A fork manipulator capable of clamping and centering

Abstract

The present invention discloses a fork manipulator capable of clamping and centering, comprising a telescopic mechanism and a clamping and centering mechanism, wherein an upper support plate, a middle support plate, and a lower support plate are slidably connected in sequence; a driving mechanism drives the upper support plate and the middle support plate to slide; a slide rail is fixed on the lower support plate, and sliders 1 and 2 are both slidably connected to the slide rail; synchronous pulleys 3 and 4 are rotatably supported on the lower support plate, and synchronous pulleys 3 and 4 are jointly fitted with a synchronous belt 3; sliders 1 and 2 are both fixed to the synchronous belt 3; a clamping member 1 is fixed to slider 1, and a clamping member 2 is fixed to slider 2. In the present invention, the sliding directions of the upper support plate and the middle support plate are the same, and the driving mechanism has a simple and reliable structure; sliders 1 and 2 in the clamping and centering mechanism are both fixed to the synchronous belt 3, so that sliders 1 and 2 can move synchronously toward each other, thereby achieving clamping and centering of the goods by the clamping member 1 and the clamping member 2.

Description

Technical Field

[0001] The present invention relates to the field of storage machinery, and more particularly to a fork manipulator capable of clamping and centering. Background Art

[0002] At present, telescopic fork-type basket-taking robots have been widely used in my country's automated warehousing field. The fork robot can realize the forward and backward bidirectional telescopic function. It is installed on the vertical module of the linear module and moves in the storage shelves to complete the function of automatically picking up and placing baskets.

[0003] However, the multi-stage telescopic structure in existing fork robots mostly adopts gear transmission, which has high precision requirements and complex structure, making it inconvenient for future production and maintenance; in addition, the centering of the fork robot for the goods depends on the movement accuracy of the linear module, which in turn requires high assembly accuracy of the storage space and workstations.

[0004] Therefore, how to provide a fork manipulator that can clamp and center so as to overcome the above problems is an issue that needs to be urgently addressed by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a fork manipulator capable of clamping and centering.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A fork manipulator capable of clamping and centering, comprising:

[0008] The telescopic mechanism includes an upper supporting plate, a middle supporting plate, a lower supporting plate and a driving mechanism 1; the upper supporting plate, the middle supporting plate and the lower supporting plate are parallel to each other, the three are slidably connected in sequence and have the same sliding direction; the driving mechanism 1 includes a synchronous pulley 1, a synchronous pulley 2, a synchronous belt 1, a synchronous belt 2, a rack, a driving gear and a driving machine 1, the two ends of the middle supporting plate are respectively rotatably supported by the synchronous pulley 1 and the synchronous pulley 2, one end of the synchronous belt 1 is fixed to the end of the upper supporting plate away from the synchronous pulley 1, and the other end of the synchronous belt 1 is connected to the synchronous pulley 1 after passing through the synchronous pulley 1. The gear train is connected to the transmission gear of the transmission gear, and the transmission gear is connected to the transmission gear of the transmission gear by the spring, and the transmission gear is meshed with the gear train.

[0009] The clamping and centering mechanism comprises a slide rail, a slider 1, a slider 2, a synchronous pulley 3, a synchronous pulley 4, a synchronous belt 3, a driving machine 2, a clamping part 1 and a clamping part 2. The slide rail is fixed on one side plate of the lower supporting plate, and the rail length direction of the slide rail is perpendicular to the sliding direction of the middle supporting plate relative to the lower supporting plate. The slider 1 and the slider 2 are both slidably connected to the slide rail, and the synchronous pulley 3 and the synchronous pulley 4 are rotatably supported on the lower supporting plate. The synchronous pulley 3 and the synchronous pulley 4 are jointly equipped with the synchronous belt 3, and the driving machine 2 is fixed on the lower supporting plate and its It is transmission connected to the synchronous pulley three, and the plane defined by the axis center line of the synchronous pulley three and the axis center line of the synchronous pulley four is parallel to the rail length direction of the slide rail. The synchronous belt three located on one side of the synchronous pulley three is fixed to the slider one, and the synchronous belt three located on the other side of the synchronous pulley three is fixed to the slider two. The slider one and the slider two are spaced apart along the rail length direction of the slide rail. The clamping member one is fixed on the slider one, and the clamping member two is fixed on the slider two. The clamping member one and the clamping member two can jointly clamp the goods placed on the upper deck.

