Reverse telescopic system and automatic handling equipment

Abstract

The present invention proposes a reverse telescopic system and automatic handling equipment. The reverse telescopic system includes a main body structure (100), a fork arm structure (300), and a slide rail structure (200) connecting the main body structure (100) and the fork arm structure (300); the main body structure (100) includes a main body (110) and a main body driving structure (120) arranged at the bottom of the main body (110), and the slide rail structure (200) is connected to the main body (110); the fork arm structure (300) includes a fork arm main body (310) slidably connected to the slide rail structure (200), and a fork arm driving structure (320) arranged at the bottom of the fork arm main body (310). The solution provided by the present invention can reduce the occupied space, simplify the structure, facilitate installation and movement, and greatly reduce the required power.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a reverse telescopic system and automatic handling equipment. Background Art

[0002] As an automated device, telescopic mechanisms are often used to pick up and store goods. Common telescopic mechanisms on the market include drawer rails, belt telescopic machines, electric push rods / pneumatic push rods / hydraulic push rods, telescopic fork mechanisms, etc. These telescopic mechanisms basically include a fixed main body structure, a fork arm that can be extended to pick up goods, and a connecting rail connecting the two, through which the fork arm can be extended and retracted. Most of these mechanisms are only suitable for light loads, and are not practical for heavy loads or when the extension distance is longer than the fixed part.

[0003] At present, if this mechanism is to be used under heavy load (more than 500kg), the weight of the main structure will be increased during the design, and the rigidity and strength of the main structure will be improved as much as possible to ensure that the main structure will not tip over when the fork arm is extended. If the main structure is not counterweighted enough, other auxiliary means will be used: for example, the main structure is fixed to the ground with anchor bolts, or a diagonal device is added from other places to fix the main structure, etc. This will increase the space occupied by the entire equipment, make the equipment structure complicated, and make it inconvenient to move. At the same time, in order to ensure that the fork arm is retracted smoothly, a high-power motor is also required to pull the entire loaded fork arm back by increasing the torque, which has high requirements for the mechanism and energy.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] Based on this, the present invention provides a reverse telescopic system and automatic handling equipment, which can reduce the occupied space, simplify the structure, facilitate installation and movement, and greatly reduce the required power.

[0006] To achieve the above object, the present invention proposes the following technical solutions:

[0007] A reverse telescopic system comprises a main body structure, a fork arm structure, and a slide rail structure connecting the main body structure and the fork arm structure;

[0008] The body structure includes a body main body and a body driving structure arranged at the bottom of the body main body, and the slide rail structure is connected to the body main body;

[0009] The fork arm structure comprises a fork arm main body slidably connected to the slide rail structure, and a fork arm driving structure arranged at the bottom of the fork arm main body.

[0010] Optionally, the slide rail structure includes a first slide rail, and the first slide rail is arranged on the main body of the body; the fork arm structure includes a first fork arm body slidably connected to the first slide rail, and the fork arm driving structure is arranged at the bottom of the first fork arm body;

[0011] Alternatively, the slide rail structure includes a first slide rail and a second slide rail, the first slide rail is arranged on the main body; the fork arm structure includes a first fork arm body slidably connected to the first slide rail, and a second fork arm body slidably connected to the second slide rail, the second slide rail is arranged on the first fork arm body, and the fork arm driving structure is provided at the bottom of the second fork arm body.

[0012] Optionally, the slide rail structure further includes a third slide rail, and the third slide rail is arranged on the second fork arm body;

[0013] The fork arm structure comprises a third fork arm body slidably connected to the third slide rail, and the fork arm driving structure is arranged at the bottom of the third fork arm body.

[0014] Optionally, the first slide rail is slidably disposed on the main body; or / and,

[0015] The second slide rail is slidably arranged on the first fork arm body.

[0016] Optionally, the reverse telescopic system includes a set of the fork arm structure and a corresponding set of the slide rail structure, and the fork arm structure is slidably connected to the main body through the slide rail structure;

[0017] Alternatively, the reverse telescopic system includes at least two sets of the fork arm structures and at least two sets of the slide rail structures correspondingly arranged, and each set of the fork arm structures is slidably connected to the main body through a set of the slide rail structures.

