CN120057816B

CN120057816B - AMR-based self-adaptive fork mechanical structure and field tray transfer robot

Info

Publication number: CN120057816B
Application number: CN202510549529.7A
Authority: CN
Inventors: 姚海进
Original assignee: Suzhou Aiten Intelligent Technology Co ltd
Current assignee: Suzhou Aiten Intelligent Technology Co ltd
Priority date: 2025-04-29
Filing date: 2025-04-29
Publication date: 2025-07-22
Anticipated expiration: 2045-04-29
Also published as: CN120057816A

Abstract

The present application discloses an adaptive fork-picking mechanical structure based on AMR and a pallet handling robot, and relates to the technical field of handling robots. An adaptive fork-picking mechanical structure based on AMR includes a plate body, a translation device is installed on the plate body, a fork is installed on the translation device, and a lifting device is installed on the fork; the lifting device includes a mounting shell installed on the fork, the mounting shell is rotatably connected to a rotating shaft, the rotating shaft is connected to a driving mechanism, the rotating shaft is also transmission-connected to a first sliding member and a second sliding member, the first sliding member and the second sliding member are jointly connected to a scissor mechanism, the scissor mechanism is connected to a base for contacting the ground, and the driving mechanism is used to drive the first sliding member and the second sliding member to move in opposite directions through the rotating shaft, thereby driving the base to move away from or close to the fork vertically through the scissor mechanism; the bottom end of the base is rotatably connected to a rolling member. The present application can stably carry goods.

Description

AMR-based self-adaptive fork mechanical structure and field tray transfer robot

Technical Field

The application relates to the technical field of transfer robots, in particular to an AMR-based self-adaptive forking mechanical structure and a field tray transfer robot.

Background

In the field of modern logistics storage, along with the continuous promotion of automation and intelligent degree, an Autonomous Mobile Robot (AMR) gradually becomes key equipment for realizing logistics transportation automation by virtue of the advantages of high flexibility, convenient deployment and the like, and Tian Zituo discs are unit container widely applied to links such as logistics transportation, storage management and the like, and are structurally characterized in that the bottoms of the unit container are fork openings distributed in a shape like a Chinese character 'tian', so that stable bearing and stacking functions can be provided for goods.

Currently, autonomous mobile robots generally include at least a body, a drive unit capable of moving the body, and a fork-taking mechanical structure capable of fork-lifting Tian Zituo discs and placing them on the body. Specifically, the fork mechanical structure comprises a fork rod, the fork rod can be inserted into a fork opening of the field tray and supports the Tian Zituo tray so as to drive the Tian Zituo tray to move, and the fork rod has two functions of reciprocating translation and lifting.

In view of the above related art, the inventor considers that there is a disadvantage in that, in terms of transportation stability, if the load carried by the Tian Zituo trays is heavy and the center of gravity deviates from the center position of the field tray, the Tian Zituo trays may shake or even topple during the process of being lifted by the fork bars, which may cause the failure of transporting the load.

Disclosure of Invention

In order to stably carry cargoes, the application provides an AMR-based self-adaptive fork mechanical structure and a field tray carrying robot.

The application provides an AMR-based self-adaptive forking mechanical structure, which adopts the following technical scheme:

an AMR-based self-adaptive fork taking mechanical structure comprises a plate body, wherein a translation device is arranged on the plate body, a fork is arranged on the translation device, and a lifting device is arranged on the fork;

The translation device comprises a slow translation mechanism arranged on the plate body, the slow translation mechanism is vertically and slidably connected with a frame body, the frame body is connected with a fast translation mechanism, the fast translation mechanism is connected with an angle modulation mechanism, and the fork is connected with the angle modulation mechanism;

The lifting device comprises a mounting shell arranged on a fork, the mounting shell is rotationally connected with a rotating shaft, the rotating shaft is connected with a driving mechanism, the rotating shaft is also in transmission connection with a first sliding piece and a second sliding piece, the first sliding piece and the second sliding piece are jointly connected with a fork shearing mechanism, the fork shearing mechanism is connected with a base which is used for abutting against the ground, the driving mechanism is used for driving the first sliding piece and the second sliding piece to move in opposite directions through the rotating shaft, the base is driven to vertically move away from or approach the fork through the fork shearing mechanism, and the bottom end of the base is rotationally connected with a rolling piece.

