length, so that the pallet is locked relative to the fork body.
  • the telescopic member is a hydraulic cylinder
  • the controller is a hydraulic valve
  • the locking mechanism further includes a hydraulic pump and a hydraulic pipeline, and the hydraulic pump is arranged on the One end of the hydraulic pipeline, the hydraulic cylinder is arranged at the other end of the hydraulic pipeline, and the hydraulic valve is arranged on the hydraulic pipeline; or, the telescopic member is a pneumatic cylinder, and the controller is a pneumatic valve
  • the locking mechanism also includes an air source and an air pressure pipeline, the air source is arranged at one end of the air pressure pipeline, the air cylinder is arranged at the other end of the air pressure pipeline, and the air pressure valve is arranged at on the air pressure line.
  • the controller controls the hydraulic pipeline to close, and the telescopic member is locked so that the pallet is opposite to the guide rail locked.
  • the locking mechanism includes a magnetic assembly, the magnetic assembly is located on one of the fork body and the pallet, and can absorb the other; When the pallet extends out to a preset length, the fork body and the pallet are attracted by the magnetic assembly, so that the pallet is relatively locked with the fork body.
  • the fork assembly further includes a fork arm for picking and placing target goods, and when the fork arm picks up the target goods on the shelf, the pallet is far away from the The fork body extends out to a predetermined length, and the pallet and the fork body are attracted by the magnetic assembly.
  • the fork body and the pallet are unfixed.
  • the fork assembly as described above further includes a detection piece, the detection piece is used to detect the position of the pallet, the magnetic attraction assembly includes a controller and an electromagnet, the detection piece is connected with the control The controller is used to control the electromagnet to attract the pallet or the fork body when the pallet is stretched out to a preset length.
  • the fork body has a first area
  • the pallet has a second area opposite to the first area
  • the A first area overlaps a second area of the tray
  • the electromagnet is located on either the first area or the second area.
  • part of the locking mechanism is connected to the pallet, and when the pallet is retracted, part of the locking mechanism is driven to move, so that the locking mechanism itself is locked, thereby connecting the pallet and the fork The body is relatively locked.
  • the fork body is also provided with a fork arm and a guide rail, the fork arm can extend or retract relative to the fork body, and the extension of the guide rail The direction is parallel to the telescopic direction of the fork arm;
  • the first locking member is a wedge, and the wedge is fixedly connected to the side of the pallet facing the guide rail;
  • the locking mechanism also includes an unlocking plate, the unlocking plate includes an unlocking plate body, the unlocking plate body is arranged on the side of the tray facing the guide rail, and the unlocking plate body is arranged on the side away from the tray.
  • the unlocking plate can be driven by the pallet or the fork arm to move along the extending direction of the guide rail.
  • the fork arm is provided with a first unlocking portion facing the guide rail;
  • the unlocking plate body is further provided with a second unlocking portion on the side facing the pallet, When the fork arm is retracted, the first unlocking part can abut against the second unlocking part, so that the second locking part is away from the first locking part, so that the pallet can retract along said rail;
  • the tray is provided with a tray recovery hook.
  • the tray recovery hook can abut against the second unlocking part, so as to drive the second locking part and the unlocking plate to follow the tray. move.
  • the pallet includes a pallet bottom wall, a first pallet side wall and two opposite second pallet side walls, and two ends of the first pallet side wall are respectively connected to a The side wall of the second tray, the side of the tray facing away from the side wall of the first tray forms an opening;
  • the pallet recovery hook is arranged on the side wall of the second pallet, and when the fork arm is retracted, the second unlocking part can abut against the pallet recovery hook driven by the first unlocking part to drive the tray back.
  • the first unlocking part includes a first flat plate and a second flat plate connected vertically, the first flat plate is arranged parallel to the fork arm and is fixedly connected to the fork On the arm, the second flat plate is perpendicular to the first flat plate, and a buffer pad is provided on the side of the second flat plate facing the second unlocking part;
  • the pallet recovery hook is parallel to the fourth plate, and when the second unlocking part abuts on the pallet recovery hook, the pallet recovery hook is located between the fourth plate and the two third plates. In the formed space, and abut against the fourth flat plate.
  • the side of the unlocking plate body facing the guide rail is also provided with a second fixing ear, one end of the spring is fixed on the spring bracket, and the other end of the spring is fixed on the second fixing ear;
  • the fork body is also provided with a fork arm and a guide rail, the fork arm can extend or retract relative to the fork body, and the extension of the guide rail The direction is parallel to the telescopic direction of the fork arm;
  • the locking mechanism includes a camshaft and a retainer, the camshaft is arranged between the guide rail and the tray, the camshaft includes a camshaft body and a protruding part, and the protruding part is arranged on the In the radial direction of the camshaft body, and on the side away from the protruding direction of the tray; the maintaining member is used to provide a maintaining force to the camshaft so that the camshaft maintains contact with the tray ;
  • the tray drives the camshaft to rotate, so that the protrusion abuts on the guide rail, and the contact point between the camshaft and the guide rail or the camshaft and the guide rail
  • the included angle between the contact point of the tray and the axis center of the camshaft and the plane normal of the guide rail is smaller than the friction angle between the camshaft and the guide rail, so that the tray and the guide rail The guide rail is relatively locked.
  • the locking mechanism further includes a transmission member, the transmission member includes a cam link and an unlocking link, and the end of the camshaft is connected to the second end of the cam link.
  • One end is fixedly connected, the second end of the cam link is hinged with the first end of the unlocking link, the second end of the unlocking link is a free end, and the first end of the unlocking link is connected to the first end of the unlocking link.
  • the camshaft When the second end of the unlocking link rotates around the pin shaft, the camshaft can be driven to rotate, and the maintaining member is used to provide the maintaining force to the unlocking link, and the unlocking link passes through the A cam link transmits the maintaining force to the camshaft to maintain the camshaft in contact with the tray.
  • the unlocking link includes a first part and a second part, the first end of the unlocking link is arranged on the first part, and the second end of the unlocking link The end is arranged on the second part, the first part is arranged obliquely to the second part, and the hinge hole is located at the junction of the first part and the second part.
  • the maintaining member is a torsion spring
  • the torsion spring includes a helical part and a first torsion spring arm and a second torsion spring arm connecting the two ends of the helical part, and the helical part part sleeved on the pin, the first torsion spring arm rides on the tray, the tray is used to provide support for the first torsion spring arm, and the second torsion spring arm rides on the The second end of the unlocking link is used to provide pressing force to the second torsion spring arm.
  • the bottom wall of the pallet is provided with a through hole, and when the pallet is locked relative to the guide rail, the second end of the unlocking link at least partially passes through the through hole.
  • the axial direction of the camshaft is perpendicular to the extending direction of the guide rail, and both ends of the camshaft are connected with the transmission member and the maintenance member.
  • the bottom wall of the pallet is provided with an abutment plate on a side facing the opening, and the abutment plate extends in a direction away from the first pallet side wall.
  • the pallet is fixedly connected to the pallet installation frame, and a slider is also provided on the guide rail, and the pallet installation frame is fixedly connected to the slider, and the guide rail is Two sliders are provided, and a camshaft limiting groove is provided on the tray installation frame between the two sliders, and the camshaft is arranged in the camshaft limiting groove.
  • the fork body is also provided with a fork arm and a guide rail, the fork arm can extend or retract relative to the fork body, and the extension of the guide rail The direction is parallel to the telescopic direction of the fork arm;
  • the locking member includes a trigger portion and a locking portion, the trigger portion is located between the fork bottom wall and the fork arm, and the locking portion Located between the bottom wall of the fork and the pallet; the trigger part abuts against the side of the fork arm facing the bottom wall of the fork, and the fork arm is stretched out.
  • the trigger part moves along its abutting surface with the fork arm; when the fork arm is stretched out in place, the trigger part drives the locking part to move towards the direction close to the matching part and cooperate with the pieces snap together.
  • the fork arm includes an outer section arm and at least one inner section arm, and the outer section arm and at least one inner section arm start from the side near the side of the fork body The position is telescopically connected in sequence to a position away from the side of the fork body; the outer section arm is telescopically installed on the side of the fork body, and the outer section arm abuts against the locking assembly to Trigger the locking assembly.
  • Yet another embodiment of the present application provides a storage system, including a shelf, the above-mentioned handling robot, and a channel for the moving of the handling robot.
  • a storage system including a shelf, the above-mentioned handling robot, and a channel for the moving of the handling robot.
  • Fig. 5 is the sectional view of A-A direction of Fig. 4;
  • Fig. 6 is a partially enlarged view of part A in Fig. 5;
  • Fig. 7 is the sectional view of the B-B direction of Fig. 4;
  • Fig. 15 is a front view of a fork assembly provided in another embodiment of the present application.
  • Fig. 19 is a structural schematic diagram of the fork body, electromagnet, guide rail and extension spring in the fork assembly provided by another embodiment of the present application;
  • Fig. 21 is a top view of the fork body in the fork assembly provided by another embodiment of the present application.
  • Fig. 22 is a partially enlarged view of part J in Fig. 15;
  • Fig. 24 is a partial enlarged view of part C in Fig. 23;
  • Fig. 26 is an isometric view of a tray, a guide rail and a locking mechanism provided in another embodiment of the present application;
  • Fig. 27 is a partial enlarged view of part D in Fig. 26;
  • Figure 28 is a bottom view of Figure 26;
  • Fig. 29 is the E-E sectional view of Fig. 28;
  • Fig. 30 is a partial enlarged view of part E in Fig. 29;
  • Fig. 32 is a schematic diagram of the connection structure between the tray installation frame and the guide rail provided in another embodiment of the present application.
  • Fig. 35 is a partial enlarged view of part F in Fig. 34;
  • Fig. 36 is a schematic structural diagram of a camshaft provided by another embodiment of the present application.
  • Fig. 37 is a cooperative structure diagram of the fork assembly and the container of the present application.
  • Fig. 42 is a partial enlarged view of part G in Fig. 38 when the tray provided by another embodiment of the present application is in an unlocked state;
  • Fig. 44 is a schematic structural diagram of a fork assembly provided in another embodiment of the present application.
  • Fig. 45 is an exploded view of a fork assembly provided in another embodiment of the present application.
  • Figure 46 is a partial enlarged view of part I in Figure 45;
  • Fig. 47 is a schematic structural view of the locking assembly of the fork assembly provided in another embodiment of the present application.
  • Fig. 48 is an exploded view of the locking assembly of the fork assembly provided in another embodiment of the present application.
  • 10-fork body 101-the first fixed seat; 102-the first area; 11-the bottom wall of the fork; 12-the side wall of the first fork; 13-the side wall of the second fork;
  • the handling robot can pick and place the container on the shelf.
  • the handling robot usually includes a support base and a fork assembly arranged on the support base.
  • the fork assembly can be lifted vertically relative to the support base, or can be Relative to the support seat, it can be stretched in the horizontal direction, so that the target goods can be taken out from the shelf, or the target goods can be transferred to the shelf.
  • FIG. 1 is a force analysis diagram when a handling robot picks up goods in the related art.
  • the fork arm 20 extends from the fork body 10 to the shelf, and holds the container 2 from both sides.
  • the sum of the external forces received by the handling robot 1000 is F3, so the handling robot 1000 is prone to shaking when picking up goods.
  • the inventor of the present application found that when the pallet fork assembly is picked up from the shelf, if the handling robot and the shelf are relatively fixed so that the two form an integral body, the reaction force from the target goods that the pallet fork assembly is subjected to originally becomes In order to balance the internal force of the handling robot and the shelf.
  • the embodiment of the present application aims to provide a fork assembly, a handling robot and a storage system.
  • the handling robot of the present application picks up goods
  • the pallet 30 in the fork assembly abuts against the shelf through a locking mechanism
  • the fork assembly picks up the goods from the shelf
  • the reaction force applied by the target goods to the fork assembly is transmitted to the shelf through the pallet 30, so that the sum of the external forces on the handling robot and the shelf is zero, so the handling robot will not shake.
  • the handling robot will not shake.
  • FIG. 3 is an exploded view of the fork assembly provided by one embodiment of the present application
  • Fig. 8 is an exploded view of the fork assembly provided by another embodiment of the present application
  • Fig. 14 is an exploded view of the fork assembly provided by another embodiment of the present application Schematic diagram of the structure
  • Figure 23 is a schematic structural diagram of the fork assembly provided by another embodiment of the application
  • Figure 31 is an exploded view of the fork assembly provided by another embodiment of the application
  • Figure 44 is provided by another embodiment of the application Schematic diagram of the structure of the fork assembly. Please refer to Figure 3, Figure 8, Figure 14, Figure 23, Figure 31 and Figure 44, this embodiment provides a fork assembly, including:
  • the fork body 10 has an opening.
  • the fork body 10 of this embodiment is generally in the shape of a cuboid, including a fork bottom wall 11, a first fork side wall 12, and two opposite second fork side walls 13, the first fork side wall
  • the two ends of 12 are respectively connected to a second fork side wall 13, the opening is opposite to the first fork side wall 12, and the side opposite to the fork bottom wall 11 is also open, so that the fork assembly 10 can be easily taken and placed. Goods whose height is greater than the height of the fork body 10.
  • the fork arm 20 and the guide rail 41 installed in the fork body 10 the fork arm 20 can extend or retract toward the opening, and the extension direction of the guide rail 41 is parallel to the telescopic direction of the fork arm 20 .
  • the fork arm 20 is arranged on the second fork side wall 13, and the fork arm 20 can be extended or retracted towards the side of the opening through a structure such as a slide rail installed on the second fork side wall 13.
  • a finger 201 is provided at the end of the fork arm 20 away from the first fork side wall 12 , and the fork arm 20 can move the target goods by means of pushing.
  • the finger 201 When the fork arm 20 stretches out to both sides of the target cargo, the finger 201 can be rotated and set on the side of the target cargo away from the fork body 10, so that when the fork arm 20 is retracted, the finger 201 can send the target cargo into the fork body 10.
  • the guide rail 41 is arranged on the bottom wall 11 of the fork, and the extension direction of the guide rail 41 is parallel to the telescopic direction of the fork arm 20 .
  • the tray 30 is installed on the guide rail 41 , and the tray 30 can extend or retract along the guide rail 41 .
  • the pallet 30 is located between the two fork arms 20 , and the pallet 30 and the guide rail 41 can be slidably connected through a mechanism such as a slider, so that the pallet 30 can extend or retract along the guide rail 41 .
  • the tray 30 of this embodiment is generally in the shape of a cuboid, including a tray bottom wall 31, a first tray side wall 32 and two oppositely arranged second tray side walls 33, and two ends of the first tray side wall 32 are respectively connected to a second tray side wall.
  • the pallet side wall 33 and the side of the pallet 30 away from the first pallet side wall 32 form an opening, so that the fork arm 20 can deliver goods to the pallet 30 or deliver goods from the pallet 30 to the shelf.
  • the bottom wall 31 of the tray in this embodiment is provided with an abutment plate 34 on the side facing the opening, and the abutment plate 34 extends in a direction away from the first tray side wall 32 .
  • the abutting plate 34 can increase the abutting area between the tray 30 and the shelf, and reduce the abutting force per unit area, so that the shelf or the tray 30 is not easy to be damaged, and it is beneficial to improve the stability of the abutment between the tray 30 and the shelf.
  • the side of the second tray side wall 33 in this embodiment away from the first tray side wall 32 is also provided with a guide wall 35, the guide wall 35 is inclined to the second tray side wall 33, and is connected to the side of the second tray
  • the guide wall 35 on the wall 33 is inclined towards the direction away from the second tray side wall 33 on the other side.
  • the tray 30 of this embodiment is fixedly connected to the tray installation frame, and a slider is further provided on the guide rail 41, and the tray installation frame is fixedly connected to the slider.
  • the tray mounting frame is arranged on the bottom wall 31 of the tray, and the tray 30 and the tray mounting frame can be connected and fixed by fasteners such as screws.