[0018] Optionally, the reverse telescopic system includes two sets of the fork arm structures arranged side by side, and two sets of the slide rail structures arranged correspondingly, the two sets of the slide rail structures are respectively connected to both sides of the main body, and each set of the fork arm structures is slidably connected to one set of the slide rail structures.

[0019] Optionally, the fork arm driving structure includes at least one group of fork arm driving wheels arranged at the bottom of the fork arm body, and a driving wheel retracting structure connected to the fork arm driving wheels.

[0020] Optionally, the drive wheel retraction structure includes a mounting plate arranged at the bottom of the fork arm body, a swing arm structure rotatably arranged on the mounting plate, and a push-pull rod structure connected between the swing arm structure and the mounting plate, and the fork arm drive wheel is arranged at the end or middle of the swing arm structure.

[0021] Optionally, the body driving structure includes at least two groups of body driving wheels arranged at the bottom of the body.

[0022] Optionally, the fork arm structure further includes a lifting mechanism arranged on the fork arm body.

[0023] In addition, the present invention also provides an automatic handling device, comprising a device body, and the above-mentioned reverse telescopic system arranged on the device body;

[0024] When the fork arm structure of the reverse telescopic system is extended, the length of the fork arm structure is greater than the length of the equipment body.

[0025] In the technical solution proposed by the present invention, the fork arm driving structure provided under the fork arm main body of the fork arm structure can drive the fork arm main body to extend outward from the main body of the main body structure through the slide rail structure. At this time, the main body can be kept stationary by keeping the main body driving structure fixed, so as to achieve the purpose of extending the fork arm main body to the cargo position; and after the fork arm main body is used to fork the cargo, the fork arm driving structure can be kept stationary, while the fork arm main body can be kept stationary. At this time, the main body is driven by the main body driving structure and moves in the direction of the fork arm main body through the slide rail structure, so that the fork arm main body is contracted relative to the main body, so as to achieve the purpose of reverse contraction of the fork arm main body. In this way, the fork arm main body can be extended when it is unloaded and remain stationary when loaded, but the normal extension and contraction of the fork arm structure can still be achieved, which is convenient for carrying heavy loads. Compared with the traditional technology, there is no need to use anchor bolts, inclined pull devices and other fixed structures to fix the main body structure, and there is no need to use high-power motors to drive the fork arm structure to extend and contract, which can reduce the space occupied by the equipment, simplify the equipment structure, and make it easy to move. It can also save energy, reduce the requirements for equipment, and greatly save costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0027] Figure 1 This is a schematic block diagram of the structure of the reverse telescopic system according to an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the three-dimensional structure of the reverse telescopic system (in a contracted state) according to an embodiment of the present invention;

[0029] Figure 3It is a schematic diagram of the three-dimensional structure of the reverse telescopic system (in the extended state) according to an embodiment of the present invention;

[0030] Figure 4 for Figure 3 A schematic diagram of the front structure of

[0031] Figure 5 for Figure 3 A schematic diagram of the rear view structure;

[0032] Figure 6 A schematic front view of the fork arm driving structure of the reverse telescopic system according to an embodiment of the present invention;

[0033] Figure 7 A schematic top view of the fork arm driving structure of the reverse telescopic system according to an embodiment of the present invention;

[0034] Figure 8 It is a schematic diagram of the left side structure of the fork arm driving structure of the reverse telescopic system according to an embodiment of the present invention;

[0035] Fig. 9 This is a schematic diagram of the top view of the reverse telescopic system (before transporting goods) according to an embodiment of the present invention;

[0036] Fig.10 This is a schematic diagram of the front structure of the reverse telescopic system (when the fork arm structure is extended during cargo transportation) according to an embodiment of the present invention;

[0037] Fig.11 It is a schematic diagram of the front structure of the reverse telescopic system (when the lifting mechanism is raised during cargo transportation) according to an embodiment of the present invention;

[0038] Fig.12 It is a schematic diagram of the front structure of the reverse telescopic system (when the fork arm structure is retracted during cargo transportation) according to an embodiment of the present invention.

