Material transport forklift robot

Abstract

The material transport forklift robot provided by the present invention comprises a machine body, a fork body, a fork plate and a running device, wherein the fork body is fixedly connected to the machine body, the fork plate extends in a first direction away from the machine body to form an elongated shape, the fork plate is arranged on the fork body in a liftable manner, and the running device is arranged in the machine body; the material transport forklift robot also comprises a linear telescopic drive unit and a connecting rod; the extending ends of the connecting rod are respectively rotatably connected to the fork body and the fork plate, and at least two connecting rods arranged in sequence along the first direction are arranged between the fork body and the fork plate; the extending ends of the linear telescopic drive unit are respectively rotatably connected to the machine body and the fork plate. The linear telescopic drive unit is directly connected to the fork plate, and the contraction and extension of the linear telescopic drive unit can realize the rise or fall of the fork plate. Only a connecting rod is arranged between the fork body and the fork plate without other linkage structures, so a connecting rod with a larger size can be selected to improve the carrying capacity. In addition, only a connecting rod is arranged between the fork body and the fork plate, which can effectively reduce the difficulty of assembly and improve production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of material transport equipment, and in particular to a material transport forklift robot. Background Art

[0002] The existing material transport forklift robot is a ground bull forklift robot, which includes a body and two symmetrically arranged forks extending forward from the body, a fork plate that can be raised and lowered is arranged on the fork body, and a lifting device is arranged between the fork body and the fork plate. The lifting device includes a driving unit and a connecting rod assembly, and the connecting rod assembly includes four connecting rods hinged at the head and tail, the head end of the first connecting rod is rotatably connected to the driving unit through the first rotating shaft, the first connecting rod, the second connecting rod and the fork plate are rotatably connected through the second rotating shaft, the second connecting rod and the third connecting rod are rotatably connected through the third rotating shaft, the third connecting rod, the fourth connecting rod and the fork plate are rotatably connected through the fourth rotating shaft, and the tail end of the fourth connecting rod is rotatably connected to the fork body through the fifth rotating shaft, wherein the first rotating shaft and the third rotating shaft can slide along the extension direction of the fork body. When the driving unit pushes the first connecting rod, the first rotating shaft and the third rotating shaft slide forward, the second rotating shaft and the fourth rotating shaft are lifted, and the fork plate is lifted accordingly.

[0003] The existing problems with this type of material transport forklift robot are that the lifting device has a complex structure and is difficult to install, resulting in low production efficiency, and due to space constraints, only smaller connecting rods can be selected, so the load-bearing capacity is poor. Summary of the invention

[0004] The object of the present invention is to provide a material transport forklift robot with improved production efficiency and increased carrying capacity.

[0005] The material transport forklift robot provided by the present invention includes a body, a fork body, a fork plate and a walking device, the fork body is fixedly connected to the body, the fork plate extends along a first direction back to the body into an elongated shape, the fork plate is liftably arranged on the fork body, and the walking device is arranged in the body; the material transport forklift robot also includes a linear telescopic drive unit and a connecting rod; the extended ends of the connecting rod are respectively rotatably connected to the fork body and the fork plate, and at least two connecting rods arranged sequentially along the first direction are arranged between the fork body and the fork plate; the extended ends of the linear telescopic drive unit are respectively rotatably connected to the body and the fork plate.

[0006] It can be seen from the above scheme that the linear telescopic drive unit is directly connected to the fork plate, and the contraction and extension of the linear telescopic drive unit can realize the rise or fall of the fork plate. Only a connecting rod is set between the fork body and the fork plate without other linkage structures, so a larger connecting rod can be selected to improve the load-bearing capacity. In addition, only a connecting rod is set between the fork body and the fork plate, which can effectively reduce the difficulty of assembly and improve production efficiency.

[0007] A further solution is that the fork plate is movable between an ascending limit position and a descending limit position, the ascending limit position is located above the descending limit position, and in the first direction, the ascending limit position is closer to the machine body than the descending limit position.

