Fork device and warehouse robot

Abstract

The application relates to a fork device and a warehouse robot. The fork device comprises a fork body, a tray supported on a base, and a telescopic assembly, the tray is supported on the base, the telescopic assembly comprises a cargo taking mechanism connector capable of extending or retracting in a cargo moving direction relative to the tray; and a cargo taking mechanism, which is detachably installed on the cargo taking mechanism connector; the cargo taking mechanism comprises a first cargo taking mechanism comprising a first cargo taking piece acting on the cargo in a first manner, or a second cargo taking mechanism comprising a second cargo taking piece acting on the cargo in a second manner different from the first manner. The scheme provided by the application can conveniently replace different cargo taking mechanisms on the fork body, and reduces the difficulty of carrying different specifications of cargos.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse equipment, in particular to a fork device and a warehouse robot. BACKGROUND

[0002] With the development of the warehouse logistics industry, the carrying of warehouse boxes is generally realized by using a carrying robot, which can greatly improve the carrying efficiency of warehouse logistics.

[0003] In the related art, the carrying robot can only be used in a scenario where the sizes of the boxes are the same. When the sizes of the boxes are different, the forks of the carrying robot generally place the boxes according to the size of the largest box, which is difficult to be compatible with small-size boxes. Therefore, the spacing between the boxes is too large, which reduces the warehouse density and increases the cost of the warehouse. Meanwhile, since the forks of the carrying robot in the related art can only take and place the boxes of the same size, it is difficult to carry the boxes of multiple sizes. SUMMARY

[0004] To solve or partially solve the problems in the related art, the present application provides a fork device and a warehouse robot, which can conveniently replace different taking mechanisms on the fork body, thereby reducing the difficulty of carrying different sizes of goods.

[0005] The first aspect of the present application provides a fork device, comprising:

[0006] a fork body, comprising a base, a tray supported on the base, and a telescopic assembly, the tray is supported on the base, and the telescopic assembly comprises a taking mechanism connecting piece which can be extended or retracted relative to the tray in a goods moving direction; and

[0007] a taking mechanism, which is detachably mounted on the taking mechanism connecting piece; the taking mechanism comprises: a first taking mechanism comprising a first taking piece acting on the goods in a first manner; or a second taking mechanism comprising a second taking piece acting on the goods in a second manner different from the first manner.

[0008] In an embodiment, the first taking mechanism comprises a claw assembly; and / or

[0009] the second taking mechanism comprises a suction cup assembly.

[0010] In an embodiment, the first taking piece and / or the second taking piece acts on a single-direction surface of the goods.

[0011] In an embodiment, the first taking piece acts on a single-direction surface of the goods, and the second taking piece acts on at least two-direction surfaces of the goods.

[0012] In an embodiment, two telescopic assemblies are provided, and two telescopic assemblies and two take-out mechanism connectors are provided on both sides of the tray;

[0013] The telescopic assembly is driven by a telescopic drive through a telescopic transmission mechanism, and the telescopic transmission mechanisms of the telescopic assemblies on both sides of the tray are synchronously driven by a single telescopic drive.

[0014] In an embodiment, the first take-out mechanism is detachably mounted on a first mounting bracket, the second take-out mechanism is detachably mounted on a second mounting bracket, and the first mounting bracket and the second mounting bracket are both provided with mounting portions matched with the take-out mechanism connectors; or

[0015] The first take-out mechanism or (and) the second take-out mechanism is detachably mounted on a third mounting bracket, and the third mounting bracket is provided with a mounting portion matched with the take-out mechanism connectors on both sides of the tray.

[0016] In an embodiment, the telescopic assembly includes a second guide rail arranged along the moving direction, the take-out mechanism connector is connected with a second sliding member slidingly fitted on the second guide rail, and the take-out mechanism connector is slidingly connected with the tray through the second sliding member. In an embodiment, the telescopic transmission mechanism includes a belt transmission mechanism, the belt transmission mechanism includes a telescopic driving wheel, a telescopic driven wheel, and a synchronous belt wound around the telescopic driving wheel and the telescopic driven wheel, the telescopic driving wheel is connected with the output shaft of the telescopic drive, a straight running portion running along the moving direction is formed on the synchronous belt, and the first sliding member is connected with the straight running portion.

[0017] In an embodiment, the telescopic assembly includes a first guide rail and a second guide rail arranged in parallel along the moving direction, the take-out mechanism connector is slidingly connected with the tray through the first guide rail and a first sliding member slidingly fitted on the first guide rail, and the tray is slidingly connected with the base through the second guide rail and a second sliding member slidingly fitted on the second guide rail,

[0018] In an embodiment, a linkage assembly is provided between the take-out mechanism and the tray, and the take-out mechanism drives the tray to extend and / or retract during the extension and / or retraction process through the linkage assembly; a linkage assembly is provided between the take-out mechanism and the tray, and the take-out mechanism drives the tray to extend and / or retract during the extension and / or retraction process through the linkage assembly.

[0019] In an embodiment, the linkage assembly includes two linkage triggers provided on the tray and a linkage matching member fixedly arranged relative to the take-out mechanism.

[0020] The two linkage triggers are arranged at two ends of the tray along the goods moving direction, and the linkage fitting is located between the two linkage triggers; when the linkage fitting runs to a preset position along the extension or retraction direction of the goods taking mechanism, it can abut against the corresponding linkage trigger to drive the tray to extend or retract.

[0021] In an embodiment, a locking mechanism is further arranged between the tray and the base, the locking mechanism comprises a linkage assembly arranged on the tray and a locking piece arranged on the linkage assembly, the locking piece is used to lock or separate with the base, and the two linkage triggers are arranged on the linkage assembly; when the linkage fitting abuts against the two linkage triggers respectively, the linkage assembly is driven to move along the extension or retraction direction to make the locking piece lock or separate with the base.

[0022] In an embodiment, an unlocking trigger is further arranged, the unlocking trigger is in transmission cooperation with the locking mechanism; when the goods are pulled by the goods taking mechanism to touch the unlocking trigger, the unlocking trigger drives the locking mechanism to move to make the locking piece unlock with the base.

[0023] In an embodiment, a clamping plate is arranged on the base, and a plurality of clamping teeth are arranged on the clamping plate along the goods moving direction; when the linkage fitting drives the linkage assembly to move along the extension or retraction direction, the linkage assembly drives the locking piece to move along a direction forming an angle with the goods moving direction to approach or move away from the clamping plate, so that the locking piece is clamped between two adjacent clamping teeth or separated from the clamped clamping teeth.

[0024] In an embodiment, the linkage assembly comprises a first linkage, a second linkage, a third linkage and a fourth linkage which are sequentially connected and rotated, the first linkage is fixed on the tray, the two linkage triggers are arranged on the second linkage and the fourth linkage respectively, and the locking piece is arranged on the first linkage and the third linkage.

[0025] The lengths of the first linkage and the third linkage are greater than the lengths of the second linkage and the fourth linkage.

[0026] In some embodiments, the first goods taking mechanism comprises a claw assembly, the claw assembly comprises at least one claw, the claw is directly connected to the first mounting bracket and located between the two sides of the tray to be opposite to the goods along the goods moving direction.

[0027] In an embodiment, the first goods taking mechanism comprises a claw assembly.

[0028] The hook assembly includes a hook driving member and at least one hook, wherein the at least one hook is connected to the output shaft of the hook driving member;

[0029] The hook is arranged above the pallet between two sides of the pallet to face the goods along the direction of moving goods;

[0030] The hook driving member is used to drive the hook to rise or fall in a vertical direction so that the hook is engaged with or disengaged from the cargo.

[0031] In one embodiment, the second pickup mechanism includes a suction cup assembly;

[0032] The suction cup assembly includes a pneumatic control assembly and at least one suction cup, wherein the at least one suction cup is connected to the pneumatic control assembly, and the pneumatic control assembly is used to control the gas flow state in the at least one suction cup so as to make the suction cup adhere to or detach from the cargo box;

[0033] The suction cup is arranged above the pallet between two sides of the pallet to be opposite to the goods along the direction of moving the goods.