[0010] Through the above technical solution, it can be seen that compared with the prior art, the present invention discloses a fork manipulator that can clamp and center. The telescopic mechanism of the present invention includes an upper support plate, a middle support plate and a lower support plate that are slidably connected in sequence. This arrangement ensures that the goods placed on the upper support plate have a longer telescopic movement distance. The sliding of the upper support plate relative to the middle support plate is achieved by synchronous pulley 1, synchronous pulley 2, synchronous belt 1 and synchronous belt 2. The sliding directions of the upper support plate and the middle support plate are the same, and the driving mechanism 1 has a simple and reliable structure; the clamping member 1 and the clamping member 2 in the clamping and centering mechanism are respectively fixed to the slider 1 and the slider 2, and the slider 1 and the slider 2 are both fixed to the synchronous belt 3. Therefore, the slider 1 and the slider 2 can move toward each other synchronously, thereby realizing the clamping and centering of the goods by the clamping member 1 and the clamping member 2.

[0011] Preferably, the telescopic mechanism further comprises a limit plate, a first roller, a guide rail, a vertical plate, and a second roller. The limit plate is vertically fixed to a side surface of the upper support plate close to the middle support plate, and a plurality of first rollers are rotatably supported on the limit plate. The I-shaped guide rail is fixed to a side surface of the middle support plate close to the upper support plate, and the length direction of the guide rail is parallel to the sliding direction of the upper support plate relative to the middle support plate. The first roller is embedded in one side of the guide rail. The vertical plate is vertically fixed to a side surface of the lower support plate close to the middle support plate, and the second roller is rotatably supported on the surface of the vertical plate. The second roller is embedded in the other side of the guide rail. This arrangement ensures that the upper support plate, the middle support plate, and the lower support plate can be reliably slidably connected.

[0012] Preferably, the drive mechanism further comprises a mounting frame and a driving gear, wherein the mounting frame is fixed to a side surface of the lower support plate away from the middle support plate, the driving motor 1 is fixed to the mounting frame, the driving gear is coaxially sleeved on the output shaft of the driving motor 1, the mounting frame rotatably supports two driving gears, the driving gear simultaneously meshes with the two driving gears, a clearance hole is provided on the surface of the lower support plate, and the two driving gears mesh with the rack after passing through the clearance hole. The provision of the mounting frame can ensure that the driving motor 1 and the driving gear can be reliably mounted on the lower support plate, and the provision of two driving gears can increase the travel range of the rack.

[0013] The cam is secured to the upper and lower ends of the cam, and the cam is secured to the lower ends of the cam, and the cam is secured to the lower ends of the cam. The segment length directions of segment two, the longitudinal segment three and the longitudinal segment four are all parallel to the rail length direction of the slide rail, one synchronous pulley three and the synchronous pulley four corresponding to it along the rail length direction of the slide rail are limited between the longitudinal segment one and the longitudinal segment two, and another synchronous pulley three and the synchronous pulley four corresponding to it along the rail length direction of the slide rail are limited between the longitudinal segment three and the longitudinal segment four; the slider one, the slider two, the clamping member one and the clamping member two are each provided with two, the two sliders one respectively correspond to the longitudinal segment one and the longitudinal segment three, the two sliders two respectively correspond to the longitudinal segment two and the longitudinal segment four, and the two clamping members one are arranged on the same side of the lower support plate. On the one hand, setting up two clamping members one and two clamping members two can ensure that clamping member one and clamping member two can reliably clamp and center the goods, and the two clamping members one and two clamping members two can move synchronously, which can improve their centering effect; on the other hand, setting up a driving machine two can drive the two clamping members one and two clamping members two to move.