[0008] As can be seen from the above, when the goods are lifted, the center of gravity can be slightly adjusted to improve transportation stability.

[0009] A further solution is that a first photoelectric sensor and a second photoelectric sensor are provided in the machine body; the fork plate at the ascending limit position is within the detection range of the first photoelectric sensor; the fork plate at the descending limit position is within the detection range of the second photoelectric sensor.

[0010] As can be seen from the above, the first photoelectric sensor and the second photoelectric sensor are used to detect whether the fork plate reaches the upper limit position and the lower limit position.

[0011] A further solution is that the linear telescopic drive unit is located inside the machine body.

[0012] As can be seen from the above, since the linear telescopic drive unit is connected to the fork plate, the fork plate is close to the machine body, the linear telescopic drive unit is arranged in the machine body, which can effectively protect the linear telescopic drive unit, facilitate the layout and connection of the control system, and optimize the product appearance.

[0013] A further solution is that an installation space is formed in the middle of the body, and the body includes a first side wall and a second side wall respectively located on opposite sides of the installation space. In a first direction, the first side wall and the second side wall are arranged opposite to each other, and the first side wall is close to the fork plate relative to the second side wall; the linear telescopic drive unit is connected to the first side wall.

[0014] As can be seen from the above, this arrangement can prevent the linear telescopic drive unit from obstructing the arrangement of the internal structure of the machine body.

[0015] A further solution is that the material transport forklift robot also includes a first rotating shaft and a first bolt; the first rotating shaft includes a first eccentric body and a first shaft body connected in sequence along its axial direction, the first eccentric body has a first eccentric portion, and the first eccentric portion is provided with a first bolt through hole; a first shaft hole is provided on the fork body, the first shaft hole includes an eccentric hole section and a shaft hole section connected in sequence along its penetration direction, a step surface is formed between the eccentric hole section and the shaft hole section, and a first screw hole is provided on the step surface; the connecting rod is provided with a second shaft hole, the shaft hole section is connected with the second shaft hole, the first shaft body is inserted in the shaft hole section and the second shaft hole, the first eccentric body is located in the eccentric hole section, and the first bolt passes through the first bolt through hole and cooperates with the first screw hole.

[0016] As can be seen from the above, since the connection between the fork body and the connecting rod is exposed and there are no obstacles during assembly, installing the first rotating shaft axially and locking it axially can reduce the difficulty of assembly and improve assembly efficiency; when the first rotating shaft is inserted into the shaft hole section, the eccentric body is located in the eccentric hole section to form a circumferential limit, and tightening the first bolt can achieve effective mutual restriction and positioning, and the installation method is quick, simple and effective.

[0017] A further solution is that the material transport forklift robot also includes a second rotating shaft and a second bolt; the second rotating shaft includes a second eccentric body and a second shaft body connected in sequence along its axial direction, the second eccentric body has a second eccentric portion, and the second eccentric portion is provided with a second bolt through hole; a first hinge seat is provided in the body, a third shaft hole is provided on the first hinge seat, and a second screw hole is provided on one side of the third shaft hole of the first hinge seat; a fourth shaft hole is provided at the extending end of the linear telescopic drive unit; the second shaft body passes through the third shaft hole and the fourth shaft hole in sequence, and the second bolt passes through the second bolt through hole and then cooperates with the second screw hole.

[0018] As can be seen from the above, before the housing of the machine body is closed, the connection between the linear telescopic drive unit and the first hinge seat is exposed. Therefore, installing the second rotating shaft axially and locking it axially can reduce the difficulty of assembly and improve the assembly efficiency.