Through the technical scheme, after the autonomous mobile robot moves to one side of the goods, the slow translation mechanism is utilized to drive the fork to be inserted into the jack of the Chinese character 'tian' type tray, then the driving mechanism is driven to drive the rotating shaft to rotate so as to drive the first sliding part and the second sliding part to move in opposite directions, at the moment, under the action of the shearing mechanism, the base can be far away from the fork in the vertical direction, the base can be abutted against the ground to lift the goods, then the slow translation mechanism is driven to drive the fork to move and reset so as to drive the goods to move towards the autonomous mobile robot, in the goods moving process, the rolling part can roll so as to facilitate the movement of the goods, the goods can reach the upper part of the autonomous mobile robot, and then the driving mechanism is driven again to drive the base to reset so that the goods are placed on the autonomous mobile robot. In the scheme, the movement of the goods is supported by the shearing fork mechanism and the base, so that the movement of the goods is stable.

Preferably, the scissor mechanism comprises a first linkage arm connected to the first sliding part and a second linkage arm connected to the second sliding part, wherein the first linkage arm and the second linkage arm are arranged in a crossing mode and are hinged to each other at a crossing position, the lower end of the first linkage arm is further hinged to a third linkage arm, the lower end of the second linkage arm is further hinged to a fourth linkage arm, and the lower ends of the third linkage arm and the fourth linkage arm are hinged to the base.

Through adopting above-mentioned technical scheme, when driving the mechanism and driving first slider and second slider towards opposite direction motion, under the effect of first link arm, second link arm, third link arm and fourth link arm, the base can be towards keeping away from or be close to fork direction removal.

Preferably, the first sliding piece comprises a sliding sleeve, the sliding sleeve is in threaded connection with the rotating shaft, a sliding column is connected to the sliding sleeve, a sliding groove is formed in the mounting shell, and the sliding column is connected to the sliding groove in a sliding mode.

Preferably, the quick translation mechanism comprises a first pipe body connected to the frame body, the inner wall of the first pipe body is connected with a second pipe body in a sliding manner, the inner wall of the second pipe body is connected with a third pipe body in a sliding manner, a rotating gear is connected to the second pipe body in a rotating manner, a first rack is fixedly connected to the first pipe body and meshed with the rotating gear, a second rack is fixedly connected to the third pipe body and meshed with the rotating gear, the first rack and the second rack are respectively located on two sides of the rotating gear, the rotating gear is connected with a rotating member, and the angle adjusting mechanism is connected to the third pipe body.

Through adopting above-mentioned technical scheme, thereby drive give to change the piece and drive the rotation gear and rotate and make the rotation gear remove for first rack and second rack remove for the rotation gear, second body removes with respect to first body and third body removes simultaneously, and this kind of multilevel structure can make the fork by fast moving. In addition, the multi-stage structure enables the forks to be extended to a remote location to meet different fork requirements.

Preferably, the first pipe body comprises a containing pipe section and a mounting pipe section, the mounting pipe section is connected to one end of the containing pipe section, which is close to the fork, the second pipe body comprises a complete pipe section and a incomplete pipe section, the complete pipe section is connected to one end of the incomplete pipe section, which is close to the fork, the third pipe section has a first limit position and a second limit position relative to the first pipe section, the second limit position is located on one side, away from the plate body, of the first limit position, and when the third pipe section is located in the first limit position, the second rack and the incomplete pipe section are located in the containing pipe section.

