The invention discloses a pallet fork adjusting system of an intelligent transfer robot. The pallet fork adjusting system comprises a pallet fork frame, a pallet fork and a machine vision system. The pallet fork is connected with the pallet fork frame, the machine vision system is installed on the pallet fork frame and synchronously moves along with the pallet fork, the machine vision system is used for collecting 3D images of fork holes of goods with random heights and calculating the height and horizontal deviation of the fork holes, the pallet fork frame comprises a first cross beam and a second cross beam, and the pallet fork comprises a hanging tool, a vertical rod and a fork rod. The hanging tool is hung on the first cross beam and can rotate and move in the radial direction relative to the center line of the first cross beam, the vertical rod abuts against the second cross beam, the pallet fork frame is connected with the pallet fork through the driving system, and the driving system enables the pallet fork to float relative to the pallet fork frame through the first elastic piece, the second elastic piece and the third elastic piece. And meanwhile, the first driver, the second driver and the third driver are used for adjusting the vertical pitching angle and the left-right swinging angle of the pallet fork, so that the pallet fork can be accurately aligned with the fork hole.
本发明公开了提供一种智能搬运机器人的货叉调整系统,包括:货叉架、货叉和机器视觉系统;货叉与货叉架连接,机器视觉系统安装在货叉架上,并且伴随货叉同步移动,机器视觉系统用于采集随机高度货物的叉孔的3D图像并且计算叉孔的高度和水平偏移,货叉架包括第一横梁和第二横梁,货叉包括挂具、立杆和叉杆,挂具挂载在第一横梁上,挂具能够相对于第一横梁的中心线转动和径向移动,立杆与第二横梁抵靠,货叉架通过驱动系统连接货叉,驱动系统通过第一弹性件、第二弹性件和第三弹性件使得货叉相对于货叉架浮起,同时使用第一驱动器、第二驱动器和第三驱动器调整货叉的上下俯仰和左右摆动角度,使得货叉能够精确地对齐叉孔。
Pallet fork adjusting system of intelligent transfer robot
一种智能搬运机器人的货叉调整系统
2024-02-20
Patent
Electronic Resource
Chinese
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 |