[0039] Description of Figure Numbers:

[0040] Label name Label name 10 Reverse telescopic system 20 Equipment body 30 goods 100 Main structure 110 Ontology subject 120 Main body drive structure 200 Slide rail structure 300 Fork arm structure 310 Fork arm body 320 Fork arm drive structure 322 Mounting Plate 324 Swing arm structure 326 Push-pull rod structure 328 Fork arm drive wheel 330 Lifting mechanism

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, top, bottom...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0044] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] like Figures 1 to 3 As shown, the present invention proposes a reverse telescopic system 10, comprising a main body structure 100, a fork arm structure 300, and a slide rail structure 200 connecting the main body structure 100 and the fork arm structure 300. Through the slide rail structure 200, the fork arm structure 300 can slide relative to the main body structure 100, so that the fork arm structure 300 extends out of the main body structure 100, so as to fork the goods; the fork arm structure 300 can also slide reversely relative to the main body structure 100, so that the fork arm structure 300 retracts into the main body structure 100, so as to move the goods.

[0046] Specifically, Figures 4 to 5As shown, the body structure 100 may include a body main body 110, and a body driving structure 120 disposed at the bottom of the body main body 110, and the slide rail structure 200 is connected to the body main body 110. Moreover, the fork arm structure 300 may include a fork arm main body 310 slidably connected to the slide rail structure 200, and a fork arm driving structure 320 disposed at the bottom of the fork arm main body 310. The fork arm driving structure 320 disposed under the fork arm main body 310 of the fork arm structure 300 can drive the fork arm main body 310 to extend outward from the main body 110 of the main body structure 100 through the slide rail structure 200. At this time, the main body 110 can be kept stationary by keeping the main body driving structure 120 fixed, so as to achieve the purpose of extending the fork arm main body 310 to the cargo position; and after the fork arm main body 310 is used to fork the cargo, the fork arm driving structure 320 can be kept stationary, so as to keep the fork arm main body 310 stationary. At this time, the main body 110 is driven by the main body driving structure 120 and moves toward the fork arm main body 310 through the slide rail structure 200, so that the fork arm main body 310 is contracted relative to the main body 110, so as to achieve the purpose of reverse contraction of the fork arm main body 310. In this way, the fork arm main body 310 can be extended when it is unloaded and remain stationary when loaded, but the normal extension and contraction of the fork arm structure 300 can still be achieved, which is convenient for carrying heavy loads. Compared with traditional technologies, there is no need to use anchor bolts, inclined-stay devices or other fixed structures to fix the main structure, nor is there a need to use high-power motors to drive the fork arm structure to extend and retract. This can reduce the space occupied by the equipment, simplify the equipment structure, make it easier to move, save energy, reduce equipment requirements, and greatly save costs.

[0047] In addition, in one embodiment, the reverse telescopic system 10 may include a set of fork arm structures 300 and a corresponding set of slide rail structures 200, and the set of fork arm structures 300 is slidably connected to the main body 110 through the set of slide rail structures 200. That is, in this embodiment, the fork arm structure can be used to fork the acquisition.

[0048] In addition, in another embodiment, the reverse telescopic system 10 may include at least two sets of fork arm structures 300 and correspondingly at least two sets of slide rail structures 200, and each set of fork arm structures 300 is slidably connected to the main body 110 through a set of slide rail structures 200. That is, in this embodiment, multiple sets of fork arm structures can be set at the same time to fork the goods, which can adapt to goods of different shapes, sizes and weights.

[0049] Specifically, in this embodiment, the reverse telescopic system 10 may include two sets of fork arm structures 300 arranged side by side, and two sets of corresponding slide rail structures 200. The two sets of slide rail structures 200 may be connected to both sides of the main body 110, respectively, and each set of fork arm structures 300 is slidably connected to one set of slide rail structures 200. That is, in this embodiment, two sets of fork arm structures may be arranged on the main body structure, and the goods may be forked from both sides. The structure is simple, the force is uniform and stable, and the goods may be forked stably and reliably. Moreover, the two sets of fork arm structures and the two sets of slide rail structures may be symmetrically arranged on both sides of the main body about the center line of the main body. In addition, the number of fork arm structures and slide rail structures may be set according to actual needs to meet different usage requirements.