[0034] In one embodiment, the base includes a fixed base and a rotating frame, the rotating frame is rotatably mounted on the fixed base, and the tray and the telescopic assembly are mounted on the rotating frame;

[0035] The rotating frame is driven by a rotating driving member through a rotating transmission mechanism;

[0036] The rotary transmission mechanism includes a rotating member, a rotating driving wheel, a rotating driven wheel, and a transmission member wound around the rotating driving wheel and the rotating driven wheel, and the rotating frame is connected to the fixed seat through the rotating member;

[0037] The rotating driving wheel is fixed to the output shaft of the rotating driving member, and the rotating driven wheel is fixed relative to the rotating frame and is coaxially arranged with the rotating member.

[0038] In one embodiment, the rotating driving wheel is a driving sprocket, and the rotating driven wheel is a driven sprocket; the rotating driving wheel and the rotating driven wheel are connected by a chain;

[0039] In one embodiment, the rotary transmission mechanism further includes a tensioning device, which includes a chain tensioning rod fixed to the rotating frame, and a chain tensioning spring sleeved on the chain tensioning rod, one end of the chain tensioning spring abuts against the mounting seat of the driving sprocket, and the other end abuts against the rotating frame.

[0040] In one embodiment, the rotating frame comprises a rotating support plate, two fixed plates arranged on both sides of the rotating support plate, and a mounting frame arranged at one end of the rotating support plate away from the goods in the goods moving direction; wherein:

[0041] Each of the fixed plates is correspondingly provided with the telescopic assembly, and the rotating support plate is rotatably arranged on the fixed seat; and / or,

[0042] The rotating driving member and the telescopic driving member for driving the telescopic assembly are arranged on the mounting frame, and the mounting frame is further provided with a control device, and the rotating driving member and the telescopic driving member are electrically connected with the control device.

[0043] In one embodiment, a tensioning adjusting mechanism is further included, which comprises a guide rod arranged on the rotating frame, a synchronous belt tensioning spring is sleeved on the guide rod, the belt transmission mechanism further comprises a tensioning wheel, one end of the synchronous belt tensioning spring abuts against the rotating frame, and the other end abuts against the tensioning wheel.

[0044] The second aspect of the present application provides a warehouse robot comprising the fork device as described above.

[0045] The technical solution provided by the present application can include the following beneficial effects:

[0046] The fork device provided by the present application comprises a fork main body, a tray supported on a base, and a telescopic assembly, the tray is supported on the base, the telescopic assembly comprises a goods taking mechanism connecting piece which can be extended or retracted relative to the tray in a goods moving direction, and a goods taking mechanism which is detachably arranged on the goods taking mechanism connecting piece, the goods taking mechanism comprises one of a first goods taking mechanism comprising a first goods taking member acting on goods in a first manner and a second goods taking mechanism comprising a second goods taking member acting on goods in a second manner different from the first manner. The fork device provided by the present embodiment can conveniently replace different goods taking mechanisms on the fork main body, because the first goods taking mechanism and the second goods taking mechanism are replaceably arranged on the fork main body, and because different goods taking mechanisms can be provided with the first goods taking member or the second goods taking member, the first goods taking member and the second goods taking member can act on goods of different specifications in different ways, thereby reducing the difficulty of carrying goods of different specifications.

[0047] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters designate like elements in the figures.

[0049] Figure 1 is a perspective view of a fork device according to an embodiment of the present application;

[0050] Figure 2 is a bottom view of the fork device according to an embodiment of the present application; Figure 1

[0051] Figure 3 is an enlarged view of a part of the fork device according to an embodiment of the present application; Figure 1

[0052] Figure 4 is a view of a rotating frame of the fork device according to an embodiment of the present application; Figure 1

[0053] Figure 5 is a view of a linkage assembly of the fork device according to an embodiment of the present application;

[0054] Figure 6 is a view of a locking mechanism of the fork device according to an embodiment of the present application;

[0055] Figure 7 is a view of a locking mechanism of the fork device according to an embodiment of the present application; Figure 6

[0056] Figure 8 is a view of a first cargo taking mechanism of the fork device according to an embodiment of the present application;

[0057] Figure 9 is a view of a second cargo taking mechanism of the fork device according to an embodiment of the present application;

[0058] Figure 10 is a view of a warehouse robot according to an embodiment of the present application;

[0059] Figure 11 is a simplified view of a delivery robot according to an embodiment of the present application;

[0060] Figure 12 shows a rack with a hoist-type buffer layer according to an embodiment of the present application;

[0061] Figure 13 is a view of a placement position of a box in the hoist-type buffer layer of the rack; Figure 12

[0062] Figure 14 ​​​​​is another structural schematic diagram of the hoisting type buffer layer of an embodiment of the present application;

[0063] Figure 15 is a structural schematic diagram of the buffer layer of a shelf of another embodiment of the present application;

[0064] Figure 16 is a structural schematic diagram of multiple buffer layers of a shelf of an embodiment of the present application;

[0065] Figure 17 A ramp of a picking station of an embodiment of the present application is shown.

[0066] FIG. 100, fixed seat; 200, rotating frame; 210, rotating support plate; 211, second camera; 220, fixed plate; 221, first sliding block; 230, clamping tooth plate; 231, clamping tooth; 300, rotating transmission mechanism; 600, telescopic transmission mechanism; 310, driving wheel; 311, rotating piece; 320, driven wheel; 330, chain; 340, chain tension spring; 400, tray; 402, front end face of the tray; 410, first guide rail; 420, second guide rail; 430, empty slot; 440, unlocking trigger; 450, goods taking mechanism connecting piece; 460, second sliding block; 470, linkage matching piece; 510, first goods taking module; 511, hook driving piece; 512, hook; 513, suction cup; 5121, connecting part; 5122, sliding shaft; 5123, bearing; 520, second goods taking module; 530, first mounting bracket; 531, bracket; 540, cover plate; 550, second mounting bracket; 610, telescopic driving wheel; 611, rotating shaft; 620, telescopic driven wheel; 630, synchronous belt; 640, tension pulley; 700, mounting frame; 710, rotating driving piece; 720, telescopic driving piece; 711, first controller; 721, second controller; 730, first camera; 740, vertical plate; 750, mounting beam; 760, network connection device; 2221, synchronous belt tension spring; 2222, guide rod; 2223, support; 2224, first fixing piece; 800, linkage assembly; 810, first connecting rod; 811, second fixing piece; 820, second connecting rod; 830, third connecting rod; 840, fourth connecting rod; 821, linkage trigger; 831, locking piece; 900, warehousing robot; 910, base; 920, lifting mechanism; 930, storage area; 940, fork device; 941, goods box; 1100, conveying robot; 1110, moving base; 1120, lifting mechanism; 1130, carrying device; 1200, shelf; 1210, high-level storage space; 1220, low-level buffer space; 1222, supporting plate; 1224, hoisting component; 1226, cross beam; 1700, ramp. DETAILED DESCRIPTION

[0067] Embodiments of the present application will be described in more detail with reference to the drawings. Although the embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0068] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or," as used herein, refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0069] It should be understood that although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0070] In the related art, the carrying robot can only be used in the scenario where the sizes of the boxes are the same. When the sizes of the boxes are different, the carrying robot generally places the boxes according to the size of the largest box when the forks of the carrying robot take and place the boxes, and it is difficult to be compatible with small-size boxes, so that the spacing between the boxes is too large, which reduces the storage density and increases the cost of storage. At the same time, since the forks of the carrying robot in the related art can only take and place the boxes of the same size, it is difficult to carry the multi-specification boxes.

[0071] In view of the above problems, the present application provides a fork device which can conveniently replace different taking mechanisms on the fork main body, thereby reducing the difficulty of carrying different specifications of goods.

[0072] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings.

[0073] Referring to Figure 1 The fork device of the embodiments of the present application comprises a fork main body and a taking mechanism installed on the fork main body.