[0019] A further solution is that the material transport forklift robot also includes a third rotating shaft and a third bolt; a clamping space extending into a long shape along its extension direction is provided on the connecting rod, the clamping space penetrates the connecting rod along the first axial direction, and the connecting rod forms a first clamping wall and a second clamping wall on opposite sides of the clamping space, respectively, a third bolt through hole is provided on the first clamping wall, and a third screw hole is provided on the second clamping wall; the third bolt through hole, the clamping space and the third screw hole are connected along the second direction, and the second direction is perpendicular to the extension direction of the connecting rod and perpendicular to the first axial direction; a fifth axial hole is also provided on the connecting rod, and the fifth axial hole is formed in the middle of the clamping space in the extension direction of the connecting rod; the third rotating shaft is inserted in the fifth axial hole, and the third bolt passes through the third bolt through hole and the clamping space in sequence and then cooperates with the third screw hole, and the third rotating shaft abuts between the first clamping wall and the second clamping wall.

[0020] As can be seen from the above, since the hinge seat on the fork plate used for connecting with the connecting rod is blocked by the top wall and the side walls of the fork plate, it is difficult to lock the fork plate, the third rotating shaft and the connecting rod from the axial direction. Furthermore, the front side of the hinge seat on the fork plate close to the machine body and the connection between the connecting rod and the third rotating shaft is blocked by the fork body and the extended part of the fork plate, the top is blocked by the top wall of the fork plate, the left and right sides are blocked by the side walls of the fork plate, and the rear side is blocked by the machine body. Therefore, under this setting, when the fork plate is located at the lower limit position, the entrance of the third bolt through hole on the connecting rod faces downward, and the third bolt can be screwed in from below to complete the locking between the fork plate, the third rotating shaft and the connecting rod. In addition, when the fork plate is located at the upper limit position, since the third bolt through hole is located in the extended middle part of the connecting rod, the position of the third bolt through hole is just located in the space formed between the fork plate and the fork body and connected to the outside, so it is convenient for the staff to perform the bolt locking operation.

[0021] A further solution is that the linear telescopic drive unit is connected to the extending end of the fork plate in the first direction.

[0022] A further solution is that the fork plate has a bearing surface; in the first direction, the extending end of the fork plate has a rotating connection portion extending upward, and the rotating connection portion is located above the horizontal position where the bearing surface is located; the linear telescopic drive unit is connected to the rotating connection portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of an embodiment of a material transport forklift robot of the present invention.

[0024] Figure 2 This is a structural diagram of a material transport forklift robot embodiment of the present invention with part of the body shell removed.

[0025] Figure 3 This is a structural diagram of an embodiment of a material transport forklift robot of the present invention with some components removed from the body.

[0026] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0027] Figure 5 for Figure 3 Enlarged view of point B in the middle.

[0028] Figure 6 for Figure 3 Enlarged view of point C in the middle.

[0029] Figure 7 This is a structural diagram of an embodiment of a material transport forklift robot of the present invention with part of the wall of the fork plate removed.

[0030] Figure 8 for Figure 7 Enlarged view of point D in the middle.

[0031] Fig. 9 Schematic diagram of the first working state of the material transport forklift robot embodiment of the present invention.

[0032] Fig.10 Schematic diagram of the second working state of the material transport forklift robot embodiment of the present invention. DETAILED DESCRIPTION

[0033] The material transport forklift machine provided by the present invention is a ground bull type forklift AGV automatic tracking robot, which can realize navigation through electromagnetic induction, laser induction, RFID induction, visual recognition or fluorescent recognition. The electromagnetic induction method is to attach magnetic tape to the ground and set an electromagnetic sensor at the bottom of the material transport robot, and the electromagnetic sensor senses the magnetic strip landmark on the bottom to realize automatic driving. The laser induction method is to determine its coordinate position by a laser scanner set on the material transport robot to identify several fixed marks set within its range of activity, thereby guiding the AGV to run. The RFID induction method is to automatically detect the coordinate position through RFID tags and reading equipment to realize the automatic operation of the material transport robot, and the site definition is arbitrarily defined by the chip tag. The visual recognition method has a two-dimensional code recognition method, that is, a two-dimensional code is set at a fixed position on the site, and a camera device is set at the bottom of the material transport robot. After the camera device obtains and recognizes the two-dimensional code, the control system obtains the driving instructions indicated by the two-dimensional code and controls the material transport robot to move to the next step. The fluorescent recognition method is to set a fluorescent strip on the site path and set a fluorescent sensor at the bottom of the material transport robot. The fluorescent sensor senses the fluorescent strip landmark to realize automatic driving.