Preferably, the incomplete pipe section is provided with a limiting groove, the first pipe body is provided with a limiting groove, the limiting groove is connected with the limiting groove in a sliding mode, and the limiting groove can limit the movement stroke of the limiting groove so as to limit the movement stroke of the second pipe body.

By adopting the technical scheme, the sliding fit of the limiting groove and the limiting column enables the movement of the second pipe body to be guided and the movement stroke to be limited.

Preferably, the angle adjusting mechanism comprises a first mounting pipe connected to the rapid translation mechanism, a reciprocating feeding assembly is mounted on the first mounting pipe, an arc plate is connected to the outer wall of the first mounting pipe in a sliding mode, the reciprocating feeding assembly is connected with the arc plate, a second mounting pipe is connected to the first mounting pipe in a rotating mode, a sliding head is arranged on the inner wall of the second mounting pipe, a spiral groove is formed in the outer wall of the arc plate, the sliding head is connected to the spiral groove in a sliding mode, and the fork is connected to the second mounting pipe.

Through adopting above-mentioned technical scheme, drive reciprocal subassembly that gives can drive the arc and slide on an outer wall of installation pipe, at this moment under the sliding fit effect of slip head and helicla flute, installation pipe two can rotate for installation one, based on this, can make the fork rotate.

Preferably, the rolling element is a roller.

Preferably, the end of the fork far away from the plate body is provided with a cone part.

By adopting the technical scheme, the cone part can be conveniently inserted into the fork opening of the Chinese character 'tian' shaped tray.

The application also discloses a field-shaped tray carrying robot which comprises the AMR-based self-adaptive forking mechanical structure.

In summary, the present invention includes at least one of the following beneficial technical effects:

1. The automatic moving robot moves to one side of the goods, the slow moving mechanism is utilized to drive the fork to be inserted into the jack of the field tray, then the driving and rotating mechanism is driven to drive the rotating shaft to rotate so as to drive the first sliding part and the second sliding part to move in opposite directions, at the moment, under the action of the shearing fork mechanism, the base is far away from the fork in the vertical direction, the base can be abutted against the ground to lift the goods, then the slow moving mechanism is driven to drive the fork to move and reset so as to drive the goods to move towards the automatic moving robot, in the moving process of the goods, the rolling part rolls so as to facilitate the movement of the goods, the goods can reach the upper side of the automatic moving robot, and then the driving and rotating mechanism is driven again to drive the base to reset so that the goods are placed on the automatic moving robot. In the scheme, as the movement of the goods is supported by the shearing fork mechanism and the base, the movement of the goods is stable;

2. The application can drive the fork to translate rapidly and extend to a far position, and can drive the fork to rotate. The fork is driven to move rapidly, the rotary piece is driven to drive the rotary gear to rotate, so that the rotary gear moves relative to the first rack and the second rack moves relative to the rotary gear, namely the second pipe moves relative to the first pipe and the third pipe moves relative to the second pipe, the fork can move rapidly along with the third pipe, and the fork is driven to move rapidly, namely the reciprocating feeding assembly is driven to drive the arc plate to slide on the outer wall of the mounting pipe, and at the moment, the mounting pipe II rotates relative to the mounting pipe II under the sliding fit effect of the sliding head and the spiral groove, and the fork can rotate along with the mounting pipe II.

Drawings

FIG. 1 is a schematic diagram of a tray in the shape of a Chinese character 'Tian';

FIG. 2 is a schematic diagram of an AMR-based adaptive fork mechanism in accordance with an embodiment of the present application;

FIG. 3 is a cross-sectional view for embodying a translation device;

FIG. 4 is an enlarged view of portion A of FIG. 2;

FIG. 5 is an enlarged view of portion B of FIG. 3;

FIG. 6 is an exploded view for embodying a first tube, a second tube, and a third tube;

FIG. 7 is a cross-sectional view for embodying the recliner mechanism;

FIG. 8 is a schematic view of a structure for embodying an arcuate plate;

FIG. 9 is a cross-sectional view for embodying a second mounting tube;

FIG. 10 is a schematic view of a structure for embodying a lifting device;

FIG. 11 is a schematic diagram of a structure for embodying a scissor mechanism;

fig. 12 is a schematic view of a structure for embodying a robot body.