[0074] The fork body comprises a base, a tray 400 supported on the base, and a telescopic assembly. The tray 400 is supported on the base, and the telescopic assembly comprises a picking mechanism connecting piece 450 which can extend or retract relative to the tray 400 along a goods moving direction X.

[0075] The picking mechanism is detachably mounted on the picking mechanism connecting piece, and the picking mechanism comprises a first picking mechanism comprising a first picking member acting on the goods in a first manner, or a second picking mechanism comprising a second picking member acting on the goods in a second manner different from the first manner. It can be understood that the goods may, for example, but are not limited to, a box.

[0076] The fork device provided by the embodiment can conveniently replace different picking mechanisms on the fork body, because the first picking mechanism and the second picking mechanism are replaceably mounted on the fork body. Because the different picking mechanisms can be configured with the first picking member or the second picking member, the first picking member and the second picking member can act on the goods of corresponding specifications in different manners, thereby reducing the difficulty of carrying goods of different specifications.

[0077] In some embodiments, the first picking mechanism comprises a claw assembly.

[0078] In some embodiments, the second picking mechanism comprises a suction disc assembly. In some embodiments, the first picking member and / or the second picking member acts on a single-direction surface of the goods, for example, a surface of the goods facing the goods moving direction X.

[0079] In some embodiments, the first picking member acts on a single-direction surface of the goods, and the second picking member acts on at least two-direction surfaces of the goods. For example, the first picking member can be a claw or a suction disc, and acts on a surface of the goods facing the goods moving direction X; the second picking member can be a clamping arm, and acts on two opposite side surfaces of the goods.

[0080] In the embodiment, the base comprises a fixed seat 100 and a rotating frame 200, and the rotating frame 200 is rotatably mounted on the fixed seat 100. The tray 400 and the telescopic assembly are mounted on the rotating frame 200. A rotating transmission mechanism and a telescopic transmission mechanism 600 are also mounted on the rotating frame 200. The rotating frame 200 is driven by a rotating driving member through the rotating transmission mechanism. The picking mechanism is connected with the picking mechanism connecting piece 450, the picking mechanism connecting piece 450 is connected with the telescopic transmission mechanism 600, and the picking mechanism connecting piece 450 can move relative to the tray 400.

[0081] In the embodiment, the fork device is further provided with a driving mechanism. The driving mechanism comprises a rotating driving member 710 and an extension driving member 720. The rotating driving member 710 is connected with the rotating frame 200 through the rotating transmission mechanism 300, so that the rotating transmission mechanism 300 drives the rotating frame 200 to rotate relative to the fixed seat 100. The extension driving member 720 is connected with the extension transmission mechanism 600, and is used to drive the extension transmission mechanism 600 to drive the goods taking mechanism connecting member 450 to move relative to the rotating frame 200.

[0082] In the embodiment, the rotating frame 200 comprises a rotating support plate 210, two fixed plates 220 arranged on both sides of the rotating support plate 210, and a mounting frame 700 arranged at an end of the rotating support plate 210 away from the goods in the goods moving direction. The fixed plates 220 can be connected with the rotating support plate 210 through screws and the extension transmission mechanism. The rotating driving member and the extension driving member for driving the extension assembly are mounted on the mounting frame. The mounting frame is further provided with a control device. The rotating driving member, the extension driving member, and the control device are electrically connected. In some embodiments, the control device comprises a first controller 711 electrically connected with the rotating driving member 710 and a second controller 721 electrically connected with the extension driving member 720.

[0083] The fork device of the embodiment further comprises a plurality of electronic components. Please refer to Figure 1 , Figure 2 and Figure 4 The plurality of electronic components comprise a network connection device 760 in communication connection with a remote control device and an image acquisition device. The network connection device 760 is electrically connected with the first controller 711 and the second controller 721, and the network connection device can establish a communication connection with the remote control device to remotely control the operation of the extension driving member 720 and the rotating driving member 710. The network connection device 760 comprises a router, for example.

[0084] In some embodiments, the electronic components further comprise a rotating detection switch mounted on the fixed seat 100 and / or the rotating frame 200. The rotating detection switch is used to detect the position of the rotating frame, so as to facilitate accurate control of the rotation of the rotating frame.

[0085] In some embodiments, the fixed seat and / or the rotating frame are provided with a rotating limiting block. The rotating limiting block is used to limit the rotation of the rotating frame 200 within a set range, so as to prevent the rotating frame 200 from rotating out of position.

[0086] The rotating support plate 210 is further provided with a mounting frame 700 at an end away from the goods in the goods moving direction. The mounting frame 700 comprises two vertical plates 740 connected to both sides of the rotating support plate 210. The two vertical plates 740 are connected with a mounting beam 750 (as shown in Figure 4The first controller 711, the second controller 721, the power controller, and the network connection device 760 can be mounted on the mounting beam 750. The image acquisition device includes the first camera 730 mounted on the top of the mounting frame 700, which can be a code scanning camera for acquiring identification information of shelves, locations, and boxes by code scanning.

[0087] Please continue to refer to Figure 4 The image acquisition device further includes the second camera 211 mounted in front of the rotating support plate 210, and the lens of the second camera 211 faces the front end of the tray 400, which can be used to identify the position of the box.

[0088] In some embodiments, the electronic component further includes a box detection switch for identifying a box occupancy signal.

[0089] In some embodiments, the rotating drive 710 and the telescopic drive 720 can be motors, and the rotating drive 710 and the telescopic drive 720 are arranged in parallel along the vertical direction and are fixed to the mounting frame 700.

[0090] Please refer to Figure 2 The rotating support plate 210 of the rotating frame and the fixed seat 100 are connected through the rotating member 311, which can be a bearing, for example.

[0091] The rotating frame 200 is driven by the rotating drive 710 through the rotating transmission mechanism 300. The rotating transmission mechanism 300 includes a rotating driving wheel 310, a rotating driven wheel 320, and a transmission member wound around the rotating driving wheel 310 and the rotating driven wheel 320. The rotating driving wheel 310 is fixed to the output shaft of the rotating drive 710, the rotating driven wheel 320 is fixedly arranged relative to the rotating support plate 210 and coaxial with the rotating member 311. The rotating driving wheel 310 can drive the rotating driven wheel 320 to rotate through the transmission member, thereby causing the rotating support plate 210 to rotate relative to the fixed seat 100.

[0092] In some embodiments, the rotating driving wheel 310 is a driving sprocket, the rotating driven wheel 320 is a driven sprocket, and the transmission member can be a chain 330 wound around the driving sprocket 310 and the driven sprocket 320.

[0093] It can be understood that in other embodiments, the rotating transmission mechanism 300 can be a transmission belt transmission mechanism, a gear transmission mechanism, etc.

[0094] In some embodiments, the rotation transmission mechanism 300 further comprises a tensioning device. The tensioning device comprises a chain tensioning rod fixed to the rotating frame, and a chain tensioning spring 340 sleeved on the chain tensioning rod, one end of the chain tensioning spring abutting against the mounting seat of the driving sprocket, and the other end abutting against the rotating frame 200.

[0095] Referring to Figure 1 and Figure 2 In the specific example shown in the figure, the rotating member 311, for example, a rotating bearing, is installed at the center of the rotating frame 200. The outer ring of the rotating bearing 311 is fixedly installed on the fixed seat 100, and the inner ring of the rotating bearing 311 is fixedly installed on the rotating support plate 210.

[0096] The diameter of the driving sprocket 310 is smaller than the diameter of the driven sprocket 320. The driven sprocket 320 is fixedly installed on the rotating frame 200, for example, on the rotating support plate 210. The chain tensioning rod is fixedly installed on the rear end of the rotating support plate 210 and extends along the direction of movement X of the goods. The chain tensioning spring 340 is sleeved on the chain tensioning rod, and the chain tensioning spring 340 is configured to be slidable on the chain tensioning rod. One end of the chain tensioning spring 340 abuts against the vertical side wall of the rotating support plate, and the other end abuts against the mounting seat on which the driving sprocket 310 is installed. The mounting seat of the driving sprocket 310 is fixedly installed on the rotating drive member 710, and the driving sprocket 310 is rotatably installed on its mounting seat and connected with the output shaft of the rotating drive member 710 through a flat key to rotate with the output shaft. When it is necessary to rotate the forks, the rotating drive member 710 drives the driving sprocket 310, and the driving sprocket 310 is connected with the driven sprocket 320 through the chain 330, thereby realizing the rotation of the rotating frame 200 and the components installed thereon as a whole relative to the fixed seat 100.