  • the slide block can be arranged on the guide rail 41 by means of clamping connection, and the connection and fixation between the tray installation frame and the slide block can also be realized by fasteners such as screws.
  • two sets of guide rails 41 are provided inside the fork body 10 of this embodiment, and the pallet 30 is respectively connected to the two sets of guide rails 41 through two pallet mounting brackets.
  • the two tray mounting brackets are symmetrically arranged on the bottom wall 31 of the tray, so that the stability of the tray 30 when sliding along the guide rail 41 can be improved.
  • the pallet fork assembly of this embodiment further includes a tension spring
  • the side of the guide rail 41 close to the opening is provided with a first tension spring fixing part
  • the side of the tray 30 facing away from the opening is provided with a second tension spring fixing part.
  • the two ends of the extension spring are respectively connected with the first extension spring fixing part and the second extension spring fixing part.
  • the tension spring can store a part of energy, thereby reducing the waste of energy.
  • the tension spring can stretch along with the extension of the tray 30, and provide a certain pulling force for the tray 30 when the tray is retracted.
  • this embodiment is also provided with a locking mechanism.
  • the locking mechanism is arranged between the pallet 30 and the fork body 10. The locking mechanism is used when the pallet 30 extends out of the preset length, the pallet 30 is relatively locked with the fork body 10, and the pallet 30 remains at the protruding length and cannot be retracted; It is fixed and difficult to shake, so that when the fork assembly picks up the goods from the shelf, the force exerted by the target goods on the fork assembly is balanced with the thrust of the shelf on the pallet, so the handling robot will not shake, thereby improving the stability when picking up goods .
  • the locking mechanism in this embodiment is an active locking mechanism.
  • the locking mechanism applies a pre-tightening force to the pallet 30 so that the pallet 30 is in contact with the fork body. 10 relative locking.
  • the active locking mechanism means that the locking mechanism can actively apply a pre-tightening force to the tray 30 to realize the locking of the tray 30 .
  • Fig. 4 is a top view of a pallet fork assembly provided by an embodiment of the present application
  • Fig. 5 is a sectional view in the A-A direction of Fig. 4
  • Fig. 6 is a partially enlarged view of part A in Fig. 5
  • Fig. 7 is a sectional view in the B-B direction of Fig. 4 .
  • the locking mechanism includes a brake pad 51 , a friction pad 52 and a driver 53 , the brake pad 51 is arranged on the tray 30 , and the friction pad 52 is arranged on the driver 53
  • the driving member 53 drives the friction plate 52 to abut against the brake pad 51, so that the tray 30 and the guide rail 41 are relatively locked.
  • the preset length can be determined according to the distance between the fork assembly and the shelf.
  • the driving member can be used to drive the friction plate 52 to abut against the brake pad 51, relying on the friction force between the friction plate 52 and the brake pad 51, thereby preventing contact with the brake pad 51.
  • the movement of the pallet 30 connected to the brake pad 51 makes the pallet 30 locked, and the pallet 30 remains at the extended length and cannot be retracted;
  • the ground is fixed and difficult to shake, so that when the fork assembly picks up the goods from the shelf, the force exerted by the target goods on the fork assembly is balanced with the thrust of the shelf on the pallet, so the handling robot will not shake, thereby improving the stability when picking up goods sex.
  • the driving member 53 of this embodiment includes a motor 531 and a screw rod 532 , the motor 531 is connected to the screw rod 532 and can drive the screw rod 532 to rotate, friction
  • the plate 52 is provided with a threaded hole, and the friction plate 52 is threadedly connected with the screw rod 532 through the threaded hole.
  • the motor 531 drives the screw rod 532 to rotate when it works, and since the screw rod 532 is threadedly connected with the friction plate 52, when the motor 531 is fixed, the friction plate 52 realizes the friction plate 52 along the thread due to the transmission effect between the threads.
  • the screw rod 532 moves in the axial direction so as to abut against the brake pad 51 or move away from the brake pad 51 .
  • This embodiment can conveniently control the displacement of the friction plate 52, so as to facilitate the contact between the friction plate 52 and the brake plate 51 to generate friction force, so that the tray 30 can be kept in a locked state, and it is convenient to abut the tray 30 on the shelf, so that The fork assembly and the shelf form an integral body.
  • the friction pad 52 of this embodiment includes a first friction pad 521 and a second friction pad 522 respectively arranged on both sides of the brake pad 51 , the first friction pad 521 A first threaded hole is provided, and a second threaded hole is provided on the second friction plate 522 , and the direction of rotation of the threads in the first threaded hole is opposite to that of the threads in the second threaded hole.
  • the screw rod 532 includes a first rod body 5321 and a second rod body 5322.
  • the first rod body 5321 and the second rod body 5322 are arranged coaxially.
  • the screw direction on the first rod body 5321 is the same as that in the first threaded hole.
  • the direction of rotation of the thread on the rod body 5322 is the same as that in the second threaded hole, the first rod body 5321 is passed through the first threaded hole, and the second rod body 5322 is passed through the second threaded hole.
  • the first rod body 5321 can drive the first friction plate 521 sleeved on the first rod body 5321 to move
  • the second rod body 5322 can drive the first rod body 5322 to be sleeved on the second rod body 5322
  • the second friction plate 522 moves; since the first rod body 5321 and the second rod body 5322 have opposite helical directions, the first friction plate 521 and the second friction plate 522 can move relatively at the same time to clamp from both sides of the brake pad 51. Tighten the brake pad 51 ; or, the first friction pad 521 and the second friction pad 522 can move toward each other at the same time to loosen the brake pad 51 .
  • this embodiment adopts two friction pads to realize friction with the brake pad 51 from both sides of the brake pad 51, so as to provide greater frictional force and facilitate the locking of the tray 30 connected to the brake pad 51. Therefore, the pallet 30 is abutted against the rack, so that the fork assembly and the rack form an integral body.
  • the brake pads 51 of this embodiment are arranged along the extending direction of the guide rail 41 , the friction pads 52 are parallel to the brake pads 51 , and the driving member 53 is arranged at a position where the friction pads 52 are away from the brake pads 51 . side.
  • the brake pad 51 of this embodiment is arranged on the tray 30 along the extension direction of the guide rail 41, so as to facilitate the frictional contact between the friction pad 52 and the brake pad 51, and ensure that the tray 30 can pass through the friction pad 52 and the brake pad 51 at any length.
  • the frictional contact of the brake pads 51 achieves stable locking.
  • the brake pad 51 of this embodiment is arranged on the side of the pallet bottom wall 31 facing the fork body, and the friction pad 52 and the driving member 53 are arranged on the pallet bottom wall 31 and the fork body between.
  • the brake pads 51, the friction pads 52 and the driving parts 53 are all arranged in the space between the pallet bottom wall 31 and the fork body, so as to realize a reasonable layout and avoid affecting the loading and unloading of the fork assembly.
  • two brake pads 51 are provided on the tray bottom wall 31 in this embodiment, and the two brake pads 51 are respectively arranged on the side of the tray bottom wall 31 close to the second tray side wall 33, and each brake pad 51 is A matching friction plate 52 and a driving member 53 are provided.
  • the driving member 53 of this embodiment is fixed on the fork body.
  • the bottom wall of the fork is provided with a driving member mounting seat 54, and the driving member 53 is fixed on the driving member mounting seat 54 superior.
  • the driver mount 54 includes a first mounting plate 541 parallel to the bottom wall of the fork and a second mounting plate 542 perpendicular to the first mounting plate 541. Welding or threading can be used between the first mounting plate 541 and the bottom wall of the fork. Connection structures such as connections are used for fixing, and the second mounting plate 542 and the first mounting plate 541 can be fixed by welding.
  • the second mounting plate 542 is parallel to the brake pad 51 , and the second mounting plate 542 is provided with a lead screw through hole, and the lead screw is connected to the friction plate 52 after passing through the lead screw through hole.
  • FIG. 9 is a top view of a fork assembly provided in another embodiment of the present application
  • Fig. 10 is a sectional view in the direction of C-C in Fig. 9
  • Fig. 11 is a partial enlarged view of part B in Fig. 10
  • Fig. 12 is a view in the direction of D-D in Fig. 9 Sectional view
  • FIG. 13 is a schematic diagram of a hydraulic system for controlling telescopic elements provided by another embodiment of the present application.
  • the locking mechanism includes a telescopic member 61 and a controller 62 , the telescopic member 61 is installed on the tray 30 and can be extended or retracted together with the tray 30 ;
  • the controller 62 is connected to the telescopic member 61 , and the controller 62 is used to control the locking of the telescopic member 61 when the tray 30 extends out to a preset length, so that the tray 30 is relatively locked to the guide rail 41 .
  • the preset length can be determined according to the distance between the fork assembly and the shelf.
  • the controller 62 can be used to lock the telescopic member 61, so that the tray 30 and the guide rail 41 are locked relative to each other, so that the tray 30 remains at the stretched length and cannot be retracted.
  • the pallet 30 can be abutted on the shelf, so that the fork assembly and the shelf form an integral body, so that when the fork assembly takes goods from the shelf, the force applied by the target goods to the fork assembly becomes The internal forces of the fork assembly and the shelf are balanced with each other, so the fork assembly does not shake, thereby improving the stability when picking and placing goods.
  • the telescopic member 61 of this embodiment can be a hydraulic cylinder
  • the controller 62 is a hydraulic valve
  • the locking mechanism also includes a hydraulic pump 63 and a hydraulic pipe Road 64
  • the hydraulic pump 63 is arranged at one end of the hydraulic pipeline 64
  • the hydraulic cylinder is arranged at the other end of the hydraulic pipeline 64
  • the hydraulic valve is arranged on the hydraulic pipeline 64 .
  • the hydraulic valve of this embodiment has two positions. When the hydraulic valve is in one position, the hydraulic line 64 is closed, and the hydraulic cylinder is locked; when the hydraulic valve is in the other position, the hydraulic line 64 is opened, and the hydraulic The cylinder is retractable. Therefore, in this embodiment, when the tray 30 extends out to a preset length, the controller 62 controls the hydraulic pipeline 64 to close, so that the telescopic member 61 is locked, and the tray 30 and the guide rail 41 are relatively locked.
  • This embodiment adopts hydraulic cylinders, hydraulic valves and supporting hydraulic systems to realize that after the pallet 30 extends out to a preset length, the pallet 30 and the guide rail 41 are relatively locked, so that the fork assembly and the shelf can be formed as a whole, so that when the fork When the component is picked up from the shelf, the force exerted by the target goods on the fork component becomes the internal force of the fork component and the shelf to balance each other, so the fork component will not shake, thereby improving the stability when picking and placing goods sex.
  • the telescopic member 61 can also be a pneumatic cylinder
  • the controller 62 is a pneumatic valve
  • the locking mechanism also includes an air source and a pneumatic pipeline
  • the gas source is arranged at one end of the pneumatic pipeline
  • the pneumatic cylinder is set At the other end of the air pressure pipeline, an air pressure valve is arranged on the air pressure pipeline.
  • this embodiment can realize that after the pallet 30 protrudes to a preset length through the pneumatic cylinder, the pneumatic valve and the supporting pneumatic system, the pallet 30 and the guide rail 41 can be relatively locked, so that the fork assembly and the shelf can be formed.
  • the force exerted by the target goods on the fork assembly becomes the internal force of the fork assembly and the shelf to balance each other, so the fork assembly will not shake, thereby improving To ensure the stability when picking and placing goods.
  • the fork body 10 of this embodiment is provided with a first fixing seat 101
  • the pallet 30 is provided with a second fixing seat 301
  • the two sides in the extension direction of the telescopic member 61 are The ends are hingedly connected to the first fixing base 101 and the second fixing base 301 respectively.
  • the telescopic member 61 is located between the fork bottom wall 11 and the pallet bottom wall 31, the first fixing seat 101 is arranged on the fork bottom wall 11, and the second fixing seat 301 is arranged on the pallet bottom wall 31; optional , the first fixing seat 101 can be fixed on the fork bottom wall 11 by screws or other fasteners, and the second fixing seat 301 can also be fixed on the pallet bottom wall 31 by screws or other fasteners.
  • the first fixed seat 101 is provided with a first hinge shaft
  • the second fixed seat 301 is provided with a second hinge shaft
  • the two ends of the extension direction of the telescopic member 61 are provided with hinge shaft holes
  • the telescopic member 61 passes through the two hinge shaft holes They are respectively connected to the first hinge shaft and the second hinge shaft.
  • the pallet fork assembly of this embodiment can lock the telescopic member 61 by the controller 62 after the pallet 30 is stretched out to a preset length, so that the pallet 30 and the guide rail 41 are relatively locked, so that the pallet 30 is kept at the stretched position.
  • the pallet 30 can be abutted on the shelf, so that the fork assembly and the shelf form an integral body, so that when the fork assembly picks up the goods from the shelf, the target goods are applied to the fork assembly.
  • the force becomes the internal force of the pallet fork assembly and the shelf to balance each other, so the pallet fork assembly will not shake, thereby improving the stability when picking and placing goods.
  • Fig. 15 is a front view of a fork assembly provided in another embodiment of the present application
  • Fig. 16 is a top view of a fork assembly provided in another embodiment of the present application
  • Fig. 17 is a view of a fork assembly provided in another embodiment of the present application Left view
  • Figure 18 is a view of the use state of the fork assembly provided by another embodiment of the application
  • Figure 19 is the structure of the fork body, electromagnet, guide rail and tension spring in the fork assembly provided by another embodiment of the application Schematic diagram
  • Fig. 20 is a structural schematic diagram of the pallet in the fork assembly provided by another embodiment of the present application
  • Fig. 21 is a top view of the fork body in the fork assembly provided by another embodiment of the present application
  • Fig. 22 is J in Fig. 15 A partial enlargement of the section.
  • the locking mechanism includes a magnetic attraction assembly 100, the magnetic attraction assembly 100 is located on one of the fork body 10 and the pallet 30, and can absorb the other ;
  • the preset length can be determined according to the distance between the fork assembly and the shelf.
  • the magnetic assembly 100 can be located on the fork body 10 , and the magnetic assembly 100 absorbs the pallet 30 to lock and fix the pallet 30 relative to the fork body 10 .
  • the magnetic assembly 100 is located on the pallet 30 , and the magnetic assembly 100 absorbs the fork body 10 to lock and fix the pallet 30 relative to the fork body 10 .
  • the fork arm 20 pulls the container 2 from the shelf onto the pallet 30 .
  • the pallet 30 is locked relative to the fork body 10, and the pallet 30 remains in this extended position.
  • the pallet 30 can be abutted on the shelf, so that the fork assembly and the shelf form an integral body, so that when the fork assembly picks up the goods from the shelf, the target goods are applied to the fork assembly.
  • the force becomes the internal force of the pallet fork assembly and the shelf to balance each other, so the pallet fork assembly will not shake, thereby improving the stability when picking and placing goods.
  • the magnetic attraction assembly 100 releases the adsorption, the fork body 10 and the pallet 30 are unfixed, and the pallet 30 can slide relative to the guide rail 41 so that the pallet 30 is in contact with the shelf. disengagement.
  • the magnetic attraction assembly 100 includes a control part, an electromagnet 110, and a detection part 120; the detection part 120 is electrically connected to the control part for detecting the position of the tray 30; When the pallet 30 extends out to a predetermined length, the control electromagnet 110 absorbs the fork body 10 or the pallet 30 .
  • the material of the fork body 10 and the pallet 30 in this embodiment can be iron that can be attracted by the electromagnet 110 .
  • the detection part 120 can be a contact sensor, a photoelectric switch or a Hall sensor.
  • the control part controls the electromagnet 110 to attract the fork body 10 or the pallet 30 .
  • the control part controls the electromagnet 110 to be powered off, and the adsorption force of the electromagnet 110 is eliminated, so that the fork body 10 and the pallet 30 are unfixed.
  • the fork body 10 is provided with a first area 102, and the pallet 30 has a second area 302 opposite to the first area 102.