[0050] Moreover, in one embodiment, the fork arm structure 300 can be set as a single-stage fork arm structure, that is, the fork arm structure 300 of the above-mentioned reverse telescopic system 10 cannot be further telescoped after being fully extended out of the main body structure. That is, the fork arm structure 300 only includes a first fork arm body and a fork arm driving structure 320 arranged at the bottom of the first fork arm body. The slide rail structure 200 only includes a first slide rail connected to the main body 110, and the first slide rail is slidably connected to the first fork arm body. The first fork arm body can be extended out of the main body 110 through the first slide rail under the action of the fork arm driving structure 320; it can also be retracted into the main body 110 through the first slide rail under the action of the main body driving structure 120. In addition, the first slide rail can be slidably arranged on the main body, that is, the first slide rail can also be extended out of the main body 110 or retracted into the main body 110, so that the extension length of the first fork arm body can be greater than the length of the main body 110.

[0051] In addition, in another embodiment, the fork arm structure 300 can be set as a multi-stage fork arm structure, and the slide rail structure 200 can be set as a multi-stage slide rail structure accordingly, that is, after the fork arm structure 300 of the above-mentioned reverse telescopic system 10 is fully extended out of the main body structure 100, the fork arm structure 300 itself can be extended outward again or multiple times, and can be extended to an additional length. Therefore, the extension length position of the fork arm structure 300 can be flexibly adjusted, and the extension length can be greater than the length of the main body structure 100. Moreover, since the load-bearing force on the slide rail structure 200 is relatively small, the multi-stage telescopic function can be realized through the design of the multi-stage slide rail and the multi-stage fork arm, and the space occupied by the entire mechanism can be reduced while ensuring the extension length, and the miniaturization of the mechanism can be realized.

[0052] Specifically, the slide rail structure 200 may include a first slide rail and a second slide rail, the first slide rail being arranged on the main body 110; and the fork arm structure 300 may include a first fork arm main body slidably connected to the first slide rail, and a second fork arm main body slidably connected to the second slide rail, the second slide rail being arranged on the first fork arm main body, and a fork arm driving structure 320 being arranged at the bottom of the second fork arm main body. At this time, the reverse telescopic system may be set as a two-stage slide rail and a two-stage fork arm structure, so that two telescopic operations can be realized. Under the action of the fork arm driving structure 320, the second fork arm main body may extend out of the main body 110 through the second slide rail, and then continue to extend outward, so that the first fork arm main body may extend out of the main body 110 through the first slide rail, so that the entire fork arm structure 300 may extend out of the main body 110; or, under the action of the main body driving structure 120, the first fork arm main body may be first retracted into the main body 110 through the first slide rail, and then the second fork arm main body may be retracted into the main body 110 through the second slide rail. In addition, a fork arm driving structure 320 may also be provided at the bottom of the first fork arm body, that is, the fork arm driving structure 320 may be provided at the bottom of the first fork arm body and the bottom of the second fork arm body at the same time, so that the first fork arm body may be extended first and then the second fork arm body may be extended, and the second fork arm body may be retracted first and then the first fork arm body. In addition, the first slide rail may be slidably provided on the main body, or / and the second slide rail may be provided on the first fork arm body, that is, the first slide rail may also be extended out of the main body 110 or retracted into the main body 110, and the second slide rail may also be extended out of the first fork arm body or retracted into the first fork arm body (that is, the second slide rail may slide alone, or may slide on the basis of the sliding of the first slide rail), so that the sum of the extended lengths of the first fork arm body and the second fork arm body may be greater than the length of the main body 110.

[0053] In addition, the reverse telescopic system 10 can also be set as a three-stage slide rail and a three-stage fork arm structure, which can achieve three-stage telescopic. That is, the slide rail structure includes a third slide rail in addition to the first slide rail and the second slide rail, and the third slide rail is arranged on the second fork arm body; and the fork arm structure includes a third fork arm body slidably connected to the third slide rail in addition to the first fork arm body and the second fork arm body, and a fork arm driving structure is arranged at the bottom of the third fork arm body. Its working principle is the same as that of the above-mentioned two-stage slide rail and two-stage fork arm, which will not be repeated here. In addition, a fork arm driving structure can also be arranged at the bottom of the first fork arm body and the second fork arm body, so that each fork arm body has independent telescopic ability. In addition, the third slide rail can be arranged on the second fork arm body, that is, the third slide rail can also extend out of the second fork arm body or retract into the second fork arm body (that is, the third slide rail can slide alone, or it can slide on the basis of sliding the first slide rail or / and the second slide rail), so that the sum of the extension lengths of the first fork arm body, the second fork arm body and the third fork arm body can be greater than the length of the main body 110.