[0097] In some embodiments, the telescopic assembly further comprises a second guide rail telescopically movable along the direction of movement X of the goods, and the goods taking mechanism connecting member 450 is connected with a second sliding member slidingly fitted on the second guide rail, and the goods taking mechanism connecting member 450 is slidingly connected with the pallet 400 through the second sliding member to slide back and forth relative to the pallet 400 along the direction of movement X of the goods under the guidance of the second guide rail, so that the goods taking mechanism takes goods from the goods shelf or puts goods on the goods shelf. The second sliding member can be a second sliding block 460.

[0098] In some embodiments, the fork body comprises two sets of telescopic assemblies arranged on both sides of the pallet, and a telescopic transmission mechanism 600. The two telescopic assemblies on both sides of the pallet 400 are driven by the telescopic drive member through the two telescopic transmission mechanisms 600 on both sides of the pallet 400. Among them, the two telescopic transmission mechanisms 600 are synchronously driven by a single telescopic drive member 720, or synchronously driven by respective telescopic drive members.

[0099] Referring to Figure 2 and Figure 3In the embodiment, the telescopic assembly is installed on each fixed plate 220, and the rotating support plate is rotatably installed on the fixed seat. The telescopic transmission mechanism 600 is installed on each fixed plate 220. The telescopic transmission mechanism 600 comprises a belt transmission mechanism, which comprises a telescopic driving wheel 610, a telescopic driven wheel 620, and a synchronous belt 630 wound around the telescopic driving wheel 610 and the telescopic driven wheel 620. The telescopic driving wheel 610 is connected with the output shaft of the telescopic driving member 720. The synchronous belt 630 is provided with a linear running part running along the moving direction X, and the second sliding member is connected with the linear running part. The tray two-side goods taking mechanism connecting piece 450 is fixed on the linear running part of the corresponding telescopic transmission mechanism 600. When the telescopic driving member 720 operates, the two telescopic driving wheels 610 are driven to rotate, the linear running parts of the two synchronous belts 630 are moved, and then the tray two-side goods taking mechanism connecting pieces 450 are synchronously extended or retracted relative to the rotating frame 200.

[0100] In the embodiment, the two telescopic transmission mechanisms 600 are synchronously driven by the single telescopic driving member 720. The rotating frame 200 is provided with a rotating shaft 611, which is arranged at the rear end of the rotating frame 200 and extends along the second horizontal direction. The two ends of the rotating shaft 611 are rotatably connected to the two fixed plates 220. For example, the rear end of each fixed plate 220 is provided with a bearing, and the rotating shaft 611 is rotatable relative to the fixed plate 220 through the bearings at the two ends. The two telescopic driving wheels 610 are fixed to the rotating shaft 611 and arranged close to the two ends of the rotating shaft 611. The telescopic driving member 720 is in transmission connection with the rotating shaft 611, for example, through a gear mechanism. When the telescopic driving member 720 operates, the rotating shaft 611 is driven to rotate, the two telescopic driving wheels 610 are driven to rotate through the rotating shaft 611, and then the two synchronous belts 630 of the two telescopic transmission mechanisms 600 are synchronously operated.

[0101] Referring to Figure 3 In some embodiments, the base further comprises a tensioning adjusting mechanism, which comprises a guide rod 2222 installed on the rotating frame, the guide rod 2222 is installed on a first fixing member 2224 fixedly installed on the fixed plate 220, and a synchronous belt tensioning spring 2221 is sleeved on the guide rod 2222. The belt transmission mechanism further comprises a tensioning wheel 640 installed on a support 2223 slidably installed on the fixed plate 220. One end of the synchronous belt tensioning spring 2221 abuts against the rotating frame, for example, the first fixing member 2224 on the rotating frame, and the other end abuts against the tensioning wheel 640 or the support 2223. Under the tensioning action of the synchronous belt tensioning spring 2221, the automatic tensioning adjusting function of the synchronous belt can be realized, and the wear and abnormal sound caused by long-time use of the synchronous belt can be avoided.

[0102] Referring toFigure 3 The telescopic assembly of the embodiment includes first guide rails 410 and second guide rails 420 arranged on both sides of the tray 400. The tray 400 is connected to the base through the first guide rails 410 and the first sliding member 221 which is in sliding cooperation with the first guide rails 410. The take-out mechanism connecting member 450 is connected to the tray 400 through the second guide rails 420 and the second sliding member which is in sliding cooperation with the second guide rails 420.

[0103] In the embodiment, the first sliding member can be a first sliding block 221, and the second sliding member can be a second sliding block 460.

[0104] The first guide rails 410 and the second guide rails 420 are arranged in parallel along the moving direction X. The tray 400 is connected to the fixed plate 220 of the base through the first guide rails 410 and the first sliding block 221. The take-out mechanism connecting member 450 is connected to the tray 400 through the second guide rails 420 and the second sliding block 460. In the embodiment, the take-out mechanism connecting member 450 is fixed to the second sliding block 460. It can be understood that in other embodiments, the sliding block can also be replaced by a pulley or other forms of sliding member.

[0105] In some embodiments, the first guide rails 410 and the second guide rails 420 are arranged on the tray 400. The guide rail connecting plates can be mounted on both sides of the tray 400. The first guide rails 410 and the second guide rails 420 are arranged on each guide rail connecting plate.

[0106] The first guide rails 410 are in sliding cooperation with the first sliding block 221, and the second guide rails 420 are in sliding cooperation with the second sliding block 460. The first sliding block 221 is fixedly connected to the fixed plate 220. The second sliding block 460 is fixedly connected to the take-out mechanism connecting member 450. The bottom of the second sliding block 460 is provided with a synchronous belt fixing member which is fixedly connected to the straight running part of the synchronous belt 630. The synchronous belt fixing member is, for example, a synchronous belt clamping block. When the telescopic drive member 720 drives the telescopic transmission mechanism 600 to move, the synchronous belt 630 can drive the second sliding block 460 to slide along the second guide rails 420.

[0107] Referring to Figure 4 to Figure 6 In the embodiment, the linkage assembly 800 is arranged between the take-out mechanism and the tray 400. When the take-out mechanism is in the process of extension and / or retraction, the tray 400 can be driven to extend and / or retract through the linkage assembly 800, so as to realize two-stage telescopic movement.

[0108] The linkage assembly 800 includes two linkage trigger members 821 arranged on the tray and a linkage cooperation member 470 fixedly arranged relative to the take-out mechanism (for example, the linkage cooperation member 470 is arranged on the take-out mechanism connecting member 450). Figure 2The two linkage triggers 821 are arranged at the front and back ends of the tray 400 along the direction X in which the tray 400 is moved. The linkage fitting 470 is arranged at the bottom of the picking mechanism and is located between the two linkage triggers 821.

[0109] The two linkage triggers 821 and the linkage fitting 470 can be arranged along the same line, so that when the linkage fitting 470 runs to the preset position along the extending or retracting direction of the picking mechanism, the linkage fitting 470 can abut against the corresponding linkage trigger 821 to drive the tray 400 to extend or retract.

[0110] Please refer to Figure 1 and Figure 2 , the tray 400 is provided with an empty slot 430 extending along the extending and retracting direction, the linkage fitting 470 is fixed to the bottom of the mounting bracket of the picking mechanism and extends to the bottom of the tray 400 through the empty slot 430. When the picking mechanism 500 moves relative to the tray 400, the linkage fitting 470 can move along the empty slot 430.