  • the first area 102 and The second area 302 overlaps, and the electromagnet 110 is located on the first area 102 or on the second area 302 .
  • the electromagnet 110 can attract the fork body 10 or the pallet 30 , so that the pallet 30 is locked and fixed relative to the fork body 10 .
  • the first area 102 can be located on the bottom wall 11 of the fork
  • the second area 302 can be located on the bottom wall 31 of the pallet
  • the electromagnet 110 is located in the middle of the first area 102 near the opening
  • the detection part 120 is located on the bottom wall of the pallet. 31 near the open position.
  • the fork arm 20 of this embodiment includes an outer section arm 25 and an inner section arm 26 that are sequentially slidably connected, the outer section arm 25 is connected with the second fork side wall 13, and the inner section arm 26 is used to clamp and hug the cargo box 2 from both sides of the cargo box 2, thereby being convenient to pick and place the cargo box.
  • the locking mechanism in this embodiment is a passive locking mechanism.
  • the locking mechanism When the pallet 30 is retracted, the locking mechanism is driven to move, so that the locking mechanism locks the pallet 30 relative to the fork body 10 .
  • a part of the locking mechanism is connected to the pallet 30 , and when the pallet 30 is retracted, the part of the locking mechanism is driven to move, so that the locking mechanism itself is locked, thereby locking the pallet 30 relative to the fork body.
  • the passive locking mechanism means that the locking mechanism needs to be driven by external force, and uses the principle of friction self-locking to realize the locking action.
  • Fig. 24 is a partial enlarged view of part C in Fig. 23;
  • Fig. 25 is an exploded view of the tray, guide rail and locking mechanism provided by another embodiment of the present application;
  • Fig. 26 is the tray, guide rail and locking mechanism provided by another embodiment of the present application Axonometric view of the locking mechanism;
  • Figure 27 is a partially enlarged view of part D in Figure 26;
  • Figure 28 is a bottom view of Figure 26;
  • Figure 29 is a sectional view of E-E in Figure 28;
  • Figure 30 is a partial enlarged view of Part E in Figure 29 picture.
  • the locking mechanism includes a first locking member 71 and a second locking member 72 , and the first locking member 71 is arranged on the side of the tray 30 facing the guide rail 41 , the first locking member 71 is provided with an inclined surface 711 set toward the guide rail 41; the second locking member 72 is arranged between the pallet 30 and the guide rail 41, and can be driven by the pallet 30 or the fork arm 20 along the guide rail 41 to move in the direction of extension.
  • first locking member 71 and the tray 30 of this embodiment can be integrally formed, or the first locking member 71 can be fixed on the tray 30 by means of welding or bolting, and the first locking member 71 can be fixed after being fixed.
  • the inclined surface of the member 71 faces the guide rail 41 .
  • the second locking member 72 can be indirectly connected with the pallet 30 or the fork arm 20 through other parts, and can move along the guide rail 41 .
  • the inclined surface 711 can press the second locking member 72 between the inclined surface 711 and the guide rail 41, and the clamp between the inclined surface 711 and the guide rail 41
  • the angle a is smaller than the friction angle between the second locking member 72 and the inclined surface 711 ; according to the frictional self-locking principle, the tray 30 cannot be retracted in the above state, and the tray 30 and the guide rail 41 are relatively locked.
  • the pallet 30 can be abutted against the shelf, so that the fork assembly and the shelf form an integral body, so that when the fork assembly takes goods from the shelf, the force exerted by the target goods on the fork assembly becomes the fork
  • the internal forces of the components and the rack are balanced with each other, so the fork components will not shake, thereby improving the stability when picking and placing goods.
  • the first locking member 71 in this embodiment can be a wedge, and the wedge is fixedly connected to the side of the tray 30 facing the guide rail 41. In this embodiment, the wedge can pass through A plurality of screws are secured to the tray 30 .
  • the first locking member 71 is located between the two sliding blocks 42 , and the inclined surface 711 of the first locking member 71 is disposed toward the sliding block 42 on the side away from the opening.
  • the tray recovery hook 331 no longer drives the second unlocking part 732 to move, the inclined surface 711 on the first locking part 71 will press the second locking part 72 against the inclined surface 711 and the guide rail. 41, so that the angle a between the inclined surface 711 and the guide rail 41 is smaller than the friction angle between the second locking member 72 and the inclined surface 711; according to the principle of friction self-locking, the tray 30 cannot continue to shrink in the above state. Back, the tray 30 and the guide rail 41 are relatively locked.
  • the two third flat plates 7321 and the fourth flat plate 7322 together form a "C"-shaped structure in cross-section.
  • the tray recovery hook 31 is parallel to the fourth flat plate 7322.
  • the tray will The recovery hook 31 is located in the space enclosed by the fourth flat plate 7322 and the two third flat plates 7321, and abuts against the fourth flat plate 7322, thereby ensuring the stability of the connection between the two.
  • the unlocking plate 73 can use the first pin shaft to slide along the long hole 7311, so that the first locking member 71 and the second locking member 72 are separated from each other, so that Achieve unlocking.
  • Fig. 32 is a schematic diagram of the connection structure between the tray mounting bracket and the guide rail provided by another embodiment of the present application
  • Fig. 33 is an exploded view of Fig. 32
  • Fig. 34 is a schematic front view of Fig. 32
  • Fig. 35 is F in Fig. 34
  • Figure 36 is a schematic structural diagram of a camshaft provided by another embodiment of the present application
  • Figure 37 is a structural diagram of the cooperation between the fork assembly and the container of the present application
  • Figure 38 is a sectional view of F-F of Figure 37
  • Fig. 39 is a partially enlarged view of part G in Fig. 38 when the tray provided by another embodiment of the present application is in the locked state
  • Fig. 40 is H in Fig.
  • the diameter of the camshaft body 811 in this embodiment is smaller than the gap between the tray 30 and the guide rail 41, and the sum of the distance from the protrusion 812 to the axis of the axle body 311 and the radius of the axle body 311 is greater than the distance between the tray 30 and the guide rail 41. There is a gap between them, so that the camshaft 81 can be abutted between the tray 30 and the guide rail 41 .
  • the maintaining member is used for providing a maintaining force to the camshaft 81 , that is, providing a stable external force to the camshaft 81 so that the camshaft 81 can maintain contact with the tray 30 .
  • the locking mechanism of this embodiment also includes a transmission member, and the transmission member includes a cam link 82 and an unlocking link 83 , and the end of the cam shaft 81 is connected to the second end of the cam link 82 .
  • One end is fixedly connected, the second end of the cam link 82 is hinged with the first end of the unlocking link 83, the second end of the unlocking link 83 is a free end, the first end of the unlocking link 83 and the unlocking link 83
  • a hinge hole 833 is also provided between the second ends, and the second pin shaft 84 passes through the hinge hole 833 and is hingedly fixed on the tray 30 or the guide rail 41 .
  • the unlocking link 83 includes a first part 831 and a second part 832, the first end of the unlocking link 83 is arranged on the first part 831, the second end of the unlocking link 83 is arranged on the second part 832, and the first part 831 is disposed obliquely to the second part 832 , the hinge hole 833 is located at the junction of the first part 831 and the second part 832 , and the second pin 84 passes through the hinge hole 833 and is hingedly fixed on the tray mounting frame 300 .
  • the unlocking link 83 When the second end of the unlocking link 83 rotates around the second pin shaft 84, it can drive the camshaft 81 to rotate. As shown in FIG. , can drive the cam link 82 to rotate downward, so that the cam shaft 81 rotates clockwise, at this time the cam shaft 81 gradually abuts between the tray 30 and the guide rail 41, and the tray 30 is locked; the unlock link 83 When the second end of the second end rotates downward around the second pin shaft 84, it can drive the cam link 82 to rotate upward, so that the cam shaft 81 rotates counterclockwise. At this time, the cam shaft 81 is gradually separated from the tray 30 and the guide rail 41, and the tray 30 is unlocked and can slide along the guide rail 41.
  • the maintaining member is used to provide a maintaining force to the unlocking link 83 , and the unlocking link 83 transmits the maintaining force to the cam shaft 81 through the cam link 82 , so that the cam shaft 81 maintains contact with the tray 30 .
  • the retainer of this embodiment can be a torsion spring 86
  • the torsion spring 86 includes a helical part 861 and a first torsion spring arm 862 and a second torsion spring arm 863 connecting the two ends of the helical part 861, the helical The part 861 is sleeved on the second pin shaft 84, the first torsion spring arm 862 is fixed on the tray 30, the tray 30 is used to provide supporting force for the first torsion spring arm 862, and the second torsion spring arm 863 is fixed on the unlocking link The second end of the unlocking link 83 is used to provide pressing force to the second torsion spring arm 863 .
  • first torsion spring arm 862 can be fixed above the tray mounting frame 300, the second torsion spring arm 863 is fixed below the unlocking link 83, and the torsion spring 86 is clamped between the unlocking link 83 and the tray mounting frame 300. Between, and provide the maintenance force for the camshaft 81 moment.
  • the bottom wall 31 of the tray in this embodiment is provided with a through hole 311, when the tray 30 is locked relative to the guide rail 41, the second end of the unlocking link 83 is at least partly through the through hole 311.
  • the second end of the unlocking link 83 of this embodiment is also provided with a first roller mounting hole 834, the first roller shaft 835 is fixedly connected in the first roller mounting hole 834, and the first roller shaft 835 deviates from One end of the unlocking link 83 is covered with a first roller 85 , which can rotate around the first roller shaft 835 ; when the tray 30 is locked relative to the guide rail 41 , the first roller 85 at least partially passes through the through hole 311 .
  • the friction force between the goods and the unlocking link 83 can be reduced, and the contact difficulty between the two can be reduced, so that the goods entering the pallet 30 can smoothly press down the unlocking link 83 to realize the unlocking of the pallet 30. unlock.
  • the axial direction of the camshaft 81 in this embodiment is perpendicular to the extending direction of the guide rail 41 , and both ends of the camshaft 81 are connected with a transmission member and a maintenance member.
  • the maintaining force and unlocking force of the camshaft 81 can be better provided by setting the maintainable part of the transmission member at both ends of the camshaft 81 , so that the purpose of using the camshaft 81 to lock the tray 30 is facilitated.
  • the cargo box 2 moves to the unlocking link 83 and presses the unlocking link 83 below the tray 30.
  • the camshaft 81 and the tray 30 or the guide rail 41 are not connected contact, the tray 30 can continue to slide relative to the guide rail 41 .
  • the fork arm 20 drives the locking member 91 to move toward the direction close to the matching member 92.
  • the locking member 91 The first side engages with the matching part 92 , so as to prevent the tray 30 from shaking during the picking process, thereby improving the stability of the fork assembly when picking up the goods.
  • the locking member 91 includes a trigger part 911 and a locking part 912, the trigger part 911 is located between the fork bottom wall 11 and the fork arm 20, and the locking part 912 is located between the fork bottom wall 11 and the pallet 30 .
  • the trigger portion 911 abuts against the side of the fork arm 20 facing the bottom wall 11 of the fork.
  • the trigger part 911 moves along its abutment surface with the fork arm 20; , the triggering part 911 can drive the locking part 912 to move towards the direction close to the fitting 92 and engage with the fitting 92, thereby locking the tray 30 at the position where it abuts against the shelf, which is beneficial to ensure that the tray 30 is in the process of picking up the goods. in the stability.
  • the fork arm 20 when the fork arm 20 and the pallet 30 are stretched out, the fork arm 20 can drive the trigger part 911, and the trigger part 911 can drive the locking part 912 to move toward the direction close to the fitting part 92 and engage with the fitting part 92, Thus, the purpose of locking the tray 30 is achieved.
  • the fork arm 20 and the pallet 30 are retracted, the fork arm 20 can drive the trigger part 911, and the trigger part 911 can drive the locking part 912 to move away from the fitting part 92 and disengage from the fitting part 92, thereby releasing the pallet
  • the locked state of the tray 30 enables the tray 30 to be retracted smoothly.
  • the locking mechanism further includes an elastic member 94, which is sleeved on the part of the trigger part 911 protruding out of the limiting space, and one end of the elastic member 94 is connected to the mounting seat 93 To abut, the other end of the elastic member 94 abuts against the end of the trigger portion 911 away from the installation seat 93 , and the elastic member 94 has a tendency to push the locking portion 912 to move toward the matching member 92 .
  • the elastic member 94 is compressed, and the trigger part 911 pushes against the connecting part 913, and the connecting part 913 drives the locking part 912 to move away from the fitting part 92, so as to cooperate with The member 92 is disengaged, so that the tray 30 is in a state where it can freely expand and contract.
  • the trigger part 911 can protrude toward the direction away from the mounting seat 93 under the elastic force of the elastic member 94, and at the same time drive the connecting part 913, and the connecting part 913 drives the locking part 912 moves toward the direction close to the matching part 92 to engage with the matching part 92 , so as to achieve the purpose of locking the tray 30 .
  • the locking mechanism may further include a second roller 95, the second roller 95 is arranged at one end of the trigger part 911 facing the fork arm 20, and the second roller 95 can roll along the telescopic direction of the fork arm 20 to reduce the
  • the friction resistance between the fork arm 20 and the trigger part 911 can not only ensure the smooth expansion and contraction of the fork arm 20, but also ensure that the fork arm 20 pushes against the trigger part 911 to lock the pallet 30 or release the pallet 30. locking reliability.
  • the fitting 92 is a snap-fitting piece, and the side of the locking portion 912 facing the fitting 92 is a snap-fit structure that matches the snap-fitting, so as to realize that the locking portion 912 and the fitting 92 snapping or loosening between snaps.
  • the engaging part may be a rack
  • the side of the locking part 912 facing the matching part 92 is a tooth-shaped structure matching the rack.
  • the length of the rack may be greater than the length of the locking portion 912 along the stretching direction of the tray 30 to ensure the reliability of locking the locking portion 912 with the rack.
  • the fitting part 92 and the locking part 912 can also be configured as other structures that can engage and disengage each other according to actual needs, as long as the requirements of this embodiment can be met, and details will not be repeated here.
  • a structure that can be engaged with or disengaged from the locking portion 912 can be provided directly on the position of the tray 30 corresponding to the locking portion 912.
  • a groove or a through hole is set corresponding to the position of the locking part 912, and the locking part 912 is set to a shape that can extend into the groove or the through hole, so that the locking mechanism can realize locking without additionally providing a fitting. The purpose of stopping the tray 30.
  • the side of the fork arm 20 facing the bottom wall 11 of the fork has a first trigger surface 23 and a second trigger surface 24 in sequence, and the first trigger surface 23 is in contact with the bottom wall of the fork.
  • the distance between 11 is greater than the distance between the second trigger surface 24 and the bottom wall 11 of the fork, and the first trigger surface 23 and the second trigger surface 24 are connected by a connecting slope 213 .
  • the second trigger surface 24 is used to push the trigger part 911 to disengage the locking part 912 from the matching part 92; the first trigger surface 23 is used to release the trigger part 911 to make the locking part 912 and the matching part 92 Snap.
  • the process of stretching out the fork assembly to pick up the goods is taken as an example to illustrate: when the goods are not picked up, the second trigger surface 24 of the fork arm 20 pushes against the trigger part 911, and the trigger part 911 drives the lock through the connecting part 913
  • the portion 912 is far away from the tray 30.
  • the positions of the locking portion 912 and the matching portion 42 are also in a state of being staggered from each other, and the tray 30 can be extended smoothly.
  • the fork arm 20 and the pallet 30 stretch out, and the pallet 30 stops stretching out after a preset length.
  • the position of the fitting 92 corresponds to the locking part 912; After the pallet 30 stops stretching out, it continues to stretch out for a while.
  • Fig. 49 is a schematic structural diagram of a handling robot provided by an embodiment of the present application.
  • This embodiment provides a handling robot 1000, including a support base 1100, a lifting device 1200, and the fork assembly 1 of the first embodiment above.