[0034] See also Figures 1 to 3 , Figure 1 This is a structural diagram of an embodiment of a material transport forklift robot of the present invention. Figure 2 This is a structural diagram of a material transport forklift robot embodiment of the present invention with part of the body shell removed. Figure 3 The structural diagram of the material transport forklift robot embodiment of the present invention is shown with some components removed from the body. The material transport forklift robot provided by the present invention comprises a body 1, a fork body 2, a fork plate 3, a walking device 91 disposed in the body 1, a power source 92 and a hydraulic drive device 93. The material transport forklift robot also comprises a lifting assembly disposed between the body 1, the fork body 2 and the fork plate 3, and the lifting assembly is used to drive the fork plate 3 to move up and down.

[0035] The fork body 2 is fixedly connected to the machine body 1. The two forks 2 extend from the bottom of the machine body 1 along the x-axis direction (the first direction of the present invention) and extend into an elongated shape. A linear wheel is provided at the bottom of the extended middle part of the fork body 2, and a universal wheel is provided at the bottom of the extended end of the fork body 2. The fork plate 3 is superimposed on the fork body 2. The fork body 3 also extends into an elongated shape along the x-axis direction away from the machine body 1. The fork plate 3 is provided on the fork body 2 in a liftable manner.

[0036] The installation space 100 is formed in the middle of the machine body 1. The machine body 1 includes a first side wall 11 and a second side wall 19 located on opposite sides of the installation space 100. In the x-axis direction, the first side wall 11 and the second side wall 19 are arranged opposite to each other, and the first side wall 11 is closer to the fork plate 3 than the second side wall 19. The walking device 91 is arranged in the center of the installation space 100, and the power supply 92 and the hydraulic drive device 93 are partially located on the left and right sides of the walking device 91. The lifting assembly includes two linear telescopic drive units 4, which are hydraulic cylinders. The linear telescopic drive units 4 can be rotatably connected to the first articulated seat 12 ( Figure 4 (as shown), and the linear telescopic drive unit 4 is located between the walking device 91, the power supply 92, the hydraulic drive device 93 and the first side wall 11.

[0037] Recombination Figures 4 to 8 , Figure 4 for Figure 3 The enlarged view of point A in the middle. Figure 5 for Figure 3 The enlarged view of point B in the middle. Figure 6 for Figure 3 The enlarged image of point C in the middle. Figure 7 This is a structural diagram of the material transport forklift robot embodiment of the present invention with the fork plate part of the wall removed. Figure 8 for Figure 7 Enlarged view of point D in the figure. The lifting assembly is described below. The lifting assembly includes the above-mentioned linear telescopic drive unit 4 and the first connecting rod 6 (the connecting rod of the present invention) and the second connecting rod 7 connected between the fork body 2 and the fork plate 3, and also includes a first rotating shaft 51 and a first bolt (not shown in the figure), a second rotating shaft 52 and a second bolt (not shown in the figure), a third rotating shaft 53 and a third bolt (not shown in the figure), a fourth rotating shaft 54 ​​and a fourth bolt (not shown in the figure), and a first photoelectric sensor 81 and a second photoelectric sensor 82 arranged in the body 1.

[0038] See also Figure 3 and Figure 4 The linear telescopic drive unit 4 is rotatably connected to the first hinge seat 12 of the first side wall 11 through the second rotating shaft 52 and the second bolt. The second rotating shaft 52 includes a second eccentric body 521 and a second shaft body 520 connected in sequence along its axial direction. The second eccentric body 521 has a second eccentric portion 522, and the second eccentric portion 522 is provided with a second bolt through hole 523. The first hinge seat 12 is provided with a third shaft hole 121, and the first hinge seat 12 is provided with a second screw hole 122 on one side of the third shaft hole 121; the extending end portion 41 of the linear telescopic drive unit 4 is provided with a fourth shaft hole (not shown in the figure). The second shaft body 520 passes through the third shaft hole 121 and the fourth shaft hole in sequence, and the second bolt passes through the second bolt through hole 523 and then is threadedly engaged with the second screw hole 122.