[0014] Preferably, the clamping and centering mechanism further includes a rubber buffer block. The first clamping member includes a first connecting rod and a second connecting rod. One end of the first connecting rod is fixed to the first slider, and the other end is vertically fixed to the second connecting rod. The end of the second connecting rod away from the first connecting rod is fixed to the rubber buffer block. The second clamping member includes a third connecting rod and a fourth connecting rod. One end of the third connecting rod is fixed to the second slider, and the other end is vertically fixed to the fourth connecting rod. The end of the fourth connecting rod away from the third connecting rod is fixed to the rubber buffer block. The upper support plate is limited between the second and fourth connecting rods, and the upper support plate is limited between the rubber buffer block and the middle support plate. This arrangement ensures that the first and second clamping members can reliably clamp the cargo without damaging it. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0016] Figure 1 It is an integral axonometric measurement of a fork manipulator that can be clamped and centered. Figure 1 ;

[0017] Figure 2 It is an integral axonometric measurement of a fork manipulator that can be clamped and centered. Figure 2 ;

[0018] Figure 3 It is an axonometric diagram of a fork manipulator that can be clamped and centered, connected to a connector and holding the goods;

[0019] Figure 4 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 1 ;

[0020] Figure 5 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 2 ;

[0021] Figure 6 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 3 ;

[0022] Figure 7 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 4 ;

[0023] Figure 8 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 5;

[0024] Figure 9 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 6 ;

[0025] Figure 10 It is a partial axonometric measurement of a fork manipulator that can be clamped and centered. Figure 7 .

[0026] In the figure:

[0027] 1 is the upper supporting plate, 2 is the middle supporting plate, 3 is the lower supporting plate, 4 is the synchronous pulley 1, 5 is the synchronous pulley 2, 6 is the synchronous belt 1, 7 is the synchronous belt 2, 8 is the rack, 9 is the driving gear, 10 is the driving machine 1, 11 is the mounting frame, 12 is the driving gear, 13 is the limiting plate, 14 is the roller 1, 15 is the guide rail, 16 is the vertical plate, 17 is the roller 2, 18 is the slide rail, 19 is the slider 1, 20 is the slider 2, 21 is the synchronous pulley 3, 22 is the synchronous pulley 4, 23 is the synchronous belt 3, 24 is the driving machine 2, 25 is the connecting rod 1, 26 is the connecting rod 2, 27 is the connecting rod 3, 28 is the connecting rod 4, 29 is the guide pulley, 30 is the rubber buffer block, 31 is the connecting piece, and 32 is the cargo. DETAILED DESCRIPTION

[0028] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0029] The present invention discloses a fork manipulator capable of clamping and centering. The telescopic mechanism of the present invention comprises an upper deck 1, a middle deck 2 and a lower deck 3 which are slidably connected in sequence. This arrangement ensures that the goods 32 placed on the upper deck 1 have a long telescopic movement distance. The sliding of the middle deck 2 relative to the lower deck 3 is achieved by driving a gear 9 and a rack 8. The sliding of the upper deck 1 relative to the middle deck 2 is achieved by synchronous pulley 1 4, synchronous pulley 2 5, synchronous belt 1 6 and synchronous belt 2 7. The upper deck 1 and the middle supporting plate 2 have the same sliding direction, and the driving mechanism 1 has a simple and reliable structure; the clamping member 1 and the clamping member 2 in the clamping and centering mechanism are respectively fixed to the slider 19 and the slider 2 20, and by providing a synchronous pulley 3 21, a synchronous pulley 4 22, a guide pulley 29 and a synchronous belt 3 23, the slider 19 and the slider 2 20 are both fixed to the synchronous belt 3 23. Therefore, the slider 19 and the slider 2 20 can move synchronously toward each other, thereby realizing the clamping and centering of the goods 32 by the clamping member 1 and the clamping member 2.

[0030] Example

[0031] See attached Figure 1-10 Schematic diagram of the overall and partial structures of an embodiment of the present invention. The present invention specifically discloses a fork manipulator capable of clamping and centering, including a telescopic mechanism and a clamping and centering mechanism.

[0032] The telescopic mechanism includes an upper support plate 1, a middle support plate 2, a lower support plate 3 and a driving mechanism 1. The lower support plate 3 is fixed to the robotic arm through a connecting piece 31;

[0033] The upper deck 1, the middle deck 2 and the lower deck 3 are parallel to each other, and the three are slidably connected in sequence and slide in the same direction. The upper deck 1, the middle deck 2 and the lower deck 3 are all rectangular plates;

[0034] The driving mechanism 1 includes a synchronous pulley 1 4, a synchronous pulley 2 5, a synchronous belt 1 6, a synchronous belt 2 7, a rack 8, a driving gear 9 and a driving machine 10;