[0111] When the linkage fitting 470 runs to the preset position along the extending direction of the picking mechanism, the linkage fitting 470 abuts against the linkage trigger 821 at the front end and drives the linkage trigger 821 at the front end to move forward. Since the linkage trigger 821 at the front end is arranged on the tray 400, the picking mechanism 500 can drive the tray 400 to move forward.

[0112] When the linkage fitting 470 runs to the preset position along the retracting direction of the picking mechanism, the linkage fitting 470 abuts against the linkage trigger 821 at the back end and drives the linkage trigger 821 at the back end to move backward. Since the linkage trigger 821 at the back end is arranged on the tray 400, the picking mechanism 500 can drive the tray 400 to move backward.

[0113] In some embodiments, the electronic component further comprises a tray position detection switch mounted on the rotating frame 200, which is used to detect whether the tray 400 is returned to the original position.

[0114] Please refer to Figure 5 In some embodiments, the fork device further comprises a locking mechanism arranged between the tray 400 and the base. The locking mechanism can be arranged between the tray 400 and the fixed plate 220 of the base. The locking mechanism comprises a linkage assembly arranged on the tray 400 and a locking piece 831 arranged on the linkage assembly, the locking piece 831 is used to lock or separate with the base, for example, the locking piece 831 is locked or separated with the fixed plate 220, and the two linkage triggers 821 are arranged on the linkage assembly.

[0115] In the initial state, i.e. before the goods are taken, the locking member 831 is locked with the fixed plate 220, so that the tray 400 is fixed to the fixed plate 220, and thus the tray 400 will not move when the taking mechanism moves. When the linkage matching member 470 that moves with the taking mechanism abuts against the linkage trigger 821, the linkage assembly is moved in the extending or retracting direction, and thus the locking member 831 provided on the linkage assembly is separated from the fixed plate 220, so that the tray 400 is unlocked from the fixed plate 220. After being unlocked, the taking mechanism can move the tray 400 together. When the linkage matching member 470 that moves with the taking mechanism does not abut against the linkage trigger 821, the linkage assembly will not be moved in the extending or retracting direction, and thus the locking member 831 will not be separated from the fixed plate 220, and thus the locked state is maintained.

[0116] In some embodiments, the base is provided with a toothed plate 230 near one side of the locking member 831. The toothed plate 230 is provided on the fixed plate 220 of the base, and the toothed plate 230 is provided with a plurality of teeth 231 in the extending direction of the tray 400, i.e. the moving direction X. When the linkage matching member 470 moves the linkage assembly in the extending or retracting direction, the linkage assembly can move the locking member in a direction that forms an angle with respect to the moving direction X, so that the locking member is engaged between two adjacent teeth or separated from the engaged teeth. When the locking member 831 is engaged between two adjacent teeth 231, the locked state is achieved, and when the linkage assembly separates the locking member 831 from the teeth 231, the unlocked state is achieved. It can be understood that the angle with respect to the moving direction X can be an acute angle, a right angle or an obtuse angle.

[0117] Referring to Figure 6 The linkage assembly includes a first linkage 810, a second linkage 820, a third linkage 830 and a fourth linkage 840 that are connected in sequence and rotate. The first linkage 810 is arranged in the moving direction X and is fixed to the bottom of the tray 400 at both ends by the second fixing member 811, and does not move relative to the tray 400. The second linkage 820, the third linkage 830 and the fourth linkage 840 can move relative to the tray. Two linkage triggers 821 are fixed to the second linkage 820 and the fourth linkage 840, respectively. The locking member 831 is provided on the third linkage 830, or the locking member 831 can also be provided on the first linkage 810 and the third linkage 830. The lengths of the first linkage 810 and the third linkage 830 are greater than the lengths of the second linkage 820 and the fourth linkage 840. In some embodiments, the linkage assembly further includes an unlocking trigger 440 that is in transmission cooperation with the locking mechanism. When the goods are pulled by the taking mechanism to touch the unlocking trigger 440, the unlocking trigger 440 moves the locking mechanism to unlock the locking member 831 from the base.

[0118] Figure 3In the shown embodiment, the unlocking trigger 440 is rotatably arranged at the bottom of the tray 400, the rotation axis of the unlocking trigger 440 is parallel to the upper surface of the tray for supporting the goods box, and is perpendicular to the retractable direction of the tray 400, so that the unlocking trigger 440 can rotate up and down. The unlocking trigger 440 is accommodated in the through slot 421 formed on the tray. During the process that the goods box is pulled by the goods taking mechanism to retract along the goods moving direction X on the tray, the unlocking trigger 440 rotates downward, thereby driving the locking piece 831 to move, so that the locking piece 831 is unlocked with the ratchet plate 230 on the base. When the goods is away from the unlocking trigger 440, the unlocking trigger 440 can rotate upward and can extend out of the upper surface of the tray 400 from the through slot 421.

[0119] In some embodiments, the unlocking trigger 440 can be arranged on the linkage assembly at the bottom of the tray 400, for example, on the first linkage 810. The unlocking trigger 440 is connected with the reset elastic member, and before the goods box contacts the unlocking trigger 440, the unlocking trigger 440 extends out of the upper surface of the tray 400. When the goods box moves backward on the tray 400 to contact the unlocking trigger 440, the unlocking trigger 440 is triggered to rotate downward.

[0120] When the tray 400 is in the initial state, the locking piece 831 is engaged with the ratchet plate 230 of the rotating frame 200, and there is a spacing between the linkage fitting piece 470 and the two linkage triggers 821 in the retractable direction of the tray 400. When the linkage fitting piece 470 moves with the goods taking mechanism to a preset position in the extending direction, the third linkage 830 can be driven to move by pushing the front linkage trigger 821, so that the third linkage 830 drives the locking piece 831 to disengage from the ratchet plate 230, thereby unlocking the tray and the rotating frame, so that the goods taking mechanism can drive the tray 400 to move together in the extending direction.

[0121] When the linkage fitting piece 470 moves with the goods taking mechanism to another preset position in the retracting direction, the third linkage 830 can be driven to move by pushing the rear linkage trigger 821, so that the third linkage 830 drives the locking piece 831 to disengage from the ratchet plate 230, thereby unlocking the tray and the rotating frame, so that the goods taking mechanism can drive the tray 400 to move together in the retracting direction.

[0122] After the above arrangement, the movement of the retractable transmission mechanism 600 can drive the goods taking mechanism and the tray to move in sequence, thereby realizing two-stage retractable movement; by arranging a single retractable driving member to drive the retractable assemblies on both sides of the tray, the structure of the fork device can be simplified.

[0123] In some embodiments, the third mounting bracket is arranged above the tray 400, and the third mounting bracket is connected with the corresponding pickup mechanism connecting piece 450 at both sides of the tray 400 in the width direction of the tray 400. The pickup mechanism connecting piece 450 is connected with the corresponding side of the second guide rail 420 through the second sliding piece. For example, when the first pickup mechanism needs to be replaced by the second pickup mechanism, the first pickup mechanism can be detached from the third mounting bracket, and then the second pickup mechanism is mounted on the third mounting bracket.

[0124] In some embodiments, the first pickup mechanism is mounted on the first mounting bracket 530, and the second pickup mechanism is mounted on the second mounting bracket 550. The first mounting bracket 530 and the second mounting bracket 550 are both provided with a mounting portion matched with the pickup mechanism connecting piece 450, and the first mounting bracket 530 and the second mounting bracket 550 are selectively detachably mounted on the pickup mechanism connecting piece 450. The first mounting bracket 530 and the first pickup mechanism form a first pickup module, and the second mounting bracket 550 and the second pickup mechanism form a second pickup module 520. For example, when the first pickup mechanism needs to be replaced by the second pickup mechanism, the first mounting bracket 530 of the first pickup module can be detached from the pickup mechanism connecting piece 450, and then the second mounting bracket 550 of the second pickup module 520 is connected with the pickup mechanism connecting piece 450.

