Fork and carrying robot

Patent metadata

Field	Value
Publication number	US-11807451-B2
Application number	US-202218074716-A
Country	US
Kind code	B2
Filing date	Dec 5, 2022
Priority date	Sep 17, 2019
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.

First claim

What is claimed is:

1 . A fork configured to transfer a container, the fork comprising:
a telescopic arm comprising a first arm and a second arm, wherein the second arm is movably connected to the first arm, the second arm being telescopically movable relative to the first arm; and a temporary storage tray mounted to the first arm and configured to temporarily store the container, the temporary storage tray being configured to extend or retract relative to the first arm, wherein an extending direction of the temporary storage tray is consistent with an extending direction of the second arm; wherein the telescopic arm is configured to push the temporary storage tray so as to cause the temporary storage tray to retract relative to the first arm.

2 . The fork according to claim 1 , wherein the temporary storage tray is provided with a rib;
wherein the telescopic arm is configured to push the rib of the temporary storage tray when the telescopic arm is in a state where the telescopic arm is in a process of retracting, so as to cause the temporary storage tray to retract relative to the first arm.

3 . The fork according to claim 1 , wherein the temporary storage tray is provided with a rib;
wherein the second arm is configured to abut against the rib so as to cause the temporary storage tray to retract relative to the first arm when the second arm is in a state where the second arm is in a process of retracting relative to the first arm.

4 . The fork according to claim 1 , wherein the temporary storage tray is provided with a rib;
wherein the telescopic arm is provided with a plate, the plate being configured to abut against the rib so as to cause the temporary storage tray to retract relative to the first arm.

5 . The fork according to claim 1 , wherein the telescopic arm further comprises:
a movable pusher mounted to the second arm and configured to fold or unfold relative to the second arm, the movable pusher being configured to pull the container to the temporary storage tray; and a fixed pusher mounted to the second arm, the fixed pusher being configured to push the container away from the temporary storage tray; wherein the temporary storage tray is provided with a rib; wherein the fixed pusher is further configured to abut against the rib so as to cause the temporary storage tray to retract relative to the first arm when the second arm is in a state where the second arm is in a process of retracting relative to the first arm.

6 . The fork according to claim 1 , wherein the first arm comprises:
an underframe; and a side wall connected to the underframe; wherein the second arm is mounted to the side wall, and the temporary storage tray is at least partially mounted to the underframe.

7 . The fork according to claim 1 , wherein the second arm comprises:
a first arm section mounted to the first arm and provided with a connecting plate, the first arm section being telescopically movable relative to the first arm; and a second arm section mounted to the first arm section, the second arm section being telescopically movable relative to the first arm section; wherein the telescopic arm further comprises a driving assembly configured to drive the first arm section to move relative to the first arm by using the connecting plate.

8 . The fork according to claim 7 , wherein the driving assembly comprises a chain wheel mechanism and a driving member;
wherein the connecting plate is fixedly connected to a link chain of the chain wheel mechanism, the chain wheel mechanism being configured to drive the first arm section to move relative to the first arm by using the connecting plate.

9 . The fork according to claim 7 , wherein the driving assembly comprises a pulley mechanism and a driving member;
wherein the pulley mechanism is configured to drive the first arm section to move relative to the first arm by using the connecting plate.

10 . The fork according to claim 7 , wherein the temporary storage tray is provided with a rib;
wherein the connecting plate is configured to abut against the rib so as to enable the temporary storage tray to retract with the second arm relative to the first arm.

11 . A fork configured to transfer a container, the fork comprising:
a telescopic arm comprising a first arm and a second arm, wherein the second arm is movably connected to the first arm, the second arm being telescopically movable relative to the first arm; a temporary storage tray mounted to the first arm and configured to temporarily store the container, the temporary storage tray being configured to extend or retract relative to the first arm, wherein an extending direction of the temporary storage tray is consistent with an extending direction of the second arm; and an elastic piece configured to push or pull the temporary storage tray with an elastic force so as to cause the temporary storage tray to extend relative to the first arm.

12 . The fork according to claim 11 , wherein the elastic piece comprises a spring.

13 . The fork according to claim 12 , wherein the spring is a compression spring or a tension spring.

14 . The fork according to claim 11 , wherein the telescopic arm is configured to push the temporary storage tray when the telescopic arm is in a state where the telescopic arm is in a process of retracting, so as to cause the temporary storage tray to retract relative to the first arm.

15 . The fork according to claim 11 , wherein the temporary storage tray is provided with a rib;
wherein the second arm is configured to abut against the rib of the temporary storage tray so as to cause the temporary storage tray to retract relative to the first arm when the second arm is in a state where the second arm is in a process of retracting.

16 . The fork according to claim 11 , wherein an end of the temporary storage tray is closer to a stationary rack when the temporary storage tray is in a state where the temporary storage tray is extended relative to the first arm.

17 . The fork according to claim 11 , wherein the first arm comprises:
an underframe; and a side wall connected to the underframe; wherein the second arm is mounted to the side wall, and the temporary storage tray is directly or indirectly mounted to the underframe.

18 . The fork according to claim 11 , wherein an end of the elastic piece is coupled to the first arm and another end of the elastic piece is coupled to the temporary storage tray.

19 . A method for controlling a fork to transfer a container, the fork comprising:
a telescopic arm comprising a first arm, a second arm, a pusher assembly and a driving assembly, wherein the second arm is movably connected to the first arm, the second arm being telescopically movable relative to the first arm with an action of the driving assembly, the pusher assembly being mounted to the second arm and configured to push or pull the container; and a temporary storage tray connected to the first arm and configured to temporarily store the container, the temporary storage tray being configured to extend or retract relative to the first arm, wherein an extending direction of the temporary storage tray is consistent with an extending direction of the second arm; wherein the method comprises:
extending, by the second arm, relative to the first arm with the action of the driving assembly;
pushing, by the pusher assembly, the container away from the temporary storage tray;
in response to extension of the second arm, pushing or pulling the temporary storage tray with an el

Assignees

• Hai Robotics Co Ltd

Inventors

• Zhan Qingxin

Classifications

• B65G1/0435 Primary

  with pulling or pushing means on either stacking crane or stacking area · CPC title

• B65G1/0421 Primary

  with control for stacker crane operations · CPC title

• B66F9/149

  Whole unit including fork support rotates · CPC title

• B66F9/141

  with shuttle-type movement · CPC title

• B66F9/195

  for pushing the load · CPC title