[0054] In addition, as required, the reverse telescopic system 10 can be configured as a multi-stage slide rail structure and a multi-stage fork arm structure to achieve a required telescopic length.

[0055] In addition, if Figures 6 to 8 As shown, the fork arm driving structure 32 may include at least one set of fork arm driving wheels 328 disposed at the bottom of the fork arm body 310, and a driving wheel contraction structure connected to the fork arm driving wheels 328. That is, the fork arm driving structure 320 may include a fork arm driving wheel 328 and a driving wheel contraction structure disposed at the bottom of the first fork arm body, and may also include a fork arm driving wheel 328 and a driving wheel contraction structure disposed at the bottom of the second fork arm body, and may also include a fork arm driving wheel 328 and a driving wheel contraction structure disposed at the bottom of the third fork arm body. Through the fork arm driving wheel 328 at the bottom of the fork arm body 310, the fork arm body 310 can be driven to move along the slide rail structure 200, so as to extend out of the body structure 100, or contract into the body structure 100. Thus, the fork arm driving structure 320 can realize the free extension and contraction of the fork arm body 310 in the body body 110, while ensuring the stable support of the fork arm body 310, and reducing the requirements on the slide rail structure 200 and the body structure 100 when the fork arm body 310 is loaded. Moreover, the fork arm driving wheel 328 can be retracted through the driving wheel retraction structure, and the fork arm driving wheel 328 can be retracted into the fork arm body 310, so as to facilitate the retraction of the fork arm body 310 into the main body 110 or the accommodation of the fork arm body 310 in the main body 110. That is, the fork arm driving wheel 328 at the bottom of the fork arm body 310 can be extended and retracted up and down as needed. When the fork arm body 310 is extended, the fork arm driving wheel 328 supports the ground. When the fork arm body 310 is retracted, the fork arm driving wheel 328 retracts into the fork arm body 310, and the fork arm body 310 is retracted into the main body 110 through the slide rail structure 200; after the fork arm body 310 forks the goods, the fork arm body 310 is actively locked on the supporting surface through its own fork arm driving wheel 328 and remains stationary. Under the action of the main body driving structure 120, the main body structure 100 begins to move toward the fork arm body through the slide rail structure 200 until the fork arm body 310 and the slide rail structure 200 are completely retracted into the main body.

[0056] Furthermore, the above-mentioned drive wheel retracting structure may include a mounting plate 322 disposed at the bottom of the fork arm body 310, a swing arm structure 324 rotatably disposed on the mounting plate 322, and a push-pull rod structure 326 connected between the swing arm structure 324 and the mounting plate 322, and a fork arm drive wheel 328 disposed at the end or middle of the swing arm structure 324. The swing arm structure 324 and the push-pull rod structure 326 may be installed at the bottom of the fork arm body 310 through the mounting plate 322, and the swing arm structure 324 may be pushed and pulled through the push-pull rod structure 326, so that the swing arm structure 324 drives the fork arm drive wheel 328 to swing, thereby allowing the fork arm drive wheel 328 to extend from the fork arm body 310 to the outside of the bottom of the fork arm body 310, or to retract from the outside of the fork arm body 310 to the inside of the fork arm body 310.

[0057] In addition, a set of fork arm driving structures 320 may be arranged at the outer end of the bottom of the fork arm body 310, two sets of fork arm driving structures 320 may be arranged at both ends of the bottom of the fork arm body 310, or three or more sets of fork arm driving structures 320 may be evenly arranged at the bottom of the fork arm body 310. Moreover, each set of fork arm driving structures 320 may include at least two fork arm driving wheels 328, which are respectively arranged on both sides of the bottom of the fork arm body 310. In addition, a fork arm driven wheel structure may be arranged at the bottom of the fork arm body 310, which may move together with the fork arm driving structure 320 to play a role of auxiliary movement and support.

[0058] In addition, the above-mentioned body driving structure 120 may include at least two groups of body driving wheels arranged at the bottom of the body main body 110. At least two groups of body driving wheels can be used to drive the body main body 110 to move forward and backward, so as to drive the body main body 110 to move toward the fork arm main body 310, or drive the entire reverse telescopic system 10 to move. Each group of body driving wheels may include at least one body driving wheel, that is, the body driving structure 120 may include two body driving wheels, or four body driving wheels, or six body driving wheels. In addition, a body driven wheel structure may also be provided at the bottom of the body main body 110, which can move together under the drive of the body driving structure 120 to play a role in auxiliary movement and support.

