Fork and carrying robot

Patent metadata

Field	Value
Publication number	US-12054339-B2
Application number	US-202318183542-A
Country	US
Kind code	B2
Filing date	Mar 14, 2023
Priority date	Sep 17, 2019
Publication date	Aug 6, 2024
Grant date	Aug 6, 2024

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, comprising:
a telescopic arm comprising a first arm, a second arm 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;
a temporary storage tray mounted to the first arm and configured to temporarily store the container, wherein the temporary storage tray is further configured to extend or retract relative to the first arm; and
a spring configured to push or pull the temporary storage tray so as to cause the temporary storage tray to extend relative to the first arm;
wherein the second arm is provided with a connecting plate, the driving assembly being configured to drive the second arm to move relative to the first arm by using the connecting plate.

2. The fork according to claim 1 , wherein the driving assembly comprises a chain wheel mechanism and a motor, the chain wheel mechanism comprising a chain wheel and a link chain, the motor being configured to drive the chain wheel to rotate;
wherein the connecting plate is fixedly connected to the link chain of the chain wheel mechanism, the chain wheel mechanism being configured to drive the second arm to move relative to the first arm by using the connecting plate.

3. The fork according to claim 1 , wherein the driving assembly comprises a pulley mechanism and a driving member;
wherein the connecting plate is fixedly connected to the pulley mechanism, the pulley mechanism being configured to drive the second arm to move relative to the first arm by using the connecting plate.

4. The fork according to claim 1 , 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 relative to the first arm.

5. 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 mounted to the underframe.

6. The fork according to claim 1 , 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.

7. The fork according to claim 6 , 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 so as to cause the temporary storage tray to retract relative to the first arm.

8. 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.

9. The fork according to claim 1 , wherein an end of the spring is mounted to the first arm, and another end of the spring is mounted to the temporary storage tray.

10. The fork according to claim 1 , wherein the spring is a compression spring.

11. The fork according to claim 1 , wherein the spring is a tension spring.

12. The fork according to claim 1 , further comprising a sliding block and a guide rod;
wherein one of the sliding block and the guide rod is sleeved on another of the sliding block and the guide rod;
wherein the spring is configured to cause the temporary storage tray to slide together with one of the sliding block and the guide rod.

13. A handling device comprising a fork configured to transfer a container, the fork comprising:
an underframe;
a temporary storage tray mounted to the underframe and configured to temporarily store the container, wherein the temporary storage tray is further configured to extend or retract relative to the underframe; 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 underframe.

14. The handling device according to claim 13 , wherein the elastic piece is a spring.

15. The handling device according to claim 14 , wherein the spring comprises a tension spring or a compression spring.

16. The handling device according to claim 14 , wherein a first end of the spring is mounted to the underframe, and a second end of the spring is mounted to the temporary storage tray.

17. The handling device according to claim 14 , wherein the fork further comprises an arm directly or indirectly coupled to the underframe, the arm being configured to telescopically move relative to the underframe;
wherein the arm is configured to cause the temporary storage tray to retract when the arm is in a state where the arm is in a process of retracting relative to the underframe.

18. The handling device according to claim 17 , wherein the temporary storage tray is provided with a rib;
wherein the arm is configured to engage with the rib so as to cause the temporary storage tray to retract relative to the underframe.

19. The handling device according to claim 14 , wherein the fork further comprises a side wall mounted to the underframe and an arm mounted to the side wall;
wherein the arm is configured to telescopically move relative to the side wall.

20. The handling device according to claim 13 , further comprising a liftable fork bracket;
wherein the fork is mounted to the fork bracket, and the fork is configured to rotate around a vertical direction relative to the fork bracket.

Assignees

• Hai Robotics Co Ltd

Inventors

• Zhan Qingxin

Classifications

• B66F9/195

  for pushing the load · CPC title

• B66F9/149

  Whole unit including fork support rotates · CPC title

• B65G1/0421 Primary

  with control for stacker crane operations · CPC title

• B66F9/141

  with shuttle-type movement · CPC title

• B65G1/0435 Primary

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