[0035] The two ends of the center support plate 2 are rotatably supported by a synchronous pulley 1 4 and a synchronous pulley 2 5 of the same size and specifications. There is one synchronous pulley 1 4 and one synchronous pulley 2 5, and the two are staggered, that is, the positions of the two along the length direction of the center support plate 2 do not correspond;

[0036] One end of the synchronous belt 6 is fixed to the end of the upper deck 1 away from the synchronous pulley 4, and the other end of the synchronous belt 6 is fixed to the end of the lower deck 3 away from the synchronous pulley 4 after passing around the synchronous pulley 4;

[0037] One end of the synchronous belt 27 is fixed to the end of the upper plate 1 away from the synchronous pulley 25, and the other end of the synchronous belt 27 is fixed to the end of the lower plate 3 away from the synchronous pulley 25 after passing around the synchronous pulley 25;

[0038] The rack 8 is fixed to the side surface of the middle plate 2 close to the lower plate 3. The length direction of the rack 8 is parallel to the sliding direction of the middle plate 2 relative to the lower plate 3. A driving gear 9 is installed on the lower plate 3, which meshes with the rack 8. The driving machine 10 is installed on the lower plate 3 and is connected to the driving gear 9. The driving gear 9 rotates to drive the rack 8 to move, that is, the middle plate 2 moves along the length direction of the lower plate 3. Since a synchronous pulley 1 4, a synchronous pulley 2 5, a synchronous belt 1 6 and a synchronous belt 2 7 are provided, the upper plate 1 will also move along the length direction of the lower plate 3, and the upper plate 1 and the middle plate 2 have the same sliding direction relative to the lower plate 3.

[0039] The clamping and centering mechanism includes a slide rail 18, a slider 1 19, a slider 2 20, a synchronous pulley 3 21, a synchronous pulley 4 22, a synchronous belt 3 23, a driving machine 2 24, a clamping member 1, and a clamping member 2;

[0040] A slide rail 18 is fixed to one side of the lower support plate 3. The length direction of the slide rail 18 is perpendicular to the sliding direction of the middle support plate 2 relative to the lower support plate 3. Slide block 19 and slide block 20 are both slidably connected to the slide rail 18. A synchronous pulley 3 21 and a synchronous pulley 4 22 of the same size and specification are rotatably supported on the lower support plate 3. The synchronous pulley 3 21 and the synchronous pulley 4 22 are jointly covered with a synchronous belt 3 23. The driving machine 2 24 is fixed to the lower support plate 3 and is transmission-connected to the synchronous pulley 3 21. The plane defined by the axis of the synchronous pulley 3 21 and the axis of the synchronous pulley 4 22 is parallel to the length direction of the slide rail 18. The synchronous pulley 3 21 is located on one side of the synchronous pulley 3 21. Synchronous belt three 23 is fixed to slider one 19, and synchronous belt three 23 located on the other side of synchronous pulley three 21 is fixed to slider two 20. Slider one 19 and slider two 20 are spaced apart in the rail length direction of slide rail 18. Clamp one is fixed on slider one 19, and clamp two is fixed on slider two 20. When driving motor two 24 drives synchronous pulley three 21 to rotate, clamp one and clamp two can move synchronously and in opposite directions. When clamp one and clamp two move toward each other, clamp one and clamp two jointly clamp cargo 32 placed on upper support plate 1. When clamp one and clamp two move away from each other, the clamping and centering of cargo 32 can be cancelled.

[0041] To be more specific, the telescopic mechanism also includes a limit plate 13, a roller 14, a guide rail 15, a vertical plate 16 and a roller 2 17. Two rectangular limit plates 13 are vertically fixed on the side surface of the upper plate 1 close to the middle plate 2. Each limit plate 13 is rotatably supported with multiple rollers 14, and multiple rollers 14 are equidistantly arranged along the length direction of the limit plate 13; two I-shaped guide rails 15 are fixed on the side surface of the middle plate 2 close to the upper plate 1, and the rail length direction of the guide rail 15 is relative to the upper plate 1. The sliding directions of the middle supporting plate 2 are parallel, and the two limiting plates 13 are arranged between the two guide rails 15. The multiple rollers 14 on the two limiting plates 13 are respectively embedded in one side of the inner part of the two guide rails 15. Two rectangular vertical plates 16 are vertically fixed on the side of the lower supporting plate 3 close to the middle supporting plate 2. The two guide rails 15 are limited between the two vertical plates 16. Multiple rollers 17 are rotatably supported on the plate surface of each vertical plate 16. The multiple rollers 17 on the two vertical plates 16 are respectively embedded in the other side of the inner part of the guide rail 15.