The reference numerals in the drawings:

a. Tian Zituo discs, a1, fork openings, a2, a groove body, b, a robot body, b1, a containing area;

1. Plate body, 2, translation device, 21, slow translation mechanism, 211, synchronous drive mechanism, 2111, block body, 2112, column body, 22, frame body, 221, guide slot, 23, quick translation mechanism, 231, first pipe body, 2311, containing pipe section, 23111, limit slot, 2312, mounting pipe section, 232, second pipe body, 2321, complete pipe section, 2322, incomplete pipe section, 23221, limit column, 233, third pipe body, 234, rotating gear, 235, first rack, 236, second rack, 24, angle adjusting mechanism, 241, mounting pipe one, 2411, guide slot, 242, reciprocating assembly, 243, arc plate, 2431, spiral slot, 244, mounting pipe two, 245, sliding head, 3, fork, 4, cone portion, 5, lifting device, 51, mounting shell, 511, sliding slot, 52, rotating shaft, 53, driving mechanism, 541, first sliding piece, sliding sleeve, 542, sliding column, 55, second sliding piece, 56, first fork, 56, first movable arm, 564, second movable arm, 564, movable arm, and movable arm.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

The embodiment of the application discloses an AMR-based self-adaptive forking mechanical structure. For stably carrying goods. Referring to fig. 1, in particular, the present application is based on carrying Tian Zituo a pallet a, wherein Tian Zituo pallet a includes two fork openings a1 extending transversely therethrough and a bottom slot a2, the slot a2 extending upwardly into communication with the fork openings a 1.

Referring to fig. 1 and 2, an AMR-based adaptive fork-taking mechanical structure and a pallet transfer robot includes a board body 1 for being mounted on an autonomous mobile robot, a translation device 2 is mounted on the board body 1, a fork 3 is mounted on the translation device 2, a cone 4 is provided at the right end of the fork 3, and a lifting device 5 is mounted on the fork 3.

After the AMR-based self-adaptive fork taking mechanical structure is installed on the autonomous mobile robot, the autonomous mobile robot is driven to move to the field-shaped tray a, namely, one side of a cargo, then the translation mechanism is utilized to drive the fork 3 to translate and insert into the fork opening a1, the field-shaped tray a is lifted by the lifting device 5, then the translation mechanism is driven to drive the fork 3 to reset, so that Tian Zituo trays a, namely, the cargo, arrive above the autonomous mobile robot, and finally, the lifting device 5 is driven again to descend the field-shaped tray a, so that the Tian Zituo trays a are placed on the autonomous mobile robot.

Referring to fig. 2 and 3, the translation device 2 includes a slow translation mechanism 21 mounted on the board 1, the slow translation mechanism 21 is vertically slidably connected with a frame 22, the frame 22 is connected with a fast translation mechanism 23, the fast translation mechanism 23 is connected with an angle modulation mechanism 24, and the fork 3 is connected with the angle modulation mechanism 24.

Referring to fig. 2 and 4, the slow translation mechanism 21 is preferably a synchronous driving transmission mechanism 211 in the present embodiment, and the specific structure of the synchronous driving transmission mechanism 211 is the prior art, so that details are not repeated herein, the frame 22 is slidably connected to the synchronous driving transmission mechanism 211, specifically, the synchronous belt transmission mechanism includes a block 2111 connected to a synchronous belt, a cylinder 2112 is connected to the block 2111, a guide groove 221 disposed along the vertical direction is formed on the frame 22, the cylinder 2112 is slidably connected to the guide groove 2411, under the action of gravity, the cylinder 2112 abuts against a notch on the guide groove 2411 when the lifting device 5 is started to lift the fork 3, and fig. 4 is a schematic structural diagram of the lifted fork 3.