[0125] Referring to Figure 8 In some applications, the first pickup mechanism is a claw assembly. The claw assembly includes a claw driving piece 511 and at least one claw 512. The claw 512 is connected with the output shaft of the claw driving piece 511, and the claw driving piece 511 is used to drive the claw 512 to move, so that the claw 512 is engaged with or separated from the preset part of the container.

[0126] In some embodiments, the claw assembly can not include a claw driving piece, but the lifting of the claw is realized by lifting the fork device through the lifting mechanism. Specifically, the claw can be directly connected to the first mounting bracket and located between the two sides of the tray to be opposite to the goods in the goods moving direction. In the direction in which the telescopic assembly is extended, the claw protrudes from the first mounting bracket, so that when the first mounting bracket slides to the front end of the tray in the extension direction, the claw protrudes from the tray, so that the claw can be inserted into the groove of the target container.

[0127] In some embodiments, the hook assembly and the first mounting bracket 530 form the first cargo pickup module 510. The first mounting bracket 530 includes a push plate. When the first cargo pickup module 510 moves forward, the push plate is used to push the cargo box carried on the pallet 400 out of the pallet 400. A bracket 531 is fixed above the middle of the push plate, and the hook drive member 511 is fixed to the bracket 531. The hook 512 is provided with a connecting portion 5121 connected to the output shaft of the hook drive member 511. The hook assembly also includes a sliding shaft 5122 and a bearing 5123. The bearing 5123 is provided on the bracket 531, and the sliding shaft 5122 is passed through the bearing 5123. The connecting portion 5121 is connected to one end of the sliding shaft 5122 so that the sliding shaft 5122 and the bearing 5123 can slide together to achieve the movement function of the hook 512.

[0128] In this embodiment, the hook 512 is disposed above the pallet 400 and between two sides of the pallet, and the hook 512 is configured to face the goods along the moving direction X. In this way, the hook 512 can obtain the goods by acting on the surface of the goods facing the moving direction X.

[0129] In some embodiments, the hook driver 511 is disposed vertically, and the output shaft of the hook driver 511 can move linearly in the vertical direction, thereby driving the hook 512 to rise and fall. When the hook 512 rises, it can engage with the cargo box; when it descends, it can disengage from the cargo box; alternatively, when the hook 512 descends, it can engage with the cargo box; when it rises, it can disengage from the cargo box.

[0130] In some embodiments, the hook driving member 511 may also be arranged in other directions, such as in the transverse direction, to drive the hook 512 to move transversely.

[0131] In some embodiments, the hook assembly further includes a drive controller, which is electrically connected to the hook driver 511 and is used to control the operating state of the hook driver 511 .

[0132] In some embodiments, the hook driving member 511 may be an electric push rod, and the output shaft of the hook driving member 511 may be a telescopic shaft of the electric push rod.

[0133] See also Figure 9 In some applications, the first picking module 510 can be removed from the picking mechanism connector 450, and the second picking module 520 can be detachably mounted on the picking mechanism connector 450. The second picking mechanism is a suction cup assembly, which includes a pneumatic control assembly and at least one suction cup 513. The suction cup 513 is connected to the pneumatic control assembly, which is used to control the air flow state in the suction cup 513 to allow the suction cup 513 to adhere to or detach from the cargo box.

[0134] The pneumatic control assembly includes a solenoid valve, and the solenoid valve is controlled to be turned on or turned off to control the gas flow of the suction cup. In the embodiment, the rear side of the second mounting bracket 550 is also fixed with a cover plate 540, the pneumatic control assembly is arranged between the second mounting bracket 550 and the cover plate 540, and the cover plate 540 is used to protect the pneumatic control assembly.

[0135] In the embodiment, the plurality of suction cups 513 are arranged on the front side of the second mounting bracket 550 and are arranged at intervals on the second mounting bracket 550, the openings of the plurality of suction cups 513 are in the same plane, and the plurality of suction cups 513 can be simultaneously adsorbed to the container.

[0136] In the embodiment, the suction cup 513 is arranged between the two sides of the tray 400 above the tray 400, and is opposite to the goods along the goods moving direction X, so that the suction cup 513 can obtain the goods by acting on the side of the goods facing the goods moving direction X.

[0137] In the embodiment, different goods taking mechanisms (for example, a goods taking mechanism provided with a hook and a goods taking mechanism provided with a suction cup) can be replaced on the fork body, which is simple and easy to operate, and can be applied to a scene with different specifications of containers.

[0138] The working process of the fork device of the embodiment for obtaining and storing the container from and to the shelf is as follows:

[0139] Before the goods taking member performs the goods taking action, the rotating frame of the fork device can be controlled to rotate, so that the front end of the tray along the goods moving direction faces the target location, and the goods taking part of the goods taking member is opposite to the goods (for example, the container). The goods taking part can be arranged at the end of the goods facing the fork device.

[0140] When the container is taken, in the initial state, the tray 400 is in the locked state with the rotating frame 200. The telescopic driving member 720 drives the synchronous belt 630 to run forward, and the second sliding block 460 runs forward with the synchronous belt 630. When the goods taking mechanism runs to the preset position along the extension direction with the second sliding block 460, the linkage matching member 470 fixed to the goods taking mechanism abuts against the linkage trigger member 821 at the front end of the tray, the linkage trigger member 821 drives the locking member 831 to move away from the rotating frame 200 through the linkage assembly arranged on the tray, so that the tray 400 is unlocked from the rotating frame 200. After being unlocked, the goods taking mechanism drives the tray 400 to continue to extend forward, and stops at the target position (for example, the tray 400 touches the shelf, or the distance between the tray 400 and the goods is within a preset range). At this time, the goods taking member (suction cup assembly or hook assembly) of the goods taking mechanism 500 is at the front end edge of the fork device, and the goods taking member of the goods taking mechanism 500 starts to perform the goods taking action.

[0141] When the picking member of the picking mechanism is a claw assembly, the picking part of the goods can be a handle with a groove on the side of the goods box. When the orientation of the claw is downward, the groove has an upward opening. When picking, the claw driving member 511 drives the claw 512 to rise to the opening of the picking part of the goods box and extend the claw 512 to align with the opening of the groove, and then drives the claw 512 to descend, so that the claw 512 extends into the groove to engage the claw 512 with the handle of the goods box. After the picking member of the picking mechanism is stably engaged with the goods box, the telescopic driving member 720 drives the synchronous belt 630 to run backward, and the second sliding block 460 drives the picking mechanism to run backward with the synchronous belt 630, that is, the claw 512 moves backward, thereby pulling the goods box to retract, so that the goods box is pulled onto the tray 400. In this process, the goods box pulled by the claw 512 (also referred to as the target goods box) simultaneously pulls the goods shelves behind it to the outermost side of the goods shelves. At this time, the fork device can be controlled to move upward to lift the target goods box, so that the target goods box is separated from the goods shelves behind it. During the backward movement of the picking mechanism, the linkage matching member 470 is separated from the linkage trigger member 821 at the front end, the tray is re-locked with the rotating frame, and the picking mechanism pulls the goods box to move backward on the tray 400. After the linkage matching member 470 continues to move backward and abuts against the linkage trigger member 821 at the rear end of the tray, the tray 400 is unlocked from the rotating frame, and the picking mechanism pulls the tray 400 to retract together.

[0142] In some embodiments, when the tray in-place detection switch senses a signal that the second sliding block 460 moves to a preset position, and the goods box detection switch detects a signal that the goods box moves to a preset position, the telescopic driving member 720 stops running, and the goods box is completed.

[0143] When the goods box is placed, in the initial state, the tray 400 is in the unlocked state with the rotating frame 200. The telescopic driving member 720 drives the picking mechanism forward through the synchronous belt 630, and the picking mechanism drives the tray 400 together with the goods box on the tray 400 to move to a target position (for example, the tray 400 touches the goods shelves), and the tray is locked with the rotating frame. The picking mechanism pushes the goods box to move forward on the tray 400, and after the goods box moves to the goods shelves, the picking mechanism stops, and the picking member starts to perform the goods placing action and is separated from the goods box. For example, when the picking member is a claw assembly, the claw driving member drives the claw 512 to rise, so that the claw 512 is separated from the handle of the goods box. Then, the telescopic driving member 720 drives the picking mechanism to retract backward, and after the tray is unlocked with the rotating frame, the tray 400 is retracted together with the picking mechanism. When the tray in-place detection switch senses a signal that the second sliding block moves to a preset position, the telescopic driving member 720 stops running, and the goods box is completed.