[0042] To be more specific, the driving mechanism also includes a mounting frame 11 and a driving gear 12. The mounting frame 11 is fixed on the side of the lower support plate 3 away from the middle support plate 2. The driving machine 10 is fixed on the mounting frame 11. The driving gear 12 is coaxially sleeved on the output shaft of the driving machine 10. There are two driving gears 9 rotatably supported on the mounting frame 11. The driving gear 12 is engaged with the two driving gears 9 at the same time. A clearance hole is opened on the plate surface of the lower support plate 3. The two driving gears 9 are engaged with the rack 8 after passing through the clearance hole. The two driving gears 9 can ensure that the rack 8 is reliably engaged with the driving gear 9, thereby increasing the distance that the driving gear 9 drives the rack 8 to move.

[0043] More specifically, the clamping and centering mechanism further includes three guide pulleys 29 , and the three guide pulleys 29 are rotatably supported on the side of the lower support plate 3 away from the middle support plate 2 ;

[0044] There are two synchronous pulleys 3 21, two synchronous pulleys 4 22 and two slide rails 18. The two slide rails 18 are arranged near the two ends of the lower bearing plate 3. Each slide rail 18 is limited between a synchronous pulley 3 21 and a synchronous pulley 4 22. The two synchronous pulleys 3 21 are arranged on the same side of the lower bearing plate 3. The two synchronous pulleys 3 21, the two synchronous pulleys 4 22 and the multiple guide pulleys 29 are jointly wound with a synchronous belt 3 23. By providing three guide pulleys 29, the synchronous belt 3 23 has a longitudinal section 1, a longitudinal section 2, a longitudinal section 3 and a longitudinal section 4 along the plate length direction of the lower bearing plate 3. The segment length directions of the longitudinal sections 1, 2, 3 and 4 are all parallel to the rail length direction of the slide rail 18.

[0045] A synchronous pulley 3 21 and a synchronous pulley 4 22 corresponding to the same along the rail length direction of the slide rail 18 are limited between the longitudinal section 1 and the longitudinal section 2, and another synchronous pulley 3 21 and another synchronous pulley 4 22 corresponding to the same along the rail length direction of the slide rail 18 are limited between the longitudinal section 3 and the longitudinal section 4;

[0046] There are two sliders 19, two sliders 20, two clamping members 1 and two clamping members 2. The two sliders 19 correspond to the positions of longitudinal section 1 and longitudinal section 3 respectively, and the two sliders 20 correspond to the positions of longitudinal section 2 and longitudinal section 4 respectively. The two clamping members 1 are arranged on the same side of the lower support plate 3. The two clamping members 1 and the two clamping members 2 can reliably clamp and center the goods 32.

[0047] To be more specific, the clamping and centering mechanism also includes a rubber buffer block 30, which is cylindrical, and the axis of the rubber buffer block 30 is parallel to the rail length direction of the slide rail 18. The clamping member 1 includes a connecting rod 1 25 and a connecting rod 2 26. One end of the connecting rod 1 25 is fixed to the slider 1 19, and the other end is vertically fixed with the connecting rod 2 26, and the end of the connecting rod 2 26 away from the connecting rod 1 25 is fixed with the rubber buffer block 30; the clamping member 2 includes a connecting rod 3 27 and a connecting rod 4 28. One end of the connecting rod 3 27 is fixed to the slider 2 20, and the other end is vertically fixed with the connecting rod 4 28, and the end of the connecting rod 4 28 away from the connecting rod 3 27 is fixed with the rubber buffer block 30. The upper support plate 1 is limited between the connecting rod 2 26 and the connecting rod 4 28, and the upper support plate 1 is limited between the rubber buffer block 30 and the middle support plate 2.