  • the lifting device 1200 and the fork assembly 1 are arranged on the support base 1100.
  • the device 1200 is connected to the fork assembly 1 and is used to drive the fork assembly 1 to lift relative to the support base 1100 .
  • the supporting base 1100 is the supporting structure of the handling robot 1000, and is used to support and carry other components and/or devices of the handling robot 1000 for walking.
  • the supporting base 1100 can carry the fork assembly 1 to move, when the target When the goods are stored on the fork assembly 1, they will also be moved jointly.
  • the elevating device 1200 may include, for example, a motor, a driving wheel, a driven wheel and a transmission belt. Certainly, the composition and installation method of the elevating device 1200 may also be set according to actual needs, as long as it can drive the fork assembly 1 to lift relative to the support base 1100, I won't repeat them here.
  • the handling robot 1000 can also be provided with a storage shelf 1300, and several storage units are arranged on the storage shelf 1300.
  • the lifting device 1200 can drive the fork assembly 1 to lift and move, so that the fork assembly 1 can be aligned with any storage unit on the storage shelf 1300. , or align the shelves and/or goods for handling of goods between the shelves and the storage unit.
  • This embodiment provides a storage system, including a shelf, the handling robot in the second embodiment above, and a channel for the handling robot to move.
  • the handling robot moves to the side of the shelf to pick up goods
  • the pallet on the handling robot can be stretched out and contact the shelf. And lock relative to the fork body.
  • the shelf in this embodiment can be provided with a plurality of storage cells for storing goods, and the handling robot can move to the side of the shelf along the channel. height, so that the fork assembly can store the target goods in the storage cell or take the target goods out of the storage cell.
  • the pallet of the fork assembly is locked by the locking mechanism and abuts against the shelf, so that the shelf and the fork assembly are connected as a whole. In this way, when the fork assembly picks up goods from the shelf, the reaction force received by the fork assembly from the target goods becomes the internal force of the handling robot and the shelf to balance each other, so the handling robot will not shake, thereby improving the operating efficiency. stability.
  • first and second are only used to describe different components conveniently, and should not be understood as indicating or implying a sequence relationship, relative importance, or implicit indication The number of technical characteristics.
  • features defined as “first” and “second” may explicitly or implicitly include at least one of these features.

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Abstract

一种货叉组件、搬运机器人及仓储***，货叉组件（1）包括货叉本体（10）和锁止机构，货叉本体（10）具有开口；货叉本体（10）内安装有托盘（30），托盘（30）可向开口的方向伸出或缩回；锁止机构安装在托盘（30）和货叉本体（10）之间的，锁止机构用于在托盘（30）伸出预设长度时，使托盘（30）与货叉本体（10）相对锁止。该货叉组件（1）可以在托盘（30）伸出预设长度后，利用锁止机构将托盘（30）锁定，使得托盘（30）与货叉本体（10）相对锁止，使托盘（30）保持在该伸出长度而不可缩回；此时，可以将托盘（30）抵接在货架（2000）上，而货架（2000）由于自身重量大或者与地面固定难以晃动，这样当货叉组件（1）从货架（2000）上取货时，目标货物施加给货叉组件（1）的力与货架（2000）对托盘（30）的推力平衡，因此搬运机器人（1000）不会产生晃动，从而提高了取货时的稳定性。

Description

货叉组件、搬运机器人及仓储***
本申请要求于2021年07月01日提交中国专利局、申请号为202110747686.0、申请名称为“货叉组件、搬运机器人及仓储***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能仓储物流技术，尤其涉及一种货叉组件、搬运机器人及仓储***。
背景技术
随着人工智能技术、自动化技术和信息技术的飞速发展，末端物流的智能化程度也在不断提高，智能仓储物流已经成为末端物流发展的必然趋势。其中，搬运机器人作为智能仓储物流中实现自动化搬运作业的主要设备，能够极大的减轻人类繁重的体力劳动。
在相关技术的方案中，搬运机器人可以在货架上取放货箱，搬运机器人通常包括支撑座及设置在支撑座上的货叉组件，货叉组件可相对于支撑座沿垂直方向升降，也可相对于支撑座沿水平方向伸缩，从而将目标货物从货架上取出，或者将目标货物移送至货架上。
但是，采用上述方案，当货叉组件从货架上取货时，目标货物同时会施加给货叉组件一个反向的作用力，从而导致搬运机器人产生晃动，降低了作业的稳定性。
发明内容
为了克服相关技术下的上述缺陷，本申请的目的在于提供一种货叉组件、搬运机器人及仓储***，以提高货叉组件在取放货时的稳定性，降低搬运机器人产生晃动的几率。
本申请一实施例提供一种货叉组件，包括：
货叉本体，所述货叉本体具有开口；
安装在所述货叉本体内的托盘，所述托盘可向所述开口的方向伸出或缩回；
安装在所述托盘和所述货叉本体之间的锁止机构，所述锁止机构用于在所述托盘伸出预设长度时，使所述托盘与所述货叉本体相对锁止。
如上所述的货叉组件，可选地，所述锁止机构为主动式锁止机构，所述托盘伸出预设长度时，所述锁止机构向所述托盘施加预紧力，以使所述托盘与所述货叉本体相对锁止。
如上所述的货叉组件，可选地，所述锁止机构包括刹车片、摩擦片和驱动件，所述刹车片设置在所述托盘上，所述摩擦片设置在所述驱动件上，所述托盘伸出预设长度时，所述驱动件带动所述摩擦片与所述刹车片相抵接，以使所述托盘与所述货叉本体相对锁止。
如上所述的货叉组件，可选地，所述驱动件包括电机和丝杆，所述电机连接所述丝杆且可带动所述丝杆转动，所述摩擦片上设有螺纹孔，所述摩擦片通过所述螺纹孔与所述丝杆螺纹连接。
如上所述的货叉组件，可选地，所述摩擦片包括分别设置在所述刹车片两侧的第一摩擦片和第二摩擦片，所述第一摩擦片上设有第一螺纹孔，所述第二摩擦片上设有第二螺纹孔，所述第一螺纹孔内的螺纹旋向与所述第二螺纹孔内的螺纹旋向相反；
所述丝杆包括第一杆体和第二杆体，所述第一杆体和第二杆体同轴设置，所述第一杆体上的螺纹旋向与所述第一螺纹孔内的螺纹旋向相同，所述第二杆体上的螺纹旋向与所述第二螺纹孔内的螺纹旋向相同，所述第一杆体穿设在所述第一螺纹孔内，所述第二杆体穿设在所述第二螺纹孔内。
如上所述的货叉组件，可选地，所述刹车片沿所述导轨的延伸方向设置，所述摩擦片与所述刹车片平行，所述驱动件设置在所述摩擦片远离所述刹车片的一侧。
如上所述的货叉组件，可选地，所述托盘包括托盘底壁、第一托盘侧壁和两个相对设置的第二托盘侧壁，所述第一托盘侧壁的两端分别与两个所述第二托盘侧壁固定连接，所述托盘背离所述第一托盘侧壁的一侧形成敞口；
所述刹车片设置在所述托盘底壁朝向所述货叉本体的一侧，所述摩擦片和驱动件设置在所述托盘底壁和所述货叉本体之间。
如上所述的货叉组件，可选地，所述锁止机构包括伸缩件和控制器，所述伸缩件安装在所述托盘上，且可随所述托盘一起伸出或缩回；所述控制器连接所述伸缩件，所述控制器用于在所述托盘伸出 预设长度时控制所述伸缩件锁定，以使所述托盘与所述货叉本体相对锁止。
如上所述的货叉组件，可选地，所述伸缩件为液压缸，所述控制器为液压阀，所述锁止机构还包括液压泵和液压管路，所述液压泵设置在所述液压管路的一端，所述液压缸设置在所述液压管路的另一端，所述液压阀设置在所述液压管路上；或者，所述伸缩件为气压缸，所述控制器为气压阀，所述锁止机构还包括气源和气压管路，所述气源设置在所述气压管路的一端，所述气压缸设置在所述气压管路的另一端，所述气压阀设置在所述气压管路上。
如上所述的货叉组件，可选地，所述托盘伸出预设长度时，所述控制器控制所述液压管路封闭，所述伸缩件锁定，以使所述托盘与所述导轨相对锁止。
如上所述的货叉组件，可选地，所述锁止机构包括磁吸组件，所述磁吸组件位于所述货叉本体和所述托盘中的一者上，并可吸附另一者；所述托盘伸出预设长度时，所述货叉本体和所述托盘通过所述磁吸组件吸附，以使所述托盘与所述货叉本体相对锁止。
如上所述的货叉组件，可选地，所述货叉组件还包括用于取放目标货物的货叉臂，当所述货叉臂取货架上的目标货物时，所述托盘远离所述货叉本体并伸出预设长度，且所述托盘和所述货叉本体通过所述磁吸组件吸附。
如上所述的货叉组件，可选地，当所述目标货物位于所述托盘上时，所述货叉本体和所述托盘解除固定。
如上所述的货叉组件，可选地，还包括检测件，所述检测件用于检测所述托盘的位置，所述磁吸组件包括控制器和电磁铁，所述检测件与所述控制器电连接，所述控制器用于在所述托盘伸出预设长度时，控制所述电磁铁吸附所述托盘或所述货叉本体。
如上所述的货叉组件，可选地，所述货叉本体具有第一区域，所述托盘具有与所述第一区域相对的第二区域，所述托盘伸出预设长度时，所述第一区域与所述托盘的第二区域重叠，所述电磁铁位于所述第一区域上或所述第二区域上。
如上所述的货叉组件，可选地，所述锁止机构为被动式锁止机构，所述托盘缩回时带动所述锁止机构运动，使得所述锁止机构将所述托盘与所述货叉本体相对锁止；
或者，部分所述锁止机构连接在所述托盘上，所述托盘缩回时带动部分所述锁止机构运动，使得所述锁止机构自身锁止，从而将所述托盘与所述货叉本体相对锁止。
如上所述的货叉组件，可选地，所述货叉本体内还设有货叉臂和导轨，所述货叉臂可相对所述货叉本体伸出或缩回，所述导轨的延伸方向与所述货叉臂的伸缩方向平行；
所述锁止机构包括第一锁止件和第二锁止件，所述第一锁止件设置在所述托盘朝向所述导轨的一侧，所述第一锁止件设有朝向所述导轨设置的倾斜面；所述第二锁止件设置在所述托盘和所述导轨之间，且可在所述托盘或货叉臂的带动下沿所述导轨的延伸方向移动；所述托盘缩回时，所述倾斜面可将所述第二锁止件挤压在所述倾斜面和所述导轨之间，且所述倾斜面与所述导轨之间的夹角小于所述第二锁止件与所述倾斜面之间的摩擦角，以使所述托盘与所述导轨相对锁止。
如上所述的货叉组件，可选地，所述第一锁止件为楔块，所述楔块固定连接在所述托盘朝向所述导轨的一侧；
所述第二锁止件为圆柱销，所述圆柱销的轴线垂直于所述导轨的延伸方向；
所述锁止机构还包括解锁板，所述解锁板包括解锁板本体，所述解锁板本体设置在所述托盘朝向所述导轨的一侧，所述解锁板本体背离所述托盘的一侧设有两个第一固定耳，两个所述第一固定耳分别位于所述导轨的延伸方向的两侧，所述圆柱销穿设在两个所述第一固定耳上；
所述解锁板可在所述托盘或货叉臂的带动下沿所述导轨的延伸方向移动。
如上所述的货叉组件，可选地，所述货叉臂上设有朝向所述导轨的第一解锁部；所述解锁板本体朝向所述托盘的一侧还设有第二解锁部，所述货叉臂缩回时，所述第一解锁部可抵接在所述第二解锁部上，使所述第二锁止件远离所述第一锁止件，以使所述托盘可沿所述导轨缩回；
所述托盘上设有托盘回收挂钩，所述托盘伸出时，所述托盘回收挂钩可抵接在所述第二解锁部上，以带动所述第二锁止件和解锁板随所述托盘移动。
如上所述的货叉组件，可选地，所述托盘包括托盘底壁、第一托盘侧壁和两个相对设置的第二托盘侧壁，所述第一托盘侧壁的两端分别连接一个所述第二托盘侧壁，所述托盘背离所述第一托盘侧壁的一侧形成敞口；
所述托盘回收挂钩设置在所述第二托盘侧壁上，所述货叉臂缩回时，所述第二解锁部可在所述第一解锁部的带动下抵接在所述托盘回收挂钩上，以带动所述托盘缩回。