Referring to fig. 2 and 5, the fast translation mechanism 23 includes a first pipe body 231 connected to the frame 22, a second pipe body 232 is slidably connected to an inner wall of the first pipe body 231, a third pipe body 233 is slidably connected to an inner wall of the second pipe body 232, the first pipe body 231, the second pipe body 232 and the third pipe body 233 are square pipes, a rotating gear 234 is rotatably connected to the second pipe body 232, a first rack 235 is fixedly connected to the first pipe body 231 and meshed with the rotating gear 234, the first rack 235 is transversely arranged, a second rack 236 is fixedly connected to the third pipe body 233 and meshed with the rotating gear 234, the second rack 236 is also transversely arranged, the first rack 235 and the second rack 236 are respectively located on the upper side and the lower side of the rotating gear 234, the rotating gear 234 is connected with a rotating member, preferably a motor, and the angle adjusting mechanism 24 is connected to the third pipe body 233.

Referring to fig. 5 and 6, in detail, the first pipe body 231 includes a receiving pipe section 2311 and a mounting pipe section 2312, the mounting pipe section 2312 is connected to the right end of the receiving pipe section 2311, the second pipe body 232 includes a full pipe section 2321 and a defective pipe section 2322, the full pipe section 2321 is connected to the right end of the defective pipe section 2322, the third pipe body 233 has a first limit position and a second limit position with respect to the first pipe body 231, the second limit position is located on the right side of the first limit position, and when the third pipe body 233 is located at the first limit position, both the second rack 236 and the defective pipe section 2322 are located in the receiving pipe section 2311, and at this time, the right end of the third pipe body 233 slightly protrudes from the first pipe body 231. Fig. 5 is a schematic view of the third pipe 233 in the first limit position.

Referring to fig. 6, in order to prevent the second pipe body 232 from moving over and guide the movement of the second pipe body 232, the defective pipe section 2322 has a defining post 23221, the first pipe body 231 is opened with a defining groove 23111, the defining groove 23111 is laterally disposed, the defining post 23221 is slidably connected to the defining groove 23111, and the defining groove 23111 can define a movement stroke of the defining post 23221 to define a movement stroke of the second pipe body 232.

The driving rotation feeding member drives the rotation gear 234 to rotate, so that the rotation gear 234 moves relative to the first rack 235 and the second rack 236 moves relative to the rotation gear 234, that is, the second pipe 232 moves relative to the first pipe 231 and the third pipe 233 moves relative to the second pipe 232, and the movement of the third pipe 233 drives the angle adjusting mechanism 24 to move, so that the fork 3 is driven to move.

The use of the multi-stage structure described above enables the forks 3 to be moved rapidly and the forks 3 to be extended to a far position. Typically, the fast translation mechanism 23 will not be activated, and only when the autonomous mobile robot cannot move to a position close to the pan tray a, the slow translation mechanism 21 and the fast translation mechanism 23 are activated simultaneously by control to meet the requirement of carrying the Tian Zituo tray a, i.e. the goods, at a remote position.

Referring to fig. 6 and 7, the angle adjusting mechanism 24 includes a first mounting tube 241 connected to the third tube 233, the first mounting tube 241 is provided with a reciprocating feeding assembly 242, an outer wall of the first mounting tube 241 is slidably connected with an arc plate 243, the reciprocating feeding assembly 242 is connected with the arc plate 243, specifically, the reciprocating feeding assembly 242 is a screw driving mechanism, the arc plate 243 is connected to an output end of the screw driving mechanism, the first mounting tube 241 includes a guide groove 2411 with a transverse outer wall, and the arc plate 243 is slidably connected to the guide groove 2411. Driving the reciprocating assembly 242 can drive the arcuate plate 243 to move left and right along the guide groove 2411.