[0059] In addition, the fork arm structure 300 may further include a lifting mechanism 330 disposed on the fork arm body 310. The lifting mechanism 330 may be raised or lowered to lift an object.

[0060] In addition, the present invention also proposes an automatic handling equipment, including an equipment body 20, and the reverse telescopic system 10 as described above arranged on the equipment body 20, which can realize the acquisition and handling of the goods 30, which is convenient and simple. Moreover, when the fork arm structure of the reverse telescopic system is extended, the length of the fork arm structure extended outside the equipment body can be greater than the length of the equipment body. For example, when the length of the equipment body is 1m, the length of the fork arm structure extended outside the equipment body can reach 1.5m. Moreover, in this embodiment, the automatic handling equipment may include two sets of the reverse telescopic systems 10, and the two sets of the reverse telescopic systems 10 can be respectively arranged on both sides of the equipment body 20. According to needs, one set of reverse telescopic systems 10 or more than two sets of reverse telescopic systems 10 can also be arranged on the equipment body. In addition, according to the different sizes of pallets or goods, the reverse telescopic system can make the fork arm structure extend to different lengths, which can improve work efficiency.

[0061] like Figures 9 to 12 As shown, in the process of using the above-mentioned reverse telescopic system to obtain goods, the fork arm driving structure 320 provided under the fork arm main body 310 of the fork arm structure 300 can first drive the fork arm main body 310 to extend outward from the main body 110 of the main body structure 100 through the slide rail structure 200. At this time, the main body 110 can be kept stationary by keeping the main body driving structure 120 fixed, so as to achieve the purpose of extending the fork arm main body 310 to the bottom position of the goods; then, the lifting mechanism 330 on the fork arm structure 300 located at the bottom of the goods is raised to lift the goods; then, after the fork arm main body 310 is used to fork the goods, , the fork arm driving structure 320 can be kept stationary, while the fork arm body 310 can be kept stationary. At this time, the main body 110 (and the equipment body 20) is driven by the main body driving structure 120, and moves toward the fork arm body 310 through the slide rail structure 200, so that the fork arm body 310 shrinks relative to the main body 110 (and the equipment body 20), so that the cargo 30 lifted by the lifting mechanism 330 reaches above the main body 110 (and the equipment body 20); finally, the lifting mechanism 330 descends, and the cargo 30 is placed on the main body 110 (or the equipment body 20), so as to obtain the cargo 30. It is ensured that the reverse telescopic system does not bear any load during the cargo handling process, and the service life and reliability of the mechanism are improved.

[0062] In the technical solution proposed by the present invention, the reverse telescopic system can independently and actively operate, extend or retract by installing a fork arm driving device on the fork arm structure. As a result, the recovery method of the reverse telescopic system is different from that of the prior art. The extended fork arm structure can remain stationary, while the main body structure moves toward the fork arm structure; the fork arm body of the fork arm structure can be extended when it is unloaded, and remain stationary when loaded, but the normal telescopic structure can still be achieved, which is convenient for heavy loads; the main body structure and the fork arm structure are both actively supported (i.e., the main body driving structure and the fork arm driving structure), and can achieve independent forward and backward operation; the support of the fork arm structure (i.e., the fork arm driving structure) can swing up and down, and when the fork arm structure is recovered, the fork arm driving structure can swing up and be received inside the fork arm; the mechanism can be modularized, and can be used as a single mechanism or multiple mechanisms together, so as to quickly improve the overall telescopic mechanism bearing capacity. In this way, there is no need to use anchor bolts, inclined-stay devices or other fixing structures to fix the main structure, nor is there a need to use high-power motors to drive the fork arm structure to extend and retract. This can reduce the space occupied by the equipment, simplify the equipment structure, make it easy to move, save energy, reduce the requirements for equipment, and greatly save costs.