如上所属的货叉组件，可选地，所述第一解锁部包括垂直相连的第一平板和第二平板，所述第一平板与所述货叉臂平行设置且固定连接在所述货叉臂上，所述第二平板垂直于所述第一平板，所述第 二平板朝向所述第二解锁部的一侧设有缓冲垫；
所述第二解锁部包括两个第三平板和第四平板，所述第四平板与所述第二平板平行，所述第四平板的两端分别与两个所述第三平板垂直连接，且两个所述第三平板均朝向所述第四平板背离所述第二平板的一侧延伸，靠近所述解锁板本体一侧的所述第三平板与所述解锁板本体固定连接；
所述托盘回收挂钩与所述第四平板平行，所述第二解锁部与所述托盘回收挂钩相抵接时，所述托盘回收挂钩位于所述第四平板与两个所述第三平板所围成的空间内，且与所述第四平板相抵接。
如上所述的货叉组件，可选地，所述锁止机构还包括弹簧支架，所述弹簧支架固定在所述托盘上，所述弹簧支架上设有弹簧；
所述解锁板本体朝向所述导轨的一侧还设有第二固定耳，所述弹簧的一端固定在弹簧支架上，所述弹簧的另一端固定在所述第二固定耳上；
所述解锁板本体上还设有长孔，所述长孔沿所述导轨的延伸方向设置，所述托盘朝向所述导轨的一侧设有第一销轴，所述第一销轴穿过所述长孔后与所述弹簧支架固定连接，所述第一销轴可沿所述长孔滑动。
如上所述的货叉组件，可选地，所述货叉本体内还设有货叉臂和导轨，所述货叉臂可相对所述货叉本体伸出或缩回，所述导轨的延伸方向与所述货叉臂的伸缩方向平行；
所述锁止机构包括凸轮轴和维持件，所述凸轮轴设置在所述导轨与所述托盘之间，所述凸轮轴包括凸轮轴本体和凸起部，所述凸起部设置在所述凸轮轴本体的径向方向上，且位于背离所述托盘的伸出方向的一侧；所述维持件用于向所述凸轮轴提供维持力，以使所述凸轮轴与所述托盘维持接触；
所述托盘缩回时，所述托盘带动所述凸轮轴转动，使得所述凸起部抵接在所述导轨上，且所述凸轮轴和所述导轨的抵接点或所述凸轮轴和所述托盘的抵接点与所述凸轮轴的轴心的连线与所述导轨的平面法线的夹角小于所述凸轮轴与所述导轨之间的摩擦角，以使所述托盘与所述导轨相对锁止。
如上所述的货叉组件，可选地，所述锁止机构还包括传动件，所述传动件包括凸轮连杆和解锁连杆，所述凸轮轴的端部与所述凸轮连杆的第一端固定连接，所述凸轮连杆的第二端与所述解锁连杆的第一端铰接，所述解锁连杆的第二端为自由端，所述解锁连杆的第一端和所述解锁连杆的第二端之间还设有铰接孔，销轴穿过所述铰接孔后铰接固定在所述托盘或所述导轨上；
所述解锁连杆的第二端绕所述销轴转动时可带动所述凸轮轴转动，所述维持件用于向所述解锁连杆提供所述维持力，所述解锁连杆通过所述凸轮连杆将所述维持力传递到所述凸轮轴上，以使所述凸轮轴与所述托盘维持接触。
如上所述的货叉组件，可选地，所述解锁连杆包括第一部分和第二部分，所述解锁连杆的第一端设置在所述第一部分上，所述解锁连杆的第二端设置在所述第二部分上，所述第一部分倾斜于所述第二部分设置，所述铰接孔位于所述第一部分和第二部分的连接处。
如上所述的货叉组件，可选地，所述维持件为扭簧，所述扭簧包括螺旋部以及连接所述螺旋部两端的第一扭簧臂和第二扭簧臂，所述螺旋部套设在所述销轴上，所述第一扭簧臂搭在所述托盘上，所述托盘用于向所述第一扭簧臂提供支撑力，所述第二扭簧臂搭在所述解锁连杆的第二端，所述解锁连杆用于向所述第二扭簧臂提供压迫力。
如上所述的货叉组件，可选地，所述托盘底壁上设有通孔，所述托盘与所述导轨相对锁止时，所述解锁连杆的第二端至少部分穿过所述通孔。
如上所述的货叉组件，可选地，所述解锁连杆的第二端还设有第一滚轮安装孔，第一滚轮轴固定连接在所述第一滚轮安装孔内，所述第一滚轮轴背离所述解锁连杆的一端套设有第一滚轮，所述第一滚轮可绕所述第一滚轮轴转动；
所述托盘与所述导轨相对锁止时，所述第一滚轮至少部分穿过所述通孔。
如上所述的货叉组件，可选地，所述凸轮轴的轴向与所述导轨的延伸方向垂直，所述凸轮轴的两端均连接有所述传动件和维持件。
如上所述的货叉组件，可选地，所述托盘底壁朝向所述敞口的一侧设有抵接板，所述抵接板朝向背离所述第一托盘侧壁的方向延伸。
如上所述的货叉组件，可选地，所述托盘固定连接在托盘安装架上，所述导轨上还设有滑块，所述托盘安装架与所述滑块固定连接，所述导轨上设有两个所述滑块，位于两个所述滑块之间的所述托盘安装架上设有凸轮轴限位槽，所述凸轮轴设置在所述凸轮轴限位槽内。
如上所述的货叉组件，可选地，所述货叉本体内还设有货叉臂和导轨，所述货叉臂可相对所述货叉本体伸出或缩回，所述导轨的延伸方向与所述货叉臂的伸缩方向平行；
所述锁止机构包括锁止件和配合件，所述锁止件设置在货叉本体朝向所述托盘的一侧，所述配合件设置在托盘朝向所述货叉底壁的一侧；所述锁止件的第一侧位于所述货叉本体与所述配合件之间， 所述锁止件的第二侧位于所述货叉本体与所述货叉臂之间，并与所述货叉臂相抵接；所述货叉臂与所述托盘伸出时，所述货叉臂带动所述锁止件朝向靠近所述配合件的方向移动，所述托盘伸出预设长度时，所述锁止件的第一侧与所述配合件卡合，以使所述托盘与所述导轨相对锁止。
如上所述的货叉组件，可选地，所述锁止件包括触发部和锁止部，所述触发部位于所述货叉底壁与所述货叉臂之间，所述锁止部位于所述货叉底壁与所述托盘之间；所述触发部与所述货叉臂的朝向所述货叉底壁的一面抵接，所述货叉臂伸出的过程中，所述触发部沿其与所述货叉臂的抵接面移动；所述货叉臂伸出到位时，所述触发部带动所述锁止部朝向靠近所述配合件的方向移动并与所述配合件卡合。
如上所述的货叉组件，可选地，所述锁止组件还包括安装座，所述安装座包括安装座侧壁和安装座顶壁，所述安装座侧壁的底端与所述货叉底壁连接，所述安装座顶壁连接在所述安装座侧壁的顶端；所述安装座侧壁、所述安装座顶壁和所述货叉底壁之间形成有限位空间，所述锁止件的底端位于所述限位空间内，所述锁止件的顶端向上伸出所述安装座顶壁，所述锁止件可在所述伸缩臂的带动下相对于所述安装座上下移动。
如上所述的货叉组件，可选地，所述安装座顶壁上设置有贯穿所述安装座顶壁的触发通孔和锁止通孔；
所述锁止件还包括连接部，所述触发部和所述锁止部均设置在所述连接部上，所述连接部位于所述限位空间内，所述触发部经由所述触发通孔伸出所述安装座顶壁，且所述触发部可相对于所述触发通孔移动；所述锁止部经由所述锁止通孔伸出所述顶壁，且所述锁止部可相对于所述锁止通孔移动。
如上所述的货叉组件，可选地，所述锁止组件还包括弹性件，所述弹性件套设在所述触发部的伸出至所述限位空间外的部分上，且所述弹性件的一端与所述安装座抵接，所述弹性件的另一端与所述触发部的远离所述安装座的一端抵接，所述弹性件具有推动所述锁止部朝向靠近所述配合件的方向移动的趋势。
如上所述的货叉组件，可选地，沿所述货叉臂的伸出方向，所述货叉臂的朝向所述货叉底壁一面依次具有第一触发面和第二触发面，所述第一触发面与所述货叉底壁之间的距离大于所述第二触发面与所述货叉底壁之间的距离，且所述第一触发面和所述第二触发面之间通过连接斜面连接；
所述第二触发面用于抵推所述触发部，以使所述锁止部与所述配合件脱离卡合；所述第一触发面用于松开所述触发部，以使所述锁止部与所述配合件卡合。
如上所述的货叉组件，可选地，所述货叉臂包括外节臂和至少一个内节臂，所述外节臂和至少一个所述内节臂自靠近所述货叉本体侧面的位置向远离所述货叉本体侧面的位置依次可伸缩的连接；所述外节臂可伸缩的安装在所述货叉本体的侧面，所述外节臂与所述锁止组件抵接，以触发所述锁止组件。
本申请另一实施例提供一种搬运机器人，包括支撑座、升降装置和如上任一项所述的货叉组件，所述升降装置和所述货叉组件设置在所述支撑座上，所述升降装置连接所述货叉组件，用于驱动所述货叉组件相对于所述支撑座升降。
本申请再一实施例提供一种仓储***，包括货架、如上所述的搬运机器人以及供所述搬运机器人移动的通道，所述搬运机器人移动到所述货架旁边取货时，所述搬运机器人上的托盘可伸出与所述货架抵接并相对货叉本体锁止。
本申请提供一种货叉组件、搬运机器人及仓储***，货叉组件包括货叉本体和锁止机构，货叉本体具有开口；货叉本体内安装有托盘，托盘可向开口的方向伸出或缩回；锁止机构安装在托盘和货叉本体之间的，锁止机构用于在托盘伸出预设长度时，使托盘与货叉本体相对锁止。本申请可以在托盘伸出预设长度后，利用锁止机构将托盘锁定，使得托盘与货叉本体相对锁止，使托盘保持在该伸出长度而不可缩回；此时，可以将托盘抵接在货架上，而货架由于自身重量大或者与地面固定难以晃动，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力与货架对托盘的推力平衡，因此搬运机器人不会产生晃动，从而提高了取货时的稳定性。
附图说明
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为相关技术中搬运机器人取货时的受力分析图；
图2为本申请一实施例提供的搬运机器人取货时的受力分析图；
图3为本申请一实施例提供的货叉组件的***视图；
图4为本申请一实施例提供的货叉组件的俯视图；
图5为图4的A-A方向的剖视图；
图6为图5中A部的局部放大图；
图7为图4的B-B方向的剖视图；
图8为本申请另一实施例提供的货叉组件的***视图；
图9为本申请另一实施例提供的货叉组件的俯视图；
图10为图9的C-C方向的剖视图；
图11为图10中B部的局部放大图；
图12为图9的D-D方向的剖视图；
图13为本申请另一实施例提供的用于控制伸缩件的液压***的简图；
图14为本申请又一实施例提供的货叉组件的结构示意图；
图15为本申请又一实施例提供的货叉组件的主视图；
图16为本申请又一实施例提供的货叉组件的俯视图；
图17为本申请又一实施例提供的货叉组件的左视图；
图18为本申请又一实施例提供的货叉组件的使用状态图；
图19为本申请又一实施例提供的货叉组件中货叉本体、电磁铁、导轨和拉簧的结构示意图；
图20为本申请又一实施例提供的货叉组件中托盘的结构示意图；
图21为本申请又一实施例提供的货叉组件中货叉本体的俯视图；
图22为图15中J部的局部放大图；
图23为本申请再一实施例提供的货叉组件的结构简图；
图24为图23中C部的局部放大图；
图25为本申请再一实施例提供的托盘、导轨和锁止机构的***视图；
图26为本申请再一实施例提供的托盘、导轨和锁止机构的轴测图；
图27为图26中D部的局部放大图；
图28为图26的仰视图；
图29为图28的E-E剖视图；
图30为图29中E部的局部放大图；
图31为本申请又一实施例提供的货叉组件的***图；
图32为本申请又一实施例提供的托盘安装架与导轨的连接结构简图；
图33为图32的***视图；
图34为图32的主视结构简图；
图35为图34中F部的局部放大图；
图36为本申请又一实施例提供的凸轮轴的结构简图；
图37为本申请的货叉组件与货箱的配合结构图；
图38为图37的F-F剖视图；
图39为本申请又一实施例提供的托盘处于锁止状态下时图38中G部的局部放大图；
图40为本申请又一实施例提供的托盘处于锁止状态下时图38中H部的局部放大图；
图41为本申请又一实施例提供的托盘处于锁止状态下时凸轮轴与导轨和托盘安装架的位置关系图；
图42为本申请又一实施例提供的托盘处于解锁状态下时图38中G部的局部放大图；
图43为本申请又一实施例提供的托盘处于解锁状态下时图38中H部的局部放大图；
图44为本申请又一实施例提供的货叉组件的结构示意图；
图45为本申请又一实施例提供的货叉组件的***图；
图46为图45中I部的局部放大图；
图47为本申请又一实施例提供的货叉组件的锁止组件的结构示意图；
图48为本申请又一实施例提供的货叉组件的锁止组件的***图；
图49为本申请一实施例提供的搬运机器人的结构简图。
附图标记：
1-货叉组件；
10-货叉本体；101-第一固定座；102-第一区域；11-货叉底壁；12-第一货叉侧壁；13-第二货叉侧壁；
20-货叉臂；201-手指；21-第一解锁部；211-第一平板；212-第二平板；22-缓冲垫；23-第一触发面；24-第二触发面；25-外节臂；26-内节臂；
30-托盘；301-第二固定座；302-第二区域；31-托盘底壁；311-通孔；32-第一托盘侧壁；33-第二托盘侧壁；331-托盘回收挂钩；34-抵接板；35-导向壁；300-托盘安装架；
41-导轨；42-滑块；
51-刹车片；52-摩擦片；521-第一摩擦片；522-第二摩擦片；53-驱动件；531-电机；532-丝杆；5321-第一杆体；5322-第二杆体；54-驱动件安装座；541-第一安装板；542-第二安装板；
61-伸缩件；62-控制器；63-液压泵；64-液压管路；
71-第一锁止件；711-倾斜面；72-第二锁止件；73-解锁板；731-解锁板本体；7311-长孔；732-第二解锁部；7321-第三平板；7322-第四平板；733-第一固定耳；734-第二固定耳；74-弹簧支架；75-弹簧；
81-凸轮轴；811-凸轮轴本体；812-凸起部；82-凸轮连杆；83-解锁连杆；831-第一部分；832-第二部分；833-铰接孔；834-第一滚轮安装孔；835-第一滚轮轴；84-第二销轴；85-第一滚轮；86-扭簧；861-螺旋部；862-第一扭簧臂；863-第二扭簧臂；
91-锁止件；911-触发部；912-锁止部；913-连接部；92-配合件；93-安装座；931-触发通孔；932-锁止通孔；94-弹性件；95-第二滚轮；
100-磁吸组件；110-电磁铁；120-检测件；
2-货箱；
3-拉簧；310-第一拉簧固定部；320-第二拉簧固定部；
1000-搬运机器人；1100-支撑座；1200-升降装置；1300-存储货架；
2000-货架。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。
基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在相关技术的方案中，搬运机器人可以在货架上取放货箱，搬运机器人通常包括支撑座及设置在支撑座上的货叉组件，货叉组件可相对于支撑座沿垂直方向升降，也可相对于支撑座沿水平方向伸缩，从而将目标货物从货架上取出，或者将目标货物移送至货架上。
但是，采用上述方案，当货叉组件从货架上取货时，目标货物同时会施加给货叉组件一个反向的作用力，从而导致搬运机器人产生晃动，降低了作业的稳定性。具体的，图1为相关技术中搬运机器人取货时的受力分析图。请参照图1，在相关技术的方案中，当搬运机器人1000从货架2000上取货时，货叉臂20由货叉本体10内伸出到货架上，并从两侧将货箱2夹抱住，此时，货箱2受到货叉臂20的拖拽力F2和货架2000对货箱2的摩擦力F1，F1＝F2。货箱2还会给货叉臂20一个反作用力F3，且F3＝F2＝F1，此时搬运机器人1000受到的外力之和为F3，因此搬运机器人1000在取货时易产生晃动。
本申请的发明人发现，在货叉组件从货架上取货时，如果将搬运机器人和货架相对固定，使二者形成一个整体，则原本货叉组件受到的来自目标货物的反作用力就变成了搬运机器人和货架的内力而相互平衡。
有鉴于此，本申请实施例旨在提供一种货叉组件、搬运机器人及仓储***，本申请的搬运机器人在取货时，通过锁止机构使货叉组件中的托盘30抵接在货架上，货叉组件从货架上取货时，目标货物施加给货叉组件的反作用力通过托盘30传递给货架，使得搬运机器人和货架所受到的外力之和为零，因此搬运机器人不会产生晃动，从而提升了作业的稳定性。
图2为本申请一实施例提供的搬运机器人取货时的受力分析图。请参照图2，在本申请实施例的方案中，当搬运机器人1000从货架2000上取货时，货叉臂20由货叉本体10内伸出到货架上，并从两侧将货箱2夹抱住，此时，货箱2受到货叉臂20的拖拽力F2和货架2000对货箱2的摩擦力F1，F1＝F2。货箱2还会给货叉臂20一个反作用力F3，且F3＝F2＝F1；由于托盘30抵住货架2000会受到货架2000 的推力F4，F4＝F3，此时机器人收到的外力之和为0，因此搬运机器人1000在取货时不易产生晃动。