[0144] In some embodiments, a plurality of positions are arranged on the same goods layer of the goods shelves along the moving direction X of the fork device. By controlling the telescopic length of the telescopic assembly of the fork device, the fork device can sequentially obtain the goods on the plurality of positions.

[0145] In some embodiments, the plurality of containers can be connected in sequence; for example, the containers are provided with a taking part at one end of the fork device and a connecting part (for example, a hook-shaped part cooperating with the handle) at the other end away from the fork device, and the adjacent containers are connected through the taking part and the connecting part. After the taking part of the fork device is stably connected with the target container, the taking part pulls the target container to the tray 400, and at the same time, the adjacent container connected with the target container can be pulled to the outermost side of the rack, and then the fork body is lifted to separate the hook-shaped part at one end of the target container away from the handle of the adjacent container.

[0146] When placing the target container on the rack, there can be a problem that the target container cannot be connected with the adjacent container. In some embodiments, the speed of the telescopic running mechanism (such as the telescopic assembly) can be reduced in advance when the target container is about to reach the rack, so as to reduce the impact force and avoid the problem that the target container knocks the adjacent container away and cannot be connected with the adjacent container due to the too fast movement of the taking mechanism. For example, in the taking process, the following steps can be included: the telescopic drive member drives the telescopic assembly to extend at a first speed; after reaching the preset position, the telescopic drive member drives the telescopic assembly to extend at a second speed until the taking member (for example, the hook claw) reaches the connecting part (for example, the groove) of the target container, wherein the first speed is greater than the second speed. The remaining taking steps are similar to the taking steps of other embodiments of the present application, and will not be described here.

[0147] In some embodiments, when placing the target container, the target container is pushed a certain distance towards the rack, and then the fork body is controlled to lower the target container, and the target container is pushed while lowering, so that the hook-shaped part of the target container hooks into the handle of the adjacent container. In this way, the problem that the target container cannot reach the connecting position of the adjacent container due to insufficient extension distance when placing the target container can be avoided. For example, in the taking process, the following steps can be included: the telescopic drive member drives the telescopic assembly to extend towards the target container until the taking member (for example, the hook claw) touches the target container and pushes the target container to move; when the target container is pushed to the preset distance, the telescopic drive member controls the telescopic assembly to continue to extend, and at the same time, the drive member (for example, the hook claw drive member) of the taking member drives the taking member to lower, so that the taking member is inserted into the connecting part (for example, the groove) of the target container. The remaining taking steps are similar to the taking steps of other embodiments of the present application, and will not be described here.

[0148] In some embodiments, each layer of the shelf has an upper end beam and a lower end beam, and the upper end beam of the lower layer can be the lower end beam of the upper layer. When placing the goods, the goods box is placed at a position where the side of the goods box facing the tray is substantially vertically aligned with the side of the lower end beam of the shelf facing the tray. In some embodiments, in order to avoid the extension mechanism from causing the goods box and the shelf beam to be misaligned or deviate too much during the placement of the goods, causing the hook 512 to fail to reach the position of engaging with the goods box, the hook 512 can be arranged to extend out of the tray 400 by a predetermined distance in the moving direction X.

[0149] In some embodiments, in order to avoid the front end of the tray 400 pushing the goods box away when the tray 400 is extended by the goods taking mechanism, the front end face 402 of the tray 400 is arranged at a predetermined height in the vertical direction, so that the front end face 402 of the tray overlaps with the lower end beam of the current shelf in the horizontal direction, to ensure that the tray 400 is limited by the lower end beam when it is extended, and the goods box will not be pushed away. Specifically, the front end of the tray 400 is provided with an abutting plate for abutting with the shelf (e.g., the lower end beam of the shelf). For example, the abutting plate is substantially perpendicular to the tray 400 and extends downward (away from the side of the tray 400 carrying the goods box). The abutting plate extends downward by a predetermined height, which satisfies the condition that the tray abuts against the shelf during the taking or placing of the goods, without entering the shelf to push the goods box.

[0150] In some embodiments, for example, in the case where the shelf code is arranged without the goods box code, since the position of the goods box on the shelf is random, there are various deviations in the position of the goods box, such as deviation in the moving direction of the goods box relative to the shelf code, deviation in the non-moving direction of the goods box relative to the shelf code, and angle deviation of the goods box relative to the shelf code, which can cause the hook 512 to fail to accurately engage with the handle of the goods box. A guide strip extending in the moving direction of the goods can be arranged on the shelf, which can limit the deviation of the goods box in the moving direction of the shelf code and the angle deviation; or the groove space of the handle of the goods box can be arranged to be large enough, so that the hook 512 can engage with the handle even if the position of the goods box has the above-mentioned deviations; or a guide structure can be arranged on the hook 512, which can facilitate the hook 512 to hook into the handle of the goods box.

[0151] In some embodiments, a drag chain support is mounted on the rotating frame 200, and a telescopic drag chain is mounted on the drag chain support. The telescopic drag chain is used to arrange the wire harness, and the fixed end of the telescopic drag chain is fixedly mounted on the drag chain support, and the moving end of the telescopic drag chain is fixed on a drag chain support member, which is fixed on the second sliding block 460. The telescopic function of the wire harness can be satisfied when the tray 400 and the goods taking mechanism are operated.

[0152] The scheme provided by the embodiment can realize the taking and placing of different types of boxes by replacing different taking mechanisms. The taking mechanism can adopt a suction cup assembly or a hook claw assembly. The suction cup and the hook claw can act on one surface of the box (for example, the front surface opposite the fork assembly). Since the shelves in the warehouse are generally placed back to back, the distance between the boxes placed back to back is reduced, and the density of the boxes is improved.

[0153] In addition, by configuring the taking mechanism to take or store the box by acting only on the front surface of the box opposite the fork assembly, the fork device can not be provided with a taking mechanical finger, so the space occupied by the taking mechanical finger on the back of the box is saved. By reducing the distance between the boxes placed back to back, the problem that the fork holding type and the lifting type fork take and place the boxes according to the maximum size of the box, resulting in too large density of the boxes, is avoided.

[0154] The above introduces the fork device of the embodiment of the application. Correspondingly, the application also provides a warehouse robot.

[0155] Figure 10 FIG. 1 is a structural schematic diagram of a warehouse robot according to an embodiment of the application.

[0156] Referring to Figure 10 The warehouse robot 900 provided by the embodiment of the application includes a robot main body and a fork device 940 arranged on the robot main body. The fork device 940 has the features of the above embodiment, which will not be described herein again.

[0157] The warehouse robot 900 of the embodiment includes a base 910 and a lifting mechanism 920 arranged on the base 910. The fork device 940 is installed on the lifting mechanism 920 and can be lifted along the lifting mechanism 920. One side of the lifting mechanism 920 is provided with a storage rack. The storage rack has a plurality of storage areas 930 in the vertical direction.

[0158] In some embodiments, the initial angle of the rotating frame of the fork device 940 relative to the moving direction of the base 910 is for example 0 degrees. When the fork device 940 is lifted in the vertical direction to a position opposite one of the storage areas 930, the taking mechanism can be retracted by controlling the telescopic transmission mechanism 600, so as to place the box in the storage area 930 or take it out from the storage area 930.

[0159] When the box needs to be taken or placed from the shelf, before the taking member performs the taking or placing action, the rotating frame 200 of the fork device 940 is controlled to rotate forward by a preset angle (for example, 90 degrees relative to the moving direction of the base 910), so that the front end of the tray 400 along the moving direction X faces the target storage area, and the taking member is opposite the taking part of the box. In some embodiments, the relative position of the fork device and the shelf code can be fine-tuned by reading the shelf code.