[0039] See also Figure 1 , Figure 3 and Figure 5 The linear telescopic drive unit 4 is rotatably connected to the fork plate 3 through the fourth rotating shaft 54 ​​and the fourth bolt. The fourth rotating shaft 54 ​​includes a fourth eccentric body 541 and a fourth shaft body 540 connected in sequence along its axial direction. The fourth eccentric body 541 has a fourth eccentric portion 542, and the fourth eccentric portion 542 is provided with a fourth bolt through hole 543. The fork plate 3 has a bearing surface 300. In the x-axis direction, the extending end 301 of the fork plate 3 has a rotating connection portion 31 extending upward, and the rotating connection portion 31 is located above the horizontal position where the bearing surface 300 is located.

[0040] The piston rod end 42 of the linear telescopic drive unit 4 is provided with a seventh shaft hole 420, and the piston rod end 42 is provided with a fourth screw hole 421 on one side of the seventh shaft hole 420. The rotating connection part 31 is provided with an eighth shaft hole (not shown in the figure), and the fourth shaft body 540 passes through the seventh shaft hole 420 and the eighth shaft hole of the rotating connection part 31 in sequence, and the fourth bolt passes through the fourth bolt through hole 543 and then is threadedly engaged with the fourth screw hole 421.

[0041] See also Figure 6 The fork plate 3 can move between the upper limit position and the lower limit position, and the upper limit position is located above the lower limit position. The extended end 301 of the fork plate 3 located at the upper limit position is located within the detection range of the first photoelectric sensor 81, and the extended end 301 of the fork plate 3 located at the lower limit position is located within the detection range of the second photoelectric sensor 82.

[0042] See also Figure 7 and Figure 8 In the x-axis direction, the two extended ends of the first connecting rod 6 (the connecting rod of the present invention) are rotationally connected to the extended starting end of the fork body 2 and the extended starting end of the fork plate 3, and the two extended ends of the second connecting rod 7 are rotationally connected to the extended rear part of the fork body 2 and the extended rear part of the fork plate 3.

[0043] The first connecting rod 6 is connected to the fork body 2 via a first rotating shaft 51 and a first bolt. The first rotating shaft 51 includes a first eccentric body 511 and a first shaft body 510 which are sequentially connected along its axial direction, the first eccentric body 511 has a first eccentric portion 512, and the first eccentric portion 512 is provided with a first bolt through hole 513; the fork body 2 is provided with a first shaft hole 21, the first shaft hole 21 includes an eccentric hole section 211 and a shaft hole section 210 which are sequentially connected along its penetration direction, a step surface 212 is formed between the eccentric hole section 211 and the shaft hole section 210, and a first screw hole 213 is provided on the step surface 212; the first connecting rod 6 is provided with a second shaft hole, the shaft hole section 210 is connected with the second shaft hole, the first shaft body 510 is inserted in the shaft hole section 210 and the second shaft hole, the first eccentric body 511 is located in the eccentric hole section 211, and after the first bolt passes through the first bolt through hole 513 and is threadedly engaged with the first screw hole 213, the connection between the first connecting rod 6, the first rotating shaft 51 and the fork body 2 is completed.