下面将结合附图详细的对本申请实施例的内容进行描述，以使本领域技术人员能够更加详细的了解本申请的内容。
实施例一
图3为本申请一实施例提供的货叉组件的***视图；图8为本申请另一实施例提供的货叉组件的***视图；图14为本申请又一实施例提供的货叉组件的结构示意图；图23为本申请再一实施例提供的货叉组件的结构简图；图31为本申请又一实施例提供的货叉组件的***图；图44为本申请又一实施例提供的货叉组件的结构示意图。请参照图3、图8、图14、图23、图31和图44，本实施例提供一种货叉组件，包括：
货叉本体10，货叉本体10具有开口。具体的，本实施例的货叉本体10大体呈长方体状，包括货叉底壁11、第一货叉侧壁12和两个相对设置的第二货叉侧壁13，第一货叉侧壁12的两端分别连接一个第二货叉侧壁13，开口与第一货叉侧壁12相对，与货叉底壁11相对的一侧也呈敞开状态，这样可以方便货叉组件10取放高度大于货叉本体10高度的货物。
安装在货叉本体10内的货叉臂20和导轨41，货叉臂20可向开口伸出或缩回，导轨41的延伸方向与货叉臂20的伸缩方向平行。具体的，货叉臂20设置在第二货叉侧壁13上，货叉臂20可通过安装在第二货叉侧壁13上的滑轨等结构实现朝向开口一侧的伸出或缩回。在一些可能的实施方式中，货叉臂20远离第一货叉侧壁12的一端设有手指201，货叉臂20可以通过推送的方式对目标货物进行移动。当货叉臂20伸出至目标货物的两侧时，手指201可以转动挡设在目标货物远离货叉本体10的一侧，以便在货叉臂20缩回时，手指201能够将目标货物送至货叉本体10内。
导轨41设置在货叉底壁11上，且导轨41的延伸方向与货叉臂20的伸缩方向平行。导轨41上安装有托盘30，托盘30可沿导轨41伸出或缩回。具体的，托盘30位于两个货叉臂20之间，托盘30与导轨41之间可通过滑块等机构实现滑动连接，从而使托盘30能够沿导轨41伸出或缩回。本实施例的托盘30大体呈长方体状，包括托盘底壁31、第一托盘侧壁32和两个相对设置的第二托盘侧壁33，第一托盘侧壁32的两端分别连接一个第二托盘侧壁33，托盘30背离第一托盘侧壁32的一侧形成敞口，以便于货叉臂20将货物送至托盘30内或者从托盘30内将货物送到货架上。
进一步地，本实施例的托盘底壁31朝向敞口的一侧设有抵接板34，抵接板34朝向背离第一托盘侧壁32的方向延伸。抵接板34可以增大托盘30与货架的抵接面积，降低单位面积内的抵接力，从而不易使货架或托盘30受到损伤，且有利于提高托盘30与货架抵接的稳定性。
更进一步地，本实施例的第二托盘侧壁33背离第一托盘侧壁32的一侧还设有导向壁35，导向壁35倾斜于第二托盘侧壁33设置，连接在第二托盘侧壁33上的导向壁35朝向背离另一侧的第二托盘侧壁33的方向倾斜。通过上述方式，两个相对设置的导向壁35可以使得托盘30形成“喇叭”状的敞口，从而方便货物的取放。
可选地，本实施例的托盘30固定连接在托盘安装架上，导轨41上还设有滑块，托盘安装架与滑块固定连接。托盘安装架设置在托盘底壁31上，托盘30与托盘安装架之间可以通过螺钉等紧固件实现连接固定。滑块可通过卡接连接的方式设置在导轨41上，托盘安装架与滑块之间也可以通过螺钉等紧固件实现连接固定。通过上述方式，托盘30即可利用滑块沿导轨41滑动，从而实现伸出或缩回。
优选地，本实施例的货叉本体10内设有两组导轨41，托盘30通过两个托盘安装架分别与两组导轨41相连接。两个托盘安装架相对称的设置在托盘底壁31上，从而可以提高托盘30沿导轨41滑动时的稳定性。
在一个优选的实施方式中，本实施例的货叉组件还包括拉簧，导轨41靠近开口的一侧设有第一拉簧固定部，托盘30背离开口的一侧设有第二拉簧固定部，拉簧的两端分别与第一拉簧固定部和第二拉簧固定部相连接。拉簧可以存储一部分能量，从而降低能量的浪费。例如拉簧可以随托盘30的伸出而拉伸，并在托盘缩回时为托盘30提供一定的拉力。
为了便于将托盘30稳定的抵接到货架上，本实施例还设有锁止机构，锁止机构设置在托盘30和货叉本体10之间，锁止机构用于在托盘30伸出预设长度时，使托盘30与货叉本体10相对锁止，托盘30保持在该伸出长度而不可缩回；此时，可以将托盘30抵接在货架上，而货架由于自身重量大或者与地面固定难以晃动，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力与货架对托盘的推力平衡，因此搬运机器人不会产生晃动，从而提高了取货时的稳定性。
在一个可能的实施方式中，本实施例的锁止机构为主动式锁止机构，托盘30伸出预设长度时，锁止机构向托盘30施加预紧力，以使托盘30与货叉本体10相对锁止。其中，主动式锁止机构是指锁止机构能够主动向托盘30施加预紧力而实现托盘30的锁止。
图4为本申请一实施例提供的货叉组件的俯视图；图5为图4的A-A方向的剖视图；图6为图5中A部的局部放大图；图7为图4的B-B方向的剖视图。
请参照图3-图7，在一个具体的实施方式中，锁止机构包括刹车片51、摩擦片52和驱动件53，刹车片51设置在托盘30上，摩擦片52设置在驱动件53上，托盘30伸出预设长度时，驱动件53带动摩擦片52与刹车片51相抵接，以使托盘30与导轨41组件相对锁止。其中，预设长度可以根据货叉组件与货架之间的距离来确定。
采用上述方案，本实施例可以在托盘30伸出预设长度后，利用驱动件带动摩擦片52抵接到刹车片51上，依靠摩擦片52与刹车片51之间的摩擦力，从而阻止与刹车片51相连的托盘30的运动，使得托盘30锁止，托盘30保持在该伸出长度而不可缩回；此时，可以将托盘30抵接在货架上，而货架由于自身重量大或者与地面固定难以晃动，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力与货架对托盘的推力平衡，因此搬运机器人不会产生晃动，从而提高了取货时的稳定性。
在一个可能的实施方式中，如图3、图5和图6所示，本实施例的驱动件53包括电机531和丝杆532，电机531连接丝杆532且可带动丝杆532转动，摩擦片52上设有螺纹孔，摩擦片52通过螺纹孔与丝杆532螺纹连接。
采用上述方案，电机531工作时带动丝杆532转动，而由于丝杆532是与摩擦片52螺纹连接的，因此当电机531固定不动时，摩擦片52因为螺纹之间的传动作用而实现沿丝杆532轴向方向的移动，以便于抵接到刹车片51上或远离刹车片51。本实施方式可以方便的控制摩擦片52的位移，从而便于摩擦片52与刹车片51实现抵接产生摩擦力，以使托盘30保持在锁止状态，便于将托盘30抵接在货架上，使得货叉组件和货架形成一个整体。
进一步地，请继续参照图3、图5和图6，本实施例的摩擦片52包括分别设置在刹车片51两侧的第一摩擦片521和第二摩擦片522，第一摩擦片521上设有第一螺纹孔，第二摩擦片522上设有第二螺纹孔，第一螺纹孔内的螺纹旋向与第二螺纹孔内的螺纹旋向相反。
丝杆532包括第一杆体5321和第二杆体5322，第一杆体5321和第二杆体5322同轴设置，第一杆体5321上的螺纹旋向与第一螺纹孔内的螺纹旋向相同，第二杆体5322上的螺纹旋向与第二螺纹孔内的螺纹旋向相同，第一杆体5321穿设在第一螺纹孔内，第二杆体5322穿设在第二螺纹孔内。
采用上述方案，当电机531带动丝杆532转动时，第一杆体5321可以带动套设在第一杆体5321上的第一摩擦片521移动，第二杆体5322可以带动套设在第二杆体5322上的第二摩擦片522移动；由于第一杆体5321和第二杆体5322的螺纹旋向相反，因此第一摩擦片521和第二摩擦片522可以同时相对移动，以从刹车片51的两侧夹紧刹车片51；或者，第一摩擦片521和第二摩擦片522可以同时相向移动，以松开刹车片51。相比于上述实施方式，本实施方式采用两个摩擦片从刹车片51的两侧与刹车片51实现摩擦，从而能够提供更大的摩擦力，便于与刹车片51相连的托盘30的锁定，从而将托盘30抵接在货架上，使得货叉组件和货架形成一个整体。
可选地，如图6和图7所示，本实施例的刹车片51沿导轨41的延伸方向设置，摩擦片52与刹车片51平行，驱动件53设置在摩擦片52远离刹车片51的一侧。本实施例的刹车片51沿导轨41的延伸方向通长的设置在托盘30上，从而便于摩擦片52与刹车片51的摩擦接触，保证托盘30伸出任意长度下都能够通过摩擦片52和刹车片51的摩擦接触实现稳定的锁止。
进一步地，如图5和图6所示，本实施例的刹车片51设置在托盘底壁31朝向货叉本体的一侧，摩擦片52和驱动件53设置在托盘底壁31和货叉本体之间。将刹车片51、摩擦片52和驱动件53均设置在托盘底壁31和货叉本体之间的空间内，可以实现合理的布局，避免对货叉组件的取放货造成影响。
更进一步地，本实施例的托盘底壁31上设有两个刹车片51，两个刹车片51分别设置在托盘底壁31靠近第二托盘侧壁33的一侧，每一个刹车片51均设有与其配套的摩擦片52和驱动件53。通过采用两套包括刹车片51、摩擦片52和驱动件53的锁止机构，并且将两套锁止机构分别布置在托盘30伸出方向的两侧，从而能够更好的实现托盘30的锁止，使得托盘30抵接到货架上。
可选地，如图6所示，本实施例的驱动件53固定在货叉本体上，具体的，货叉底壁上设有驱动件安装座54，驱动件53固定在驱动件安装座54上。驱动件安装座54包括与货叉底壁平行的第一安装板541和垂直于第一安装板541的第二安装板542，第一安装板541与货叉底壁之间可以采用焊接或螺纹连接等连接结构实现固定，第二安装板542与第一安装板541之间可以采用焊接连接的方式实现固定。第二安装板542与刹车片51平行，第二安装板542上设有丝杠通孔，丝杠穿过丝杠通孔后连接摩擦片52。
图9为本申请另一实施例提供的货叉组件的俯视图；图10为图9的C-C方向的剖视图；图11为图10中B部的局部放大图；图12为图9的D-D方向的剖视图；图13为本申请另一实施例提供的用于控制伸缩件的液压***的简图。
请参照图8-图13，在另一个可能的实施方式中，锁止机构包括伸缩件61和控制器62，伸缩件61安装在托盘30上，且可随托盘30一起伸出或缩回；控制器62连接伸缩件61，控制器62用于在托盘30伸出预设长度时控制伸缩件61锁定，以使托盘30与导轨41相对锁止。其中，预设长度可以根据货叉组件与货架之间的距离来确定。
采用上述方案，本实施例可以在托盘30伸出预设长度后，利用控制器62将伸缩件61锁定，使得托盘30与导轨41相对锁止，使托盘30保持在该伸出长度而不可缩回；此时，可以将托盘30抵接在货架上，使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
在一个可能的实施方式中，如图8、图12和图13所示，本实施例的伸缩件61可以为液压缸，控制器62为液压阀，锁止机构还包括液压泵63和液压管路64，液压泵63设置在液压管路64的一端，液压缸设置在液压管路64的另一端，液压阀设置在液压管路64上。
如图13所示，本实施例的液压阀具有两个位置，当液压阀处于一个位置时液压管路64封闭，液压缸锁定；当液压阀处于另一位置时，液压管路64开启，液压缸可伸缩。因此，本实施例当托盘30伸出预设长度时，控制器62控制液压管路64封闭，从而使伸缩件61锁定，已使托盘30与导轨41相对锁止。
本实施方式采用液压缸、液压阀和配套的液压***实现托盘30伸出预设长度后，将托盘30与导轨41相对锁止，从而可以使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
在另一个可能的实施方式中，伸缩件61还可以为气压缸，控制器62为气压阀，锁止机构还包括气源和气压管路，气源设置在气压管路的一端，气压缸设置在气压管路的另一端，气压阀设置在气压管路上。
与上述实施方式类似，本实施方式可以通过气压缸、气压阀和配套的气压***实现托盘30伸出预设长度后，将托盘30与导轨41相对锁止，从而可以使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
进一步地，如图10、图11和图12所示，本实施例的货叉本体10内设有第一固定座101，托盘30上设有第二固定座301，伸缩件61延伸方向的两端分别与第一固定座101和第二固定座301铰接连接。
具体的，伸缩件61位于货叉底壁11和托盘底壁31之间，第一固定座101设置在货叉底壁11上，第二固定座301设置在托盘底壁31上；可选的，第一固定座101可通过螺钉等紧固件固定在货叉底壁11上，第二固定座301也可以通过螺钉等紧固件固定在托盘底壁31上。第一固定座101内设有第一铰接轴，第二固定座301内设有第二铰接轴，伸缩件61延伸方向的两端均设有铰接轴孔，伸缩件61通过两个铰接轴孔分别连接在第一铰接轴和第二铰接轴上。
通过上述描述可知，本实施例的货叉组件可以在托盘30伸出预设长度后，利用控制器62将伸缩件61锁定，使得托盘30与导轨41相对锁止，使托盘30保持在该伸出长度而不可缩回；此时，可以将托盘30抵接在货架上，使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
图15为本申请又一实施例提供的货叉组件的主视图；图16为本申请又一实施例提供的货叉组件的俯视图；图17为本申请又一实施例提供的货叉组件的左视图；图18为本申请又一实施例提供的货叉组件的使用状态图；图19为本申请又一实施例提供的货叉组件中货叉本体、电磁铁、导轨和拉簧的结构示意图；图20为本申请又一实施例提供的货叉组件中托盘的结构示意图；图21为本申请又一实施例提供的货叉组件中货叉本体的俯视图；图22为图15中J部的局部放大图。
请参照图14-图22，在又一个可能的实施方式中，锁止机构包括磁吸组件100，磁吸组件100位于货叉本体10和托盘30中的一者上，并可吸附另一者；托盘30伸出预设长度时，货叉本体10和托盘30通过磁吸组件100吸附，以使托盘30与导轨41相对锁止。其中，预设长度可以根据货叉组件与货架之间的距离来确定。
在本实施例中，磁吸组件100可以位于货叉本体10上，磁吸组件100吸附托盘30，以将托盘30相对于货叉本体10锁止固定。或者，磁吸组件100位于托盘30上，磁吸组件100吸附货叉本体10，以将托盘30相对于货叉本体10锁止固定。
当托盘30远离货叉本体10并滑动至与货架抵接时，货叉臂20将货箱2从货架拉至托盘30上。 在货箱2从货架移动至托盘30上的过程中，由于，货叉本体10和托盘30通过磁吸组件100吸附固定，使得托盘30与货叉本体10相对锁止，托盘30保持在该伸出长度而不可缩回；此时，可以将托盘30抵接在货架上，使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
当货叉臂20取货完成，货箱2移动至托盘30上时，磁吸组件100解除吸附，货叉本体10与托盘30解除固定，托盘30可相对于导轨41滑动以使托盘30与货架脱离接触。
如图19-图20所示，本实施例中，磁吸组件100包括控制件、电磁铁110和检测件120；检测件120与控制件电连接，用于检测托盘30的位置；控制件用于在托盘30伸出预设长度时，控制电磁铁110吸附货叉本体10或托盘30。
需要说明的是，本实施例中的货叉本体10和托盘30的材质可以均为能被电磁铁110吸附的铁等。检测件120可以为接触传感器、光电开关或霍尔传感器，当检测件120与货架接触时，控制件控制电磁铁110吸附货叉本体10或托盘30。货箱2移动至托盘30上时，控制件控制电磁铁110断电，电磁铁110的吸附力消除，从而使货叉本体10与托盘30解除固定。