Referring to fig. 7, 8 and 9, the first mounting tube 241 is rotatably connected with the second mounting tube 244, the second mounting tube 244 is square and round, the inner wall of the second mounting tube 244 is provided with a sliding head 245, the outer wall of the arc-shaped plate 243 is provided with a spiral groove 2431, the sliding head 245 is slidably connected with the spiral groove 2431, and the fork 3 is fixedly connected with the second mounting tube 244. Under the cooperation of the sliding head 245 and the spiral groove 2431, the left-right movement of the arc plate 243 drives the second mounting tube 244 to rotate relative to the first mounting tube 241.

The reciprocating feeding component 242 is driven to drive the arc-shaped plate 243 to move left and right so as to drive the second mounting tube 244 to rotate forward and backward relative to the first mounting tube 241.

When Tian Zituo trays a are not placed properly, the fork openings a1 may be inclined to the ground, and in this way, the mounting tube 244 can be driven to rotate by using the structure, so that the fork 3 can rotate to ensure that the fork 3 can be inserted into the fork openings a1 subsequently. Of course, when carrying Tian Zituo tray a, in order to ensure that the goods can not topple, after the fork 3 is rotated and inserted into the fork opening a1, the fork 3 needs to be driven to rotate and reset simultaneously when lifting the fork 3 so as to ensure that the moved field tray a keeps a horizontal state.

It should be noted that, if the speed of the left-right movement of the arcuate plate 243 is unchanged, the pitch angle of the helical groove 2431 will be related to the rotational speed and rotational accuracy of the fork 3, and the smaller the pitch angle is, the longer the helical groove 2431 will be, the slower the rotational speed of the fork 3 will be, but the higher the accuracy will be.

Referring to fig. 10, the lifting device 5 includes two mounting shells 51, and referring to fig. 2, the two mounting shells 51 are transversely arranged and mounted on the fork 3, the fork 3 is hollow and has a downward opening, the two mounting shells 51 are jointly connected with a rotation shaft 52 in a rotation manner, the rotation shaft 52 is connected with a rotation driving mechanism 53, the rotation driving mechanism 53 is preferably a gear motor, the rotation shaft 52 can drive the rotation shaft 52 to rotate, the rotation shaft 52 is correspondingly connected with a first sliding piece 54 and a second sliding piece 55 in a transmission manner to each mounting shell 51, one first sliding piece 54 and one second sliding piece 55 are jointly connected with a fork shearing mechanism 56, the fork shearing mechanism 56 is connected with a base 57 for abutting against the ground, the rotation driving mechanism 53 is used for driving the first sliding piece 54 and the second sliding piece 55 to move in opposite directions through the rotation shaft 52 so as to drive the base 57 to vertically separate from or approach the fork 3, referring to fig. 11, the bottom end of the base 57 is rotationally connected with a rolling piece 58, and the rolling piece 58 is preferably a roller.

Referring to fig. 11, specifically, the first slider 54 has the same structure as the second slider 55, and the first slider 54 is exemplified by the structure of the first slider 54, in which the first slider 54 includes a sliding sleeve 541, the sliding sleeve 541 is in threaded connection with the rotating shaft 52, a sliding column 542 is connected to the sliding sleeve 541, a sliding groove 511 is formed in the mounting shell 51, the sliding groove 511 is disposed transversely, and the sliding column 542 is slidably connected to the sliding groove 511.

Referring to fig. 11, the scissor mechanism 56 includes a first link arm 561 coupled to the first slider 54 and a second link arm 562 coupled to the second slider 55, the first link arm 561 and the second link arm 562 are disposed to cross each other and are hinged at a crossing position, a third link arm 563 is further hinged to a lower end of the first link arm 561, a fourth link arm 564 is further hinged to a lower end of the second link arm 562, and lower ends of the third link arm 563 and the fourth link arm 564 are hinged to the base 57.

After the fork 3 is inserted into the fork opening a1 of the field tray a, the driving and rotating mechanism 53 drives the rotating shaft 52 to rotate so as to drive the first sliding piece 54 and the second sliding piece 55 to move towards opposite directions, at this time, under the action of the fork shearing mechanism 56, the base 57 can move downwards and away from the fork 3, the base 57 can prop up the goods on the ground, then the driving and moving device 2 drives the fork 3 to move and reset so as to drive the goods to move towards the autonomous moving robot, in the goods moving process, the rolling piece 58 can roll so as to facilitate the movement of the goods, the goods can reach the upper part of the autonomous moving robot, and then the driving and rotating mechanism 53 is driven again to drive the base 57 to reset so that the goods are placed on the autonomous moving robot.

The implementation principle of the AMR-based self-adaptive forking mechanical structure in the embodiment of the application is as follows:

After the AMR-based self-adaptive fork taking mechanical structure is installed on the autonomous mobile robot, the autonomous mobile robot is driven to move to the side of the field tray a, then the synchronous belt transmission mechanism is driven to drive the fork 3 to translate and insert into the fork opening a1 in the direction away from the autonomous mobile robot, then the driving rotation mechanism 53 is driven to drive the rotation shaft 52 to rotate so as to drive the first sliding piece 54 and the second sliding piece 55 to move in the opposite direction, at this moment, under the action of the first linkage arm 561, the second linkage arm 562, the third linkage arm 563 and the fourth linkage arm 564, the base 57 can move downwards to be away from the fork 3, at this moment, the base 57 can be abutted against the ground so that the field tray a, namely, the goods are jacked up, along with the upward movement cylinder 2112 of the fork 3, the upward slides in the guide groove 221, then the synchronous belt transmission mechanism is driven to drive the fork 3 to move and reset so as to drive the goods to move towards the autonomous mobile robot, in the goods moving process, the rolling piece 58 can roll so as to help the movement of the goods, at this moment, the goods can finally reach the upper side of the autonomous mobile robot, at this moment, the base 57 can be driven to reset by the base 57 so as to enable the goods to be placed on the base 57 to be retracted.

The application also discloses a field-shaped tray carrying robot, referring to fig. 12, which comprises a robot body b and an AMR-based self-adaptive forking mechanical structure arranged on the robot body b, wherein two accommodating areas b1 for accommodating the AMR-based self-adaptive forking mechanical structure are formed on the robot body b. In addition, in order to stably convey Tian Zituo the pallet a, that is, the cargo, two adaptive fork-taking mechanisms based on AMR are provided.

The embodiments of the present invention are all preferred embodiments of the present invention, and are not limited in scope by the present invention, so that all equivalent changes according to the structure, shape and principle of the present invention are covered by the scope of the present invention.

Claims

1. The AMR-based self-adaptive fork taking mechanical structure is characterized by comprising a plate body (1), wherein a translation device (2) is arranged on the plate body (1), a fork (3) is arranged on the translation device (2), and a lifting device (5) is arranged on the fork (3);

The translation device (2) comprises a slow translation mechanism (21) arranged on the plate body (1), the slow translation mechanism (21) is vertically and slidably connected with a frame body (22), the frame body (22) is connected with a fast translation mechanism (23), the fast translation mechanism (23) is connected with an angle modulation mechanism (24), and the fork (3) is connected with the angle modulation mechanism (24);

The lifting device (5) comprises a mounting shell (51) mounted on a fork (3), the mounting shell (51) is rotationally connected with a rotating shaft (52), the rotating shaft (52) is connected with a driving mechanism (53), the rotating shaft (52) is also in transmission connection with a first sliding piece (54) and a second sliding piece (55), the first sliding piece (54) and the second sliding piece (55) are jointly connected with a shearing fork mechanism (56), the shearing fork mechanism (56) is connected with a base (57) for abutting against the ground, the driving mechanism (53) is used for driving the first sliding piece (54) and the second sliding piece (55) to move in opposite directions through the rotating shaft (52) so as to drive the base (57) to be far away from or close to the fork (3) along the vertical direction through the shearing fork mechanism (56), and the bottom end of the base (57) is rotationally connected with a rolling piece (58);

The angle adjusting mechanism (24) comprises a first mounting tube (241) connected to the quick translation mechanism (23), a reciprocating feeding assembly (242) is mounted on the first mounting tube (241), an arc plate (243) is slidably connected to the outer wall of the first mounting tube (241), the reciprocating feeding assembly (242) is connected with the arc plate (243), a second mounting tube (244) is rotatably connected to the first mounting tube (241), a sliding head (245) is arranged on the inner wall of the second mounting tube (244), a spiral groove (2431) is formed in the outer wall of the arc plate (243), the sliding head (245) is slidably connected to the spiral groove (2431), and the fork (3) is connected to the second mounting tube (244).

2. The AMR-based adaptive fork-taking mechanical structure as recited in claim 1, wherein the scissors mechanism (56) comprises a first linkage arm (561) connected to the first slider (54) and a second linkage arm (562) connected to the second slider (55), the first linkage arm (561) and the second linkage arm (562) are disposed in a crossing manner and are hinged at a crossing position, a third linkage arm (563) is further hinged at a lower end of the first linkage arm (561), a fourth linkage arm (564) is further hinged at a lower end of the second linkage arm (562), and the lower ends of the third linkage arm (563) and the fourth linkage arm (564) are hinged at the base (57).

3. The AMR-based adaptive fork mechanism of claim 1, wherein the first slider (54) comprises a sliding sleeve (541), the sliding sleeve (541) is in threaded connection with the rotating shaft (52), a sliding column (542) is connected to the sliding sleeve (541), a sliding groove (511) is formed in the mounting case (51), and the sliding column (542) is slidably connected to the sliding groove (511).

4. The AMR-based adaptive fork-taking mechanical structure of claim 1, wherein the fast translation mechanism (23) comprises a first pipe body (231) connected to the frame body (22), a second pipe body (232) is connected to the inner wall of the first pipe body (231) in a sliding manner, a third pipe body (233) is connected to the inner wall of the second pipe body (232) in a sliding manner, a rotating gear (234) is connected to the second pipe body (232) in a rotating manner, a first rack (235) is fixedly connected to the first pipe body (231) and meshed with the rotating gear (234), a second rack (236) is fixedly connected to the third pipe body (233) and meshed with the rotating gear (234), the first rack (235) and the second rack (236) are respectively located on two sides of the rotating gear (234), the rotating gear (234) is connected with a rotating member, and the angle adjusting mechanism (24) is connected to the third pipe body (233).

5. The adaptive fork-lift mechanism based on AMR of claim 4, wherein the first tube body (231) comprises a containing tube section (2311) and a mounting tube section (2312), the mounting tube section (2312) is connected to one end of the containing tube section (2311) close to the fork (3), the second tube body (232) comprises a complete tube section (2321) and a incomplete tube section (2322), the complete tube section (2321) is connected to one end of the incomplete tube section (2322) close to the fork (3), the third tube body (233) has a first limit position and a second limit position relative to the first tube body (231), the second limit position is located on one side of the first limit position away from the plate body (1), and the second rack (236) and the incomplete tube section (2322) are located in the containing tube section (2311) when the third tube body (233) is located in the first limit position.

6. The AMR-based adaptive fork-lift mechanism of claim 5 wherein said defective tubular segment (2322) has a defining post (23221), said first tubular body (231) has a defining slot (23111) formed therein, said defining post (23221) is slidably coupled to said defining slot (23111), said defining slot (23111) being capable of defining a movement path of said defining post (23221) and thereby defining a movement path of said second tubular body (232).

7. The AMR-based adaptive fork mechanism as recited in claim 1, wherein said rolling member (58) is a roller.

8. AMR-based adaptive fork-taking mechanism according to claim 1, characterized in that the end of the fork (3) remote from the plate body (1) has a taper (4).

9. A field tray transfer robot, comprising an AMR-based adaptive fork-lift mechanism as set forth in any one of claims 1-8.