[0044] The first connecting rod 6 is connected to the fork plate 3 through the third rotating shaft 53 and the third bolt. First, the structure of the first connecting rod 6 is described. The first connecting rod 6 is provided with a clamping space 61 extending in a long shape along its extension direction. The clamping space 61 penetrates the first connecting rod 6 along the first axial direction as a whole. In the extension direction of the first connecting rod 6, the clamping space 61 includes a circular hole portion 611, a first slit portion 612, a fifth shaft hole 610 and a second slit portion 613 connected in sequence. The width of the first slit portion 612 and the second slit portion 613 are greater than the diameter of the circular hole portion 611 and the diameter of the fifth shaft hole 610, and the first axial direction is the axial direction of the fifth shaft hole 610.

[0045] The first connecting rod 6 forms a first clamping wall 621 and a second clamping wall 622 on opposite sides of the clamping space 61, respectively. The first clamping wall 621 is provided with a third bolt through hole 614 at the first gap portion 612, and the second clamping wall 622 is provided with a third screw hole (not shown in the figure) at the first gap portion 612. The third bolt through hole 614, the clamping space 61 and the third screw hole are connected along a second direction, and the second direction is perpendicular to the extension direction of the first connecting rod 6 and perpendicular to the first axial direction.

[0046] The third rotating shaft 53 is inserted in the fifth axial hole 610, and the third bolt passes through the third bolt through hole 614 and the clamping space 61 in sequence and then cooperates with the third screw hole. The clamping space 61 is a deformable space. When the third bolt is locked, the distance between the first clamping wall 621 and the second clamping wall 622 becomes smaller, and the third rotating shaft 53 is finally clamped and abuts between the first clamping wall 621 and the second clamping wall 622.

[0047] Combination Fig. 9 and Fig.10 , Fig. 9 FIG. 1 is a schematic diagram of a first working state of a material transport forklift robot embodiment of the present invention, as shown in FIG. Fig. 9As described above, at this time, the fork plate 3 is at the lower limit position, and the fork plate 3 is mounted outside the fork body 2. At this time, there is a first distance w1 between the center of gravity 901 of the cargo 900 carried on the fork plate 3 and the first side wall 11. When the system controls the hydraulic drive device 93 to pneumatically drive the piston rod end of the linear telescopic drive unit 4 to contract, the fork plate 3 is lifted up and swung back toward the first side wall 11. Fig.10 As shown, Fig.10 This is a schematic diagram of the second working state of the material transport forklift robot embodiment of the present invention. At this time, the fork plate 3 reaches the upper limit position, the cargo 900 is lifted, and there is a second distance w2 between the center of gravity 901 and the first side wall 11, and the second distance w2 is smaller than the first distance w1.

[0048] The main purpose of the present invention is to provide a material transport forklift robot that effectively reduces the difficulty of assembly and improves production efficiency. In the material transport forklift robot provided by the present invention, the linear telescopic drive unit is directly connected to the fork plate, and the contraction and extension of the linear telescopic drive unit can realize the rise or fall of the fork plate. Only a connecting rod is arranged between the fork body and the fork plate without other linkage structures, so a larger connecting rod can be selected to improve the load-bearing capacity. In addition, only a connecting rod is arranged between the fork body and the fork plate, which can effectively reduce the difficulty of assembly and improve production efficiency. The hinges between the machine body, the linear telescopic drive unit, the fork body, the fork plate and the connecting rod are selected according to the actual situation of the position. The connection method that is more conducive to installation and easier to operate is selected, thereby further reducing the difficulty of assembly and improving production efficiency.