[0063] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A reverse telescopic system, characterized in that: The invention comprises a body structure (100), a fork arm structure (300), and a slide rail structure (200) connecting the body structure (100) and the fork arm structure (300); the body structure (100) comprises a body main body (110) and a body driving structure (120) arranged at the bottom of the body main body (110), and the slide rail structure (200) is connected to the body main body (110); the fork arm structure (300) comprises a fork arm main body (310) slidably connected to the slide rail structure (200), and a fork arm driving structure (320) arranged at the bottom of the fork arm main body (310); The fork arm driving structure (320) is arranged at the bottom of the fork arm body (310) and can extend out of one end of the main body structure (100); The fork arm driving structure (320) disposed under the fork arm main body (310) of the fork arm structure (300) can drive the fork arm main body (310) to extend outward from the main body (110) of the main structure (100) through the slide rail structure (200), and the main body (110) can be kept stationary by keeping the main body driving structure (120) fixed, so that the fork arm main body (310) is extended to the cargo position; after the fork arm main body (310) forks the cargo, the fork arm driving structure (320) can be kept stationary, so that the fork arm main body (310) is kept stationary, and the main body (110) is driven by the main body driving structure (120) to move toward the fork arm main body (310) through the slide rail structure (200), so that the fork arm main body (310) is contracted relative to the main body (110), thereby realizing the reverse contraction of the fork arm main body (310).

2. The reverse telescopic system according to claim 1, characterized in that: The slide rail structure (200) includes a first slide rail, and the first slide rail is arranged on the main body (110); the fork arm structure (300) includes a first fork arm body slidably connected to the first slide rail, and the fork arm driving structure (320) is provided at the bottom of the first fork arm body; or, the slide rail structure (200) includes a first slide rail and a second slide rail, and the first slide rail is arranged on the main body (110); the fork arm structure (300) includes a first fork arm body slidably connected to the first slide rail, and a second fork arm body slidably connected to the second slide rail, the second slide rail is arranged on the first fork arm body, and the fork arm driving structure (320) is provided at the bottom of the second fork arm body.

3. The reverse telescopic system according to claim 2, characterized in that: The first slide rail is slidably arranged on the main body (110); or / and, the second slide rail is slidably arranged on the first fork arm main body.

4. The reverse telescopic system according to claim 1, characterized in that: The reverse telescopic system comprises a set of the fork arm structure (300) and a corresponding set of the slide rail structure (200), wherein the fork arm structure (300) is slidably connected to the main body (110) via the slide rail structure (200); or, the reverse telescopic system comprises at least two sets of the fork arm structure (300) and at least two sets of the slide rail structure (200) respectively, wherein each set of the fork arm structure (300) is slidably connected to the main body (110) via a set of the slide rail structure (200).

5. The reverse telescopic system according to claim 4, characterized in that: The reverse telescopic system comprises two sets of the fork arm structures (300) arranged side by side, and two sets of the slide rail structures (200) arranged correspondingly, the two sets of the slide rail structures (200) being respectively connected to two sides of the main body (110), and each set of the fork arm structures (300) being slidably connected to one set of the slide rail structures (200).

6. The reverse telescopic system according to any one of claims 1 to 5, characterized in that: The fork arm driving structure (320) comprises at least one set of fork arm driving wheels (328) arranged at the bottom of the fork arm body (310), and a driving wheel retracting structure connected to the fork arm driving wheels (328).

7. The reverse telescopic system according to claim 6, characterized in that: The drive wheel retraction structure includes a mounting plate (322) arranged at the bottom of the fork arm body (310), a swing arm structure (324) rotatably arranged on the mounting plate (322), and a push-pull rod structure connected between the swing arm structure (324) and the mounting plate (322), and the fork arm drive wheel (328) is arranged at the end or middle of the swing arm structure (324).

8. The reverse telescopic system according to any one of claims 1 to 5, characterized in that: The body driving structure (120) comprises at least two groups of body driving wheels arranged at the bottom of the body main body (110).

9. The reverse telescopic system according to any one of claims 1 to 5, characterized in that: The fork arm structure (300) further comprises a lifting mechanism (330) arranged on the fork arm body (310).

10. An automatic handling device, characterized in that: It comprises an equipment body, and a reverse telescopic system as claimed in any one of claims 1 to 9 arranged on the equipment body; when the fork arm structure of the reverse telescopic system is extended, the length of the fork arm structure is greater than the length of the equipment body.

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