如图16和图21所示，货叉本体10上设有第一区域102，托盘30具有与第一区域102相对的第二区域302，托盘30伸出预设长度时，第一区域102与第二区域302重叠，电磁铁110位于第一区域102上或第二区域302上。由此，以使电磁铁110能吸附货叉本体10或托盘30，从而将托盘30相对于货叉本体10锁止固定。
具体的，第一区域102可以位于货叉底壁11上，第二区域302可以位于托盘底壁31上，电磁铁110位于第一区域102的中部靠近开口的位置，检测件120位于托盘底壁31上靠近敞口的位置。通过将电磁铁110设置在第一区域102的中部靠近开口的位置，使得电磁铁110的端面可以与货叉底壁11的端面平齐，由此，便于安装电磁铁110。检测件120位于托盘底壁31上靠近敞口的位置，从而便于精确的检测托盘30的位置，保证锁定托盘30的精度。
请继续参照图16，可选地，本实施例的货叉臂20包括依次滑动连接的外节臂25和内节臂26，外节臂25与第二货叉侧壁13连接，内节臂26用于从货箱2的两侧夹抱住货箱2，从而便于取放货箱。
在另一个可能的实施方式中，本实施例的锁止机构为被动式锁止机构，托盘30缩回时带动锁止机构运动，使得锁止机构将托盘30与货叉本体10相对锁止。或者，部分锁止机构连接在托盘30上，托盘30缩回时带动部分锁止机构运动，使得锁止机构自身锁止，从而将托盘30与货叉本体相对锁止。其中，被动式锁止机构是指锁止机构需要依靠外力的带动，利用摩擦自锁的原理实现锁止动作。
图24为图23中C部的局部放大图；图25为本申请再一实施例提供的托盘、导轨和锁止机构的***视图；图26为本申请再一实施例提供的托盘、导轨和锁止机构的轴测图；图27为图26中D部的局部放大图；图28为图26的仰视图；图29为图28的E-E剖视图；图30为图29中E部的局部放大图。
请参照图23-图30，在一个具体的实施方式中，锁止机构包括第一锁止件71和第二锁止件72，第一锁止件71设置在托盘30朝向导轨41的一侧，第一锁止件71设有朝向导轨41设置的倾斜面711；第二锁止件72设置在托盘30和导轨41之间，且可在托盘30或货叉臂20的带动下沿导轨41的延伸方向移动。
具体的，本实施例的第一锁止件71与托盘30可以一体成型，或者，第一锁止件71可以采用焊接或螺栓连接等方式固定在托盘30上，固定好后使得第一锁止件71的倾斜面朝向导轨41。第二锁止件72可以与托盘30或货叉臂20通过其他零件实现间接连接，且可沿导轨41移动。通过上述方案，如图8所示，当托盘缩回时，倾斜面711可将第二锁止件72挤压在倾斜面711和导轨41之间，且倾斜面711与导轨41之间的夹角a小于第二锁止件72与倾斜面711之间的摩擦角；根据摩擦自锁原理，在上述状态下托盘30不能够继续缩回，托盘30与导轨41相对锁止。此时，可以将托盘30抵接在货架上，使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
进一步地，请继续参照图23-图27，本实施例中的第一锁止件71可以为楔块，楔块固定连接在托盘30朝向导轨41的一侧，本实施例中楔块可通过多个螺钉固定到托盘30上。第一锁止件71位于两个滑块42之间，第一锁止件71的倾斜面711朝向背离开口一侧的滑块42设置。
第二锁止件72可以为圆柱销，圆柱销的轴线垂直于导轨41的延伸方向，圆柱销可在导轨41上滑动，第二锁止件72位于第一锁止件71与背离开口一侧的滑块42之间。
锁止机构还包括解锁板73，解锁板73包括解锁板本体731，解锁板本体731可以为钣金件，大体 呈板装，具体形状和结构可根据需要进行设置。本实施例中，解锁板本体731设置在托盘30朝向导轨41的一侧，解锁板本体731背离托盘30的一侧设有两个第一固定耳733，两个第一固定耳733分别位于导轨41的延伸方向的两侧，圆柱销穿设在两个第一固定耳733上。
解锁板73可在托盘30或货叉臂20的带动下沿导轨41的延伸方向移动。
进一步地，如图23-图26所示，本实施例的货叉臂20上设有朝向导轨41的第一解锁部21；解锁板本体731朝向托盘30的一侧还设有第二解锁部732，货叉臂20缩回时，第一解锁部21可抵接在第二解锁部732上，使第二锁止件72远离第一锁止件71，以使托盘30解锁，此时托盘30可沿导轨41缩回。
托盘30上设有托盘回收挂钩331，托盘伸出时，托盘回收挂钩331可抵接在第二解锁部732上，以带动第二锁止件72和解锁板73随托盘30移动。
也即，本实施例在托盘30伸出时，由于托盘回收挂钩331抵接在第二解锁部732上，因此可以带动第二锁止件72随托盘30一起运动，由于第一锁止件71是固定在托盘30上的，因此在托盘30伸出时，第一锁止件71和第二锁止件72之间的间隙保持恒定。
当托盘30缩回时，由于托盘回收挂钩331不再带动第二解锁部732移动，因此第一锁止件71上的倾斜面711会将第二锁止件72挤压在倾斜面711和导轨41之间，使得倾斜面711与导轨41之间的夹角a小于第二锁止件72与倾斜面711之间的摩擦角；根据摩擦自锁原理，在上述状态下托盘30不能够继续缩回，托盘30与导轨41相对锁止。
当需要解锁时，可以将货叉臂20缩回，使得第一解锁部21抵接到第二解锁部732上，从而带动第二锁止件72远离第一锁止件71，此时托盘30可顺利的缩回。
本实施例的托盘回收挂钩331设置在第二托盘侧壁33上，货叉臂20缩回时，第二解锁部732可在第一解锁部21的带动下抵接在托盘回收挂钩31上，以带动托盘30缩回。
更进一步地，本实施例的第一解锁部21包括垂直相连的第一平板211和第二平板212，第一平板211与货叉臂20平行设置且固定连接在货叉臂20上，第二平板212垂直于第一平板211，第二平板212朝向第二解锁部732的一侧设有缓冲垫22。第二平板212为与第二解锁部732接触的平板，通过设置缓冲件22可以有效的降低冲击力，有利于提升使用寿命。
第二解锁部732包括两个第三平板7321和第四平板7322，第四平板7322与第二平板212平行，第四平板7322的两端分别与两个第三平板7321垂直连接，且两个第三平板7321均朝向第四平板7322背离第二平板212的一侧延伸，靠近解锁板本体731一侧的第三平板7321与解锁板本体731固定连接。
两个第三平板7321和第四平板7322共同组成一个截面呈“C”字型的结构，托盘回收挂钩31与第四平板7322平行，第二解锁部732与托盘回收挂钩31相抵接时，托盘回收挂钩31位于第四平板7322与两个第三平板7321所围成的空间内，且与第四平板7322相抵接，从而保证二者连接的稳定性。
优选地，如图27所示，本实施例的解锁板73还可以相对于托盘30在一定范围内实现移动。具体的，锁止机构还包括弹簧支架74，弹簧支架74固定在托盘30上，弹簧支架74上设有弹簧75；解锁板本体731朝向导轨41的一侧还设有第二固定耳734，弹簧75的一端固定在弹簧支架74上，弹簧75的另一端固定在第二固定耳734上；解锁板本体731上还设有长孔7311，长孔7311沿导轨41的延伸方向设置，托盘30朝向导轨41的一侧设有第一销轴，第一销轴穿过长孔7311后与弹簧支架74固定连接，第一销轴可沿长孔7311滑动。通过上述方案，当货叉臂20带动解锁板73移动时，解锁板73可以利用第一销轴沿长孔7311滑动，从而使第一锁止件71和第二锁止件72互相分离，以实现解锁。
图32为本申请又一实施例提供的托盘安装架与导轨的连接结构简图；图33为图32的***视图；图34为图32的主视结构简图；图35为图34中F部的局部放大图；图36为本申请又一实施例提供的凸轮轴的结构简图；图37为本申请的货叉组件与货箱的配合结构图；图38为图37的F-F剖视图；图39为本申请又一实施例提供的托盘处于锁止状态下时图38中G部的局部放大图；图40为本申请又一实施例提供的托盘处于锁止状态下时图38中H部的局部放大图；图41为本申请又一实施例提供的托盘处于锁止状态下时凸轮轴与导轨和托盘安装架的位置关系图；图42为本申请又一实施例提供的托盘处于解锁状态下时图38中G部的局部放大图；图43为本申请又一实施例提供的托盘处于解锁状态下时图38中H部的局部放大图。
请参照图31-图43，在另一个具体的实施方式中，锁止机构包括凸轮轴81和维持件，凸轮轴81设置在导轨41与托盘30之间，凸轮轴81包括凸轮轴本体811和凸起部812，凸起部812设置在凸轮轴本体811的径向方向上，且位于背离托盘30的伸出方向的一侧；维持件用于向凸轮轴81提供维持力，以使凸轮轴81与托盘30维持接触。
具体的，本实施例中凸轮轴本体811的直径小于托盘30与导轨41之间的间隙，凸起部812到轮 轴本体311的轴线的距离与轮轴本体311的半径之和大于托盘30与导轨41之间的间隙，以便于凸轮轴81能够抵接到托盘30和导轨41之间。维持件用于向凸轮轴81提供维持力，也即向凸轮轴81提供一个稳定的外力，使得凸轮轴81能够与托盘30维持接触。
通过上述方案，当托盘缩回时，托盘30带动凸轮轴81转动，使得凸起部812抵接在导轨41上，且凸轮轴81和导轨41的抵接点P与凸轮轴81的轴心的连线与导轨41的平面法线的夹角b小于凸轮轴81与导轨41之间的摩擦角，或者，凸轮轴81和托盘30的抵接点与凸轮轴81的轴心的连线与导轨41的平面法线的夹角小于凸轮轴81与导轨41之间的摩擦角；根据摩擦自锁原理，在上述两种状态下托盘30均不能够继续缩回，托盘30与导轨41相对锁止。此时，可以将托盘30抵接在货架上，使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而提高了取放货时的稳定性。
进一步地，如图33和图35所示，本实施例的锁止机构还包括传动件，传动件包括凸轮连杆82和解锁连杆83，凸轮轴81的端部与凸轮连杆82的第一端固定连接，凸轮连杆82的第二端与解锁连杆83的第一端铰接，解锁连杆83的第二端为自由端，解锁连杆83的第一端和解锁连杆83的第二端之间还设有铰接孔833，第二销轴84穿过铰接孔833后铰接固定在托盘30或导轨41上。具体的，解锁连杆83包括第一部分831和第二部分832，解锁连杆83的第一端设置在第一部分831上，解锁连杆83的第二端设置在第二部分832上，第一部分831倾斜于第二部分832设置，铰接孔833位于第一部分831和第二部分832的连接处，第二销轴84穿过铰接孔833后铰接固定在托盘安装架300上。
解锁连杆83的第二端绕第二销轴84转动时可带动凸轮轴81转动，如图5所示，本实施例的解锁连杆83的第二端绕第二销轴84向上转动时，可带动凸轮连杆82向下转动，从而使凸轮轴81沿顺时针方向转动，此时凸轮轴81逐渐抵接到托盘30和导轨41之间，并将托盘30锁止；解锁连杆83的第二端绕第二销轴84向下转动时，可带动凸轮连杆82向上转动，从而使凸轮轴81沿逆时针方向转动，此时凸轮轴81逐渐与托盘30和导轨41分离，托盘30解锁并可沿导轨41滑动。
本实施例中，维持件用于向解锁连杆83提供维持力，解锁连杆83通过凸轮连杆82将维持力传递到凸轮轴81上，以使凸轮轴81与托盘30维持接触。
请继续参照图33和图35，本实施例的维持件可以为扭簧86，扭簧86包括螺旋部861以及连接螺旋部861两端的第一扭簧臂862和第二扭簧臂863，螺旋部861套设在第二销轴84上，第一扭簧臂862固定在托盘30上，托盘30用于向第一扭簧臂862提供支撑力，第二扭簧臂863固定在解锁连杆83的第二端，解锁连杆83用于向第二扭簧臂863提供压迫力。具体的，第一扭簧臂862可以固定在托盘安装架300的上方，第二扭簧臂863固定在解锁连杆83的下方，扭簧86被夹持在解锁连杆83和托盘安装架300之间，并为凸轮轴81时刻提供维持力。
进一步地，如图31、图38和图39所示，本实施例的托盘底壁31上设有通孔311，托盘30与导轨41相对锁止时，解锁连杆83的第二端至少部分穿过通孔311。通过上述方案，当货物进入托盘30时可以将解锁连杆83下压，从而使凸轮轴81逆时针转动，实现托盘30的解锁。
请继续参照图33，本实施例的解锁连杆83的第二端还设有第一滚轮安装孔834，第一滚轮轴835固定连接在第一滚轮安装孔834内，第一滚轮轴835背离解锁连杆83的一端套设有第一滚轮85，第一滚轮85可绕第一滚轮轴835转动；托盘30与导轨41相对锁止时，第一滚轮85至少部分穿过通孔311。
通过设置第一滚轮85可以降低货物与解锁连杆83之间的摩擦力，并降低二者的接触难度，使得进入托盘30内的货物可以顺利的将解锁连杆83下压，实现托盘30的解锁。
如图31-图33所示，本实施例的凸轮轴81的轴向与导轨41的延伸方向垂直，凸轮轴81的两端均连接有传动件和维持件。通过在凸轮轴81的两端均设在传动件可维持件可以为凸轮轴81更好的提供维持力和解锁力，从而便于实现利用凸轮轴81将托盘30锁定的目的。
如图35所示，导轨41上设有两个滑块42，位于两个滑块42之间的托盘安装架300上设有凸轮轴限位槽，凸轮轴81设置在凸轮轴限位槽内。将凸轮轴81设在在凸轮轴限位槽内，可以防止凸轮轴81沿导轨41运动，有利于提升装置整体的稳定性。
请继续参照图37-图43，本实施例的锁止机构与托盘30和导轨41之间存在两种相对的状态，即锁止状态和解锁状态。
在锁止状态下，如图38-图41所示，此时解锁连杆83的第二端伸出到托盘30内，托盘30内没有货箱2，或者货箱2未移动到解锁连杆83处，凸轮轴81和导轨41的抵接点P或凸轮轴81和托盘30的抵接点与凸轮轴81的轴心的连线与导轨41的平面法线的夹角小于凸轮轴81与导轨41之间的摩擦角，根据摩擦自锁原理，此时托盘30不能够继续缩回，托盘30与导轨41相对锁止。此时，可以将托盘30抵接在货架上，使得货叉组件和货架形成一个整体，这样当货叉组件从货架上取货时，目标货物施加给货叉组件的力就变成了货叉组件和货架的内力而相互平衡，因此货叉组件不会产生晃动，从而 提高了取放货时的稳定性。
在解锁状态下，如图42-图43所示，此时货箱2移动到解锁连杆83处，并将解锁连杆83下压到托盘30下方，凸轮轴81和托盘30或导轨41不接触，托盘30可以相对于导轨41继续滑动。
此外，在其他可能的实施方式中，本实施例的货叉组件还可以依靠货叉臂20伸出到一定长度后实现托盘30的锁止。
图45为本申请又一实施例提供的货叉组件的***图；图46为图45中I部的局部放大图；图47为本申请又一实施例提供的货叉组件的锁止组件的结构示意图；图48为本申请又一实施例提供的货叉组件的锁止组件的***图。
请参照图44-48，在一个可能的实施方式中，锁止机构包括锁止件91和配合件92，锁止件91设置在货叉底壁11朝向托盘30的一侧，配合件92设置在托盘底壁31朝向货叉底壁11的一侧；锁止件91的第一侧位于货叉底壁11与配合件92之间，锁止件91的第二侧位于货叉底壁11与货叉臂20之间，并与货叉臂20相抵接；货叉臂20与托盘30伸出时，货叉臂20带动锁止件91朝向靠近配合件92的方向移动，托盘30伸出预设长度时，锁止件91的第一侧与配合件92卡合，以使托盘30与导轨41相对锁止。
本实施例在货叉臂20与托盘30伸出时，货叉臂20带动锁止件91朝向靠近配合件92的方向移动，在托盘30伸出至与货架抵接时，锁止件91的第一侧与配合件92卡合，从而能够防止托盘30在取货过程中产生晃动，进而有利于提高货叉组件取货物时的稳定性。