[0049] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material transport forklift robot, comprising a body, a fork body, a fork plate and a walking device, wherein the fork body is fixedly connected to the body, the fork plate extends in a first direction away from the body to form an elongated shape, the fork plate is liftably arranged on the fork body, and the walking device is arranged in the body; Features: The material transport forklift robot also includes a linear telescopic drive unit and a connecting rod; The two extended ends of the connecting rod are rotatably connected to the fork body and the fork plate respectively, and at least two connecting rods arranged in sequence along the first direction are provided between the fork body and the fork plate; the connecting rod includes a first connecting rod and a second connecting rod; The extended ends of the linear telescopic drive unit are rotatably connected to the machine body and the fork plate respectively; The material transport forklift robot further includes a first rotating shaft and a first bolt; The first rotating shaft comprises a first eccentric body and a first shaft body which are sequentially connected along the axial direction thereof, the first eccentric body has a first eccentric portion, and a first bolt through hole is provided on the first eccentric portion; The fork body is provided with a first axial hole, the first axial hole comprises an eccentric hole section and an axial hole section which are sequentially connected along the through direction thereof, a step surface is formed between the eccentric hole section and the axial hole section, and a first screw hole is provided on the step surface; The first connecting rod is provided with a second shaft hole, the shaft hole section is communicated with the second shaft hole, the first shaft body is inserted in the shaft hole section and the second shaft hole, the first eccentric body is located in the eccentric hole section, and the first bolt passes through the first bolt through hole and then cooperates with the first screw hole; The material transport forklift robot further includes a third rotating shaft and a third bolt; The first connecting rod is provided with a long clamping space extending along its extension direction, the clamping space penetrates the first connecting rod along the first axial direction, the first connecting rod forms a first clamping wall and a second clamping wall on opposite sides of the clamping space, the first clamping wall is provided with a third bolt through hole, and the second clamping wall is provided with a third screw hole; The third bolt through hole, the clamping space and the third screw hole are connected along a second direction, and the second direction is perpendicular to the extension direction of the first connecting rod and perpendicular to the first axial direction; The first connecting rod is also provided with a fifth axial hole, and in the extension direction of the first connecting rod, the fifth axial hole is formed in the middle of the clamping space; The third rotating shaft is inserted into the fifth axial hole, and the third bolt passes through the third bolt through hole and the clamping space in sequence and then cooperates with the third screw hole. The third rotating shaft abuts between the first clamping wall and the second clamping wall.

2. The material transport forklift robot according to claim 1, characterized in that: The fork plate is movable between an ascending limit position and a descending limit position, the ascending limit position is located above the descending limit position, and in the first direction, the ascending limit position is closer to the machine body than the descending limit position.

3. The material transport forklift robot according to claim 2, characterized in that: The body is provided with a first photoelectric sensor and a second photoelectric sensor; The fork plate located at the rising limit position is located within the detection range of the first photoelectric sensor; The fork plate located at the lowering limit position is located within the detection range of the second photoelectric sensor.

4. The material transport forklift robot according to any one of claims 1 to 3, characterized in that: The linear telescopic drive unit is located in the machine body.

5. The material transport forklift robot according to claim 4, characterized in that: An installation space is formed in the middle of the body, and the body comprises a first side wall and a second side wall respectively located on opposite sides of the installation space, wherein in the first direction, the first side wall is arranged opposite to the second side wall, and the first side wall is closer to the fork plate than the second side wall; The linear telescopic driving unit is connected to the first side wall.

6. The material transport forklift robot according to any one of claims 1 to 3, characterized in that: The material transport forklift robot further includes a second rotating shaft and a second bolt; The second rotating shaft comprises a second eccentric body and a second shaft body which are sequentially connected along the axial direction thereof, the second eccentric body has a second eccentric portion, and the second eccentric portion is provided with a second bolt through hole; The body is provided with a first hinge seat, the first hinge seat is provided with a third shaft hole, and the first hinge seat is provided with a second screw hole on one side of the third shaft hole; The extended end of the linear telescopic drive unit is provided with a fourth shaft hole; The second shaft body passes through the third shaft hole and the fourth shaft hole in sequence, and the second bolt passes through the second bolt through hole and then matches with the second screw hole.

7. The material transport forklift robot according to any one of claims 1 to 3, characterized in that: The linear telescopic driving unit is connected to the extending end of the fork plate in the first direction.

8. The material transport forklift robot according to claim 7, characterized in that: The fork plate has a bearing surface; In the first direction, the extending end of the fork plate has a rotating connection portion extending upward, and the rotating connection portion is located above the horizontal position where the bearing surface is located; The linear telescopic driving unit is connected to the rotating connecting part.

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