[0048] The cargo 32 is placed on the upper deck 1, and the driving machine 2 24 drives the synchronous pulley 3 21 to rotate. When the synchronous pulley 3 21 rotates, the synchronous belt 3 23 runs around the synchronous pulley 3 21, the synchronous pulley 4 22 and the guide pulley 29. Since the slider 19 and the slider 2 20 are fixed to the synchronous belt 3 23, the clamping part 1 and the clamping part 2 can move toward each other synchronously, and the clamping part 1 and the clamping part 2 can clamp and center the cargo 32; the driving gear 9 rotates to drive the rack 8 to move, and the middle deck 2 moves along the length direction of the lower deck 3. At the same time, the upper deck 1 will also move along the length direction of the lower deck 3, and the upper deck 1 and the middle deck 2 have the same sliding direction relative to the lower deck 3, thereby realizing the movement of the cargo 32.

[0049] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0050] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fork manipulator capable of clamping and centering, characterized in that: include: A telescopic mechanism, the telescopic mechanism comprises an upper supporting plate (1), a middle supporting plate (2), a lower supporting plate (3) and a driving mechanism 1; the upper supporting plate (1), the middle supporting plate (2) and the lower supporting plate (3) are parallel to each other, and the three are slidably connected in sequence and have the same sliding direction; the driving mechanism 1 comprises a synchronous pulley 1 (4), a synchronous pulley 2 (5), a synchronous belt 1 (6), a synchronous belt 2 (7), a rack (8), a driving gear (9) and a driving machine 1 (10); the two ends of the middle supporting plate (2) are respectively rotatably supported by the synchronous pulley 1 (4) and the synchronous pulley 2 (5); one end of the synchronous belt 1 (6) is fixed to the end of the upper supporting plate (1) away from the synchronous pulley 1 (4); the other end of the synchronous belt 1 (6) is fixed to the end of the upper supporting plate (1) away from the synchronous pulley 1 (4); and the other end of the synchronous belt 1 (6) is fixed to the synchronous pulley 1 (4) after passing the synchronous pulley 1 (4). The lower support plate (3) is fixed at one end away from the synchronous pulley 1 (4), one end of the synchronous belt 2 (7) is fixed to one end of the upper support plate (1) away from the synchronous pulley 2 (5), and the other end of the synchronous belt 2 (7) is fixed to one end of the lower support plate (3) away from the synchronous pulley 2 (5) after passing around the synchronous pulley 2 (5), the rack (8) is fixed to one side plate surface of the middle support plate (2), the length direction of the rack (8) is parallel to the sliding direction of the middle support plate (2) relative to the lower support plate (3), the driving gear (9) is installed on the lower support plate (3), the driving gear (9) is meshed with the rack (8), and the driving machine 1 (10) is installed on the lower support plate (3) and is in transmission connection with the driving gear (9); A clamping and centering mechanism, the clamping and centering mechanism includes a slide rail (18), a slider 1 (19), a slider 2 (20), a synchronous pulley 3 (21), a synchronous pulley 4 (22), a synchronous belt 3 (23), a driving machine 2 (24), a clamping member 1 and a clamping member 2. The slide rail (18) is fixed on one side of the lower support plate (3). The rail length direction of the slide rail (18) is perpendicular to the sliding direction of the middle support plate (2) relative to the lower support plate (3). The slider 1 (19) and the slider 2 (20) are both slidably connected to the slide rail (18). The synchronous pulley 3 (21) and the synchronous pulley 4 (22) are rotatably supported on the lower support plate (3). The synchronous pulley 3 (21) and the synchronous pulley 4 (22) are jointly covered with the synchronous belt 3 (23). The driving machine 2 (24) is fixed on the lower support plate (3). The lower support plate (3) is connected to the synchronous pulley three (21) in transmission, the plane defined by the axis of the synchronous pulley three (21) and the axis of the synchronous pulley four (22) is parallel to the rail length direction of the slide rail (18), the synchronous belt three (23) located on one side of the synchronous pulley three (21) is fixed to the slider one (19), and the synchronous belt three (23) located on the other side of the synchronous pulley three (21) is fixed to the slider two (20), the slider one (19) and the slider two (20) are spaced apart along the rail length direction of the slide rail (18), the clamping member one is fixed to the slider one (19), and the clamping member two is fixed to the slider two (20), and the clamping member one and the clamping member two can jointly clamp the goods (32) placed on the upper support plate (1).