[0160] When the fork device 940 needs to move the goods carried on the pallet 400 to the storage area 930, the lifting mechanism 920 moves the fork device 940 in the vertical direction to the opposite position of the storage area 930, the rotating frame 200 reversely rotates by a preset angle to return to the initial angle state; the telescopic transmission mechanism 600 drives the goods taking mechanism to move forward, and the push plate of the hook claw assembly can push the goods box 941 into the storage area 930. When the goods box 941 is completely pushed into the storage area 930, the hook claw driving part drives the hook claw 512 to rise, so that the hook claw 512 and the handle of the goods box are separated, at this time the goods box is placed, and then the telescopic transmission mechanism 600 drives the goods taking mechanism to retract, so that the fork device returns to the initial state, ready for the next taking and placing of goods. If multiple storage areas need to be filled, the above steps can be repeated.

[0161] The warehouse robot 900 of the embodiment can also be applied to a conveying line, a buffer shelf, or a docking automatic loading and unloading machine to take or place goods.

[0162] In some embodiments, the warehouse robot 900 is used to place goods to a conveying line or a buffer shelf. According to the received placing instruction, after the base 910 moves to the area of the conveying line, the lifting mechanism 920 of the warehouse robot 900 drives the fork device 940 to rise or descend to a height of a certain layer of the storage area 930, the goods box of the storage area 930 is taken to the pallet 400 by the goods taking mechanism, then the position of the pallet 400 is adjusted, and the goods box on the pallet 400 is pushed into the storage position of the conveying line or the buffer shelf. The above process can be repeated to transfer all the goods boxes of the storage area 930 to the conveying line or the buffer shelf.

[0163] In some embodiments, the warehouse robot 900 is used to take goods from a conveying line or a buffer shelf. According to the received taking instruction, after the base 910 moves to the docking area of the conveying line or the buffer shelf, the lifting mechanism 920 drives the fork device 940 to move to a preset docking height, and the rotating frame rotates so that the front end of the pallet faces the goods box. By reading the identification code of the corresponding position, the relative position of the fork device 940 and the identification code is adjusted, so that the goods taking mechanism can successfully take the goods box to the pallet 400 and then place it in the storage area 930.

[0164] The taking and placing processes of the embodiment are introduced below, taking the orientation of the hook claw downward and the opening of the groove on the goods box upward as an example.

[0165] To retrieve cargo, the lifting mechanism drives the fork assembly (including the hook) up or down until the hook is positioned above the groove of the target container. At this point, the pallet's horizontal position can be higher than the horizontal position of the bottom of the target container. The telescopic drive unit drives the telescopic assembly to extend, causing the hook to extend until the hook is positioned above the opening of the groove. The lifting mechanism then drives the fork assembly down until the hook is inserted into the groove of the target container through the opening of the groove. At this point, the pallet's horizontal position is flush with the horizontal position of the bottom of the target container. The telescopic drive unit drives the telescopic assembly to retract, causing the hook to retract until the target container enters the pallet. At this point, the hook of the target container is hooked with the handle of the container behind it (if any), pulling the container behind it back to its original position. The lifting mechanism then drives the fork assembly up again, causing the target container on the pallet to rise, further disengaging the hook of the target container from the handle of the container behind it, allowing the cargo to be retrieved.

[0166] When releasing the cargo, the lifting mechanism drives the fork device (including the hook claw) to rise or fall until the hook-shaped portion of the target cargo box is above the handle of the cargo box on the target cargo position. At this time, the horizontal position of the pallet is higher than the horizontal position of the target cargo position. The lifting mechanism drives the fork device to fall, so that the hook-shaped portion of the target cargo box is inserted into the handle of the cargo box on the target cargo position. At this time, the horizontal position of the pallet is flush with the horizontal position of the target cargo position. The telescopic drive mechanism drives the telescopic assembly to extend the first mounting bracket, so that the first mounting bracket pushes the target cargo box from the pallet to the target cargo position. At the same time, the target cargo box pushes the cargo box on the target cargo position to a deeper cargo position. When the target cargo box is completely placed in the target cargo position, the lifting mechanism drives the fork device to rise again, and the hook claw disengages from the groove of the target cargo box.

[0167] Figure 11 FIG is a simplified structural diagram of a transport robot 1100 according to an embodiment of the present application. Figure 11 The transport robot 1100 of this embodiment includes a mobile base 1110, a lifting mechanism 1120 disposed on the mobile base 1110, and a carrying device 1130 disposed on the lifting mechanism 1120. The carrying device 1130 may be a carrying plate, a pallet, or the fork device described in the above embodiments. It is understood that in other embodiments, the transport robot may not include a lifting mechanism, and the carrying device 1130 may be disposed on the mobile base 1110.

[0168] See Figure 12 and Figure 13In some embodiments, the shelf 1200 has a high-level storage space 1210 and a low-level cache space 1220. The low-level cache space 1220 can use a hoisting cache position to cache cargo boxes. For example, the cache layer of the cache space 1220 is provided with a plurality of spaced pallets 1222. The length direction of the pallet 1222 is along the width direction of the shelf. A cache position is formed between adjacent pallets 1222, and both sides of the cargo box 941 can be supported by two adjacent pallets 1222 respectively. The pallet 1222 is hoisted to the bottom cargo board of the storage space 1210 by a hoisting component 1224. The hoisting component 1224 can be, for example, a hoisting rod, a hoisting chain, etc., which is fixed to the bottom cargo board by locking holes, welding or other forms.

[0169] In an exemplary specific application, a container handling robot (such as but not limited to Figure 10 The storage robot 900 shown in the figure transfers the cargo box 941 between the storage space 1210 and the buffer space 1220 of the shelf 1200, and the transport robot (which can be, but is not limited to, Figure 11 The delivery robot 1100 shown in FIG. 1 transfers cargo boxes 941 between the buffer space 1220 and the target location in the warehouse. To retrieve cargo, the delivery robot 1100 can move along the length of the pallet 1222 from either side of the shelf 1200 to the center between two adjacent pallets 1222. The carrier 1130 then lifts the cargo box 941 from the bottom, moving it from either side of the shelf 1200 along the length of the pallet 1222 to the target location. Similarly, the delivery robot 1100 can move from either side of the shelf 1200 to the center between two adjacent pallets 1222 to release cargo. Because the pallets 1222 are suspended, there is no need for crossbeams in the buffer space 1220, preventing them from interfering with the delivery robot's movement. The delivery robot can retrieve or place cargo from either side of the shelf 1200. This provides the delivery robot with greater freedom of movement and more scheduling space, thereby improving the overall efficiency of the system.

[0170] Figure 14 Another implementation of a suspended cache layer is shown. The cache layer is provided with multiple spaced-apart pallets 1222 . Adjacent cache positions share a pallet 1222 , which is serrated. This reduces the number of pallets required, reduces pallet weight, and saves material.

[0171] In some embodiments, see Figure 15 , the cache layer of the cache space 1220 of the shelf 1200 can be used with Figure 12Different forms. Specifically, the buffer layer is provided with a plurality of spaced-apart shelves 1222. The length direction of the shelves 1222 is along the width direction of the shelf. The buffer positions are formed between adjacent shelves 1222, and the containers 941 can be placed between two adjacent shelves 1222. The same side of the plurality of shelves 1222 is connected as a whole by the cross beams 1226, and is fixedly installed on the shelf by the cross beams 1226. The delivery robot can take or put goods from the other side of the shelf 1200. The buffer layer in this embodiment can be referred to as a cross beam mounted buffer layer.

[0172] It can be understood that the hoisting type buffer position can also achieve the buffering of the container by means of hooks and the like.

[0173] In some embodiments, the warehouse system is provided with a plurality of shelves spaced apart, buffer positions are formed between adjacent shelves, and the length direction of the shelf is parallel to the length direction of the aisle. The plurality of shