The invention provides a cantilever type fork tooth carrying robot and a cargo loading method thereof.The robot comprises a pallet fork assembly, a cantilever mechanism, a steering wheel device, a structural frame and a controller, and the steering wheel device, the cantilever mechanism and the pallet fork assembly are sequentially connected to the front portion, the middle portion and the rear portion of the structural frame respectively; the pallet fork assembly comprises a lifter, a pallet fork unit, a roller unit and a connecting rod mechanism, the lifter drives the connecting rod mechanism and drives the roller unit to ascend/descend along with the pallet fork unit to be retracted/released at the fork teeth, the cantilever mechanism comprises a lifter and an auxiliary wheel unit, the lifter is connected with the structural frame, the auxiliary wheel unit is connected with the lifting end of the lifter, and the auxiliary wheel unit is connected with the lifting end of the lifter. The controller is in control connection with the lifter and the lifter so as to drive the rolling wheel unit and the auxiliary wheel unit, and in the ascending/descending process of the pallet fork unit, at least one of the rolling wheel unit and the auxiliary wheel unit and the steering wheel device are kept landing together for supporting all the time. Therefore, the roller unit and the pallet fork unit are synchronously and integrally linked structurally, and a vehicle body is kept stable.

    本发明提供了一种悬臂式叉齿搬运机器人及其货物装载方法,其中该机器人包括:货叉总成、悬臂机构、舵轮装置、结构架、控制器,所述舵轮装置、悬臂机构、货叉总成分别依序连接在结构架的前、中、后部,所述货叉总成包括:升降器、货叉单元、滚轮单元、连杆机构,所述升降器驱动连杆机构,带动滚轮单元随货叉单元升/降在叉齿处收/放,所述悬臂机构包括:升降机、副轮单元,所述升降机与结构架连接,所述副轮单元与升降机升降端连接,所述控制器分别与升降器、升降机控制连接,以驱使滚轮单元与副轮单元,在货叉单元升/降过程中,始终保持至少其一与舵轮装置一同落地支撑。籍此以支持滚轮单元与货叉单元在结构上同步一体连动,并保持车身平稳。


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    Title :

    Cantilever type fork tooth transfer robot and cargo loading method thereof


    Additional title:

    一种悬臂式叉齿搬运机器人及其货物装载方法


    Contributors:
    LI LI (author) / WANG CONG (author) / YE YANGSHENG (author) / ZHAO YUE (author)

    Publication date :

    2024-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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