可选的，锁止件91包括触发部911和锁止部912，触发部911位于货叉底壁11与货叉臂20之间，锁止部912位于货叉底壁11与托盘30之间。触发部911与货叉臂20朝向货叉底壁11的一面抵接。在货叉臂20伸出的过程中，触发部911沿其与货叉臂20的抵接面移动；当货叉臂20伸出到位时，托盘30也伸出至与货架抵接，此时，触发部911可以带动锁止部912朝向靠近配合件92的方向移动并与配合件92卡合，从而将托盘30锁止在与货架抵接的位置，进而有利于保证托盘30在取货过程中的稳定性。
具体实现时，货叉臂20和托盘30伸出时，货叉臂20可以带动触发部911，触发部911可以带动锁止部912朝向靠近配合件92的方向移动并与配合件92卡合，从而实现锁止托盘30的目的。货叉臂20和托盘30缩回时，货叉臂20可以带动触发部911，触发部911可以带动锁止部912朝向远离配合件92的方向移动并与配合件92脱离卡合，从而解除托盘30的锁止状态，使托盘30可以顺利缩回。
可选的，锁止机构还可以包括安装座93，安装座93包括安装座侧壁和安装座顶壁，安装座侧壁的底端与货叉底壁11连接，安装座顶壁连接在安装座侧壁的顶端。示例性的，安装座侧壁可以完全环绕安装座顶壁，也可以部分环绕安装座顶壁；安装座侧壁的底端与货叉底壁11可以通过紧固件连接，也可以通过焊接连接。安装座侧壁、安装座顶壁和货叉底壁11之间形成有限位空间，锁止件91的底端位于限位空间内，锁止件91的顶端向上伸出安装座顶壁，锁止件91可在货叉臂20的带动下相对于安装座93上下移动。通过设置安装座93，一方面，便于锁止件91的安装和设置；另一方面，有利于提高锁止件91安装的可靠性。
可选的，安装座93的安装座顶壁上设置有贯穿安装座顶壁的触发通孔931和锁止通孔932。锁止件91还包括连接部913，触发部911和锁止部912均设置在连接部913上，连接部913位于限位空间内。触发部911经由触发通孔931伸出安装座顶壁，且触发部911可相对于触发通孔931移动，示例性的，触发部911可以为圆柱形，触发通孔931可以为与圆柱形触发部匹配的圆形通孔。锁止部912经由锁止通孔932伸出安装座顶壁，且锁止部912可相对于锁止通孔932移动，示例性的，锁止部912可以为四棱柱形，锁止通孔932可以为与四棱柱形锁止部匹配的四边形。当然，触发部911和触发通孔931也可以根据实际需要设置为其他形状，锁止部912和锁止通孔932也可以根据实际需要设置为其他形状，只要可以满足本实施例的要求即可，此处不再赘述。
限位空间能够对连接部913的活动范围进行限位，一方面，能够控制触发部911和锁止部912的可伸缩长度，从而有利于保证锁止件91伸出并锁止托盘30的可靠性；另一方面，能够通过连接部913对触发部911和锁止部912进行定位和导向，从而能够避免锁止件91卡死。
具体实现时，货叉臂20可以推抵触发部911，触发部911推抵连接部913，连接部913带动锁止部912朝向远离配合件92的方向移动，以与配合件92脱离卡合，从而使托盘30处于可以自由伸缩的状态。或者，货叉臂20也可以放松对触发部911的推抵，使触发部911可以带动连接部913，连接部913带动锁止部912朝向靠近配合件92的方向移动，以与配合件92卡合，从而实现锁止托盘30的目的。
在一种可选的实现方式中，锁止机构还包括弹性件94，弹性件94套设在触发部911的伸出至限位空间外的部分上，且弹性件94的一端与安装座93抵接，弹性件94的另一端与触发部911的远离安装 座93的一端抵接，弹性件94具有推动锁止部912朝向靠近配合件92的方向移动的趋势。
具体实现时，当货叉臂20推抵触发部911时，弹性件94压缩，触发部911推抵连接部913，连接部913带动锁止部912朝向远离配合件92的方向移动，以与配合件92脱离卡合，从而使托盘30处于可以自由伸缩的状态。当货叉臂20放松对触发部911的推抵时，触发部911可以在弹性件94的弹力作用下朝向远离安装座93的方向伸出，同时带动连接部913，连接部913带动锁止部912朝向靠近配合件92的方向移动，以与配合件92卡合，从而实现锁止托盘30的目的。
在另一种可选的实现方式中，弹性件可以设置在连接部与货叉底壁11之间，以便在货叉臂20推抵触发部911，触发部911推抵连接部913时，弹性件94被压缩；在货叉臂20松开对触发部911的推抵时，弹性件94可以推动连接部913，连接部913推动锁止部912与配合件92卡合，以实现锁止托盘30的目的。当然，弹性件94还可以根据实际需要具有其他设置方式，只要能够满足本实施例的要求即可，此处不再赘述。
可选的，弹性件94为螺旋弹簧。当然，弹性件也可以根据实际需要选用其他类型，只要能够满足本实施例的要求即可，此处不再赘述。
可选的，锁止机构还可以包括第二滚轮95，第二滚轮95设置在触发部911朝向货叉臂20的一端，且第二滚轮95可沿货叉臂20的伸缩方向滚动，以减小货叉臂20与触发部911之间的摩擦阻力，从而不仅能够保证货叉臂20顺畅的伸缩，而且能够保证货叉臂20推抵触发部911实现锁止托盘30或者松开对托盘30的锁止的可靠性。
在一种可选的实现方式中，配合件92为卡接件，锁止部912朝向配合件92的一面为与卡接件匹配的卡接结构，以便于实现锁止部912与配合件92之间的卡合或者松开卡合。
示例性的，卡接件可以为齿条，锁止部912朝向配合件92的一面为与齿条匹配的齿形结构。齿条的长度可以大于锁止部912沿托盘30的伸缩方向的长度，以保证锁止部912与齿条卡合锁止的可靠性。当然，配合件92和锁止部912也可以根据实际需要设置为其他可以相互卡合和脱离卡合的结构，只要能够满足本实施例的要求即可，此处不再赘述。
在另一种可选的实现方式中，可以直接在托盘30的对应于锁止部912的位置设置能够与锁止部912卡合或者脱离卡合的结构，示例性的，可以在托盘30的对应于锁止部912的位置设置凹槽或通孔，并将锁止部912设置为能够伸入凹槽或通孔内的形状，从而无需另行设置配合件，即可使锁止机构实现锁止托盘30的目的。
可选的，沿货叉臂20的伸出方向，货叉臂20朝向货叉底壁11的一面依次具有第一触发面23和第二触发面24，第一触发面23与货叉底壁11之间的距离大于第二触发面24与货叉底壁11之间的距离，且第一触发面23和第二触发面24之间通过连接斜面213连接。第二触发面24用于抵推触发部911，以使锁止部912与配合件92脱离卡合；第一触发面23用于松开触发部911，以使锁止部912与配合件92卡合。
具体实现时，以货叉组件伸出取货的过程为例进行说明：未取货时，货叉臂20的第二触发面24推抵触发部911，触发部911通过连接部913带动锁止部912远离托盘30，此时，锁止部912与配合部42的位置也处于相互错开的状态，托盘30能够顺利伸出。取货时，货叉臂20和托盘30向外伸出，托盘30伸出预设长度后停止伸出，此时，配合件92与锁止部912的位置相对应；货叉臂20可以在托盘30停止伸出后继续伸出一段，在货叉臂20伸出的过程中，触发部911顶端的第二滚轮95沿着第二触发面24滚动至连接斜面213后进入第一触发面23，此时，触发部911能够在弹性件94的作用下朝向靠近第一触发面23的方向伸出，并通过连接部913带动锁止部912与配合件92卡合，托盘30被锁止在伸出位置，以便货叉臂20将目标物移送至托盘30上，从而能够放置托盘30晃动，影响货叉组件的稳定性和可靠性。货叉组件取货后的回程过程可以参照上述伸出取货过程的描述，此处不再赘述。
可选的，货叉臂20包括外节臂25和至少一个内节臂26，外节臂25和至少一个内节臂26自靠近货叉本体10侧面的位置向远离货叉本体10侧面的位置依次可伸缩的连接。外节臂25可伸缩的安装在货叉本体10的侧面，外节臂25与锁止机构抵接，以触发锁止机构。示例性的，第一触发面23、第二触发面24和连接斜面213均形成在外节臂25的朝向货叉本体10的一面。
实施例二
图49为本申请一实施例提供的搬运机器人的结构简图。
请参照图49，本实施例提供一种搬运机器人1000，包括支撑座1100、升降装置1200和如上实施例一的货叉组件1，升降装置1200和货叉组件1设置在支撑座1100上，升降装置1200连接货叉组件1，用于驱动货叉组件1相对于支撑座1100升降。
其中，支撑座1100为搬运机器人1000的支撑结构，用于支撑和携带搬运机器人1000的其他 部件和/或装置进行行走，在本实施例中，支撑座1100可携带货叉组件1移动，当目标货物存放在货叉组件1上时，也会被连带移动。升降装置1200例如可以包括电机、主动轮、从动轮和传动带，当然，升降装置1200的组成和安装方式也可以根据实际需要进行设置，只要能够带动货叉组件1相对于支撑座1100升降即可，此处不再赘述。搬运机器人1000上还可以设有存储货架1300，存储货架1300上设置若干存储单元，升降装置1200可驱动货叉组件1进行升降移动，使货叉组件1对准存储货架1300上的任意一个存储单元，或者对准货架和/或货物，以在货架与存储单元之间进行货物的搬运。
本实施例提供的搬运机器人由于采用了上述实施例一的货叉组件，因此能够通过锁止机构将托盘锁止，使货叉组件中的托盘抵接在货架上，货叉组件从货架上取货时，目标货物施加给货叉组件的反作用力通过托盘传递给货架，使得搬运机器人和货架所受到的外力之和为零，因此搬运机器人不会产生晃动，从而提升了作业的稳定性。
实施例三
本实施例提供一种仓储***，包括货架、如上实施例二的搬运机器人，以及供搬运机器人移动的通道，搬运机器人移动到货架旁边取货时，搬运机器人上的托盘可伸出与货架抵接并相对货叉本体锁止。
具体的，本实施例的货架内可以设有多个用于存储货物的存储单元格，搬运机器人可以沿通道移动到货架旁，当搬运机器人移动到位后可以利用升降装置将货叉组件升到一定高度，以便于货叉组件将目标货物存放到存储单元格内或者将目标货物从存储单元格内取出。在取出目标货物时，货叉组件的托盘通过锁止机构锁定，并抵接在货架上，从而使得货架和货叉组件连接为一个整体。这样，当货叉组件从货架上取货时，货叉组件受到的来自目标货物的反作用力就变成了搬运机器人和货架的内力而相互平衡，因此搬运机器人不会产生晃动，从而提升了作业的稳定性。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
需要说明的是，在本申请的描述中，术语“第一”、“第二”仅用于方便描述不同的部件，而不能理解为指示或暗示顺序关系、相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
本申请中各实施例或实施方式采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分相互参见即可。
在本申请的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本申请中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (11)

  1. 一种货叉组件，其特征在于，包括：
    货叉本体，所述货叉本体具有开口；
    安装在所述货叉本体内的托盘，所述托盘可向所述开口的方向伸出或缩回；
    安装在所述托盘和所述货叉本体之间的锁止机构，所述锁止机构用于在所述托盘伸出预设长度时，使所述托盘与所述货叉本体相对锁止。
  2. 根据权利要求1所述的货叉组件，其特征在于，所述锁止机构为主动式锁止机构，所述托盘伸出预设长度时，所述锁止机构向所述托盘施加预紧力，以使所述托盘与所述货叉本体相对锁止。
  3. 根据权利要求2所述的货叉组件，其特征在于，所述锁止机构包括刹车片、摩擦片和驱动件，所述刹车片设置在所述托盘上，所述摩擦片设置在所述驱动件上，所述托盘伸出预设长度时，所述驱动件带动所述摩擦片与所述刹车片相抵接，以使所述托盘与所述货叉本体相对锁止。
  4. 根据权利要求2所述的货叉组件，其特征在于，所述锁止机构包括伸缩件和控制器，所述伸缩件安装在所述托盘上，且可随所述托盘一起伸出或缩回；所述控制器连接所述伸缩件，所述控制器用于在所述托盘伸出预设长度时控制所述伸缩件锁定，以使所述托盘与所述货叉本体相对锁止。
  5. 根据权利要求2所述的货叉组件，其特征在于，所述锁止机构包括磁吸组件，所述磁吸组件位于所述货叉本体和所述托盘中的一者上，并可吸附另一者；所述托盘伸出预设长度时，所述货叉本体和所述托盘通过所述磁吸组件吸附，以使所述托盘与所述货叉本体相对锁止。
  6. 根据权利要求1所述的货叉组件，其特征在于，所述锁止机构为被动式锁止机构，所述托盘缩回时带动所述锁止机构运动，使得所述锁止机构将所述托盘与所述货叉本体相对锁止；
    或者，部分所述锁止机构连接在所述托盘上，所述托盘缩回时带动部分所述锁止机构运动，使得所述锁止机构自身锁止，从而将所述托盘与所述货叉本体相对锁止。
  7. 根据权利要求6所述的货叉组件，其特征在于，所述货叉本体内还设有货叉臂和导轨，所述货叉臂可相对所述货叉本体伸出或缩回，所述导轨的延伸方向与所述货叉臂的伸缩方向平行；
    所述锁止机构包括第一锁止件和第二锁止件，所述第一锁止件设置在所述托盘朝向所述导轨的一侧，所述第一锁止件设有朝向所述导轨设置的倾斜面；所述第二锁止件设置在所述托盘和所述导轨之间，且可在所述托盘或货叉臂的带动下沿所述导轨的延伸方向移动；所述托盘缩回时，所述倾斜面可将所述第二锁止件挤压在所述倾斜面和所述导轨之间，且所述倾斜面与所述导轨之间的夹角小于所述第二锁止件与所述倾斜面之间的摩擦角，以使所述托盘与所述导轨相对锁止。
  8. 根据权利要求6所述的货叉组件，其特征在于，所述货叉本体内还设有货叉臂和导轨，所述货叉臂可相对所述货叉本体伸出或缩回，所述导轨的延伸方向与所述货叉臂的伸缩方向平行；
    所述锁止机构包括凸轮轴和维持件，所述凸轮轴设置在所述导轨与所述托盘之间，所述凸轮轴包括凸轮轴本体和凸起部，所述凸起部设置在所述凸轮轴本体的径向方向上，且位于背离所述托盘的伸出方向的一侧；所述维持件用于向所述凸轮轴提供维持力，以使所述凸轮轴与所述托盘维持接触；
    所述托盘缩回时，所述托盘带动所述凸轮轴转动，使得所述凸起部抵接在所述导轨上，且所述凸轮轴和所述导轨的抵接点或所述凸轮轴和所述托盘的抵接点与所述凸轮轴的轴心的连线与所述导轨的平面法线的夹角小于所述凸轮轴与所述导轨之间的摩擦角，以使所述托盘与所述导轨相对锁止。
  9. 根据权利要求1所述的货叉组件，其特征在于，所述货叉本体内还设有货叉臂和导轨，所述货叉臂可相对所述货叉本体伸出或缩回，所述导轨的延伸方向与所述货叉臂的伸缩方向平行；
    所述锁止机构包括锁止件和配合件，所述锁止件设置在货叉本体朝向所述托盘的一侧，所述配合件设置在托盘朝向所述货叉底壁的一侧；所述锁止件的第一侧位于所述货叉本体与所述配合件之间，所述锁止件的第二侧位于所述货叉本体与所述货叉臂之间，并与所述货叉臂相抵接；所述货叉臂与所述托盘伸出时，所述货叉臂带动所述锁止件朝向靠近所述配合件的方向移动，所述托盘伸出预设长度时，所述锁止件的第一侧与所述配合件卡合，以使所述托盘与所述导轨相对锁止。
  10. 一种搬运机器人，其特征在于，包括支撑座、升降装置和如权利要求1-9中任一项所述的货叉组件，所述升降装置和所述货叉组件设置在所述支撑座上，所述升降装置连接所述货叉组件，用于驱动所述货叉组件相对于所述支撑座升降。
  11. 一种仓储***，其特征在于，包括货架、如权利要求10所述的搬运机器人以及供所述搬运机器人移动的通道，所述搬运机器人移动到所述货架旁边取货时，所述搬运机器人上的托盘可伸出与所述货架抵接并相对货叉本体锁止。
PCT/CN2022/102489 2021-07-01 2022-06-29 货叉组件、搬运机器人及仓储*** WO2023274320A1 (zh)

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