2. A fork manipulator capable of clamping and centering according to claim 1, characterized in that: The telescopic mechanism further comprises a limit plate (13), a roller 1 (14), a guide rail (15), a vertical plate (16) and a roller 2 (17); the limit plate (13) is vertically fixed on a side plate surface of the upper supporting plate (1) close to the middle supporting plate (2); a plurality of rollers 1 (14) are rotatably supported on the limit plate (13); the guide rail (15) in an I-shape is fixed on a side plate surface of the middle supporting plate (2) close to the upper supporting plate (1); The rail length direction of the guide rail (15) is parallel to the sliding direction of the upper supporting plate (1) relative to the middle supporting plate (2); the roller 1 (14) is embedded in one side of the guide rail (15); the vertical plate (16) is vertically fixed on the side of the lower supporting plate (3) close to the middle supporting plate (2); the roller 2 (17) is rotatably supported on the plate surface of the vertical plate (16); and the roller 2 (17) is embedded in the other side of the guide rail (15).

3. The fork manipulator capable of clamping and centering according to claim 1, characterized in that: The driving mechanism further comprises a mounting frame (11) and a driving gear (12), wherein the mounting frame (11) is fixed on a side surface of the lower supporting plate (3) away from the middle supporting plate (2), the driving machine (10) is fixed on the mounting frame (11), the driving gear (12) is coaxially sleeved on the output shaft of the driving machine (10), two driving gears (9) are rotatably supported on the mounting frame (11), the driving gear (12) is simultaneously engaged with the two driving gears (9), a clearance hole is opened on the plate surface of the lower supporting plate (3), and the two driving gears (9) are engaged with the rack (8) after passing through the clearance hole.

4. The fork manipulator capable of clamping and centering according to claim 1, characterized in that: The clamping and centering mechanism also includes a guide pulley (29), and a plurality of the guide pulleys (29) are rotatably supported on a side surface of the lower supporting plate (3) away from the middle supporting plate (2), and two of the synchronous pulleys three (21), the synchronous pulley four (22) and the slide rail (18) are provided, and the two slide rails (18) are respectively arranged near the two ends of the lower supporting plate (3), and each of the slide rails (18) is limited between one synchronous pulley three (21) and one synchronous pulley four (22), and the two synchronous pulleys three (21) are arranged on the same side of the lower supporting plate (3), and the two synchronous pulleys three (21), the two synchronous pulleys four (22) and the plurality of guide pulleys (29) are wound around a synchronous belt three (23), and the synchronous belt three (23) has a longitudinal section one, a longitudinal section two, a longitudinal section three and a longitudinal section along the length direction of the lower supporting plate (3). Segment four, the segment length directions of the longitudinal segment one, the longitudinal segment two, the longitudinal segment three and the longitudinal segment four are all parallel to the rail length direction of the slide rail (18), one synchronous pulley three (21) and one synchronous pulley four (22) corresponding to the longitudinal segment one along the rail length direction of the slide rail (18) are limited between the longitudinal segment one and the longitudinal segment two, and another synchronous pulley three (21) and another synchronous pulley four (22) corresponding to the longitudinal segment three along the rail length direction of the slide rail (18) are limited between the longitudinal segment three and the longitudinal segment four; the slider one (19), the slider two (20), the clamping member one and the clamping member two are each provided with two, the two sliders one (19) respectively correspond to the longitudinal segment one and the longitudinal segment three, the two sliders two (20) respectively correspond to the longitudinal segment two and the longitudinal segment four, and the two clamping members one are arranged on the same side of the lower support plate (3).

5. The fork manipulator capable of clamping and centering according to claim 1, characterized in that: The clamping and centering mechanism also includes a rubber buffer block (30), the clamping member 1 includes a connecting rod 1 (25) and a connecting rod 2 (26), one end of the connecting rod 1 (25) is fixed to the slider 1 (19), and the other end is vertically fixed with the connecting rod 2 (26), and the end of the connecting rod 2 (26) away from the connecting rod 1 (25) is fixed with the rubber buffer block (30); the clamping member 2 includes a connecting rod 3 (27) and a connecting rod 4 (28), one end of the connecting rod 3 (27) is fixed to the slider 2 (20), and the other end is vertically fixed with the connecting rod 4 (28), and the end of the connecting rod 4 (28) away from the connecting rod 3 (27) is fixed with the rubber buffer block (30), the upper support plate (1) is limited between the connecting rod 2 (26) and the connecting rod 4 (28), and the upper support plate (1) is limited between the rubber buffer block (30) and the middle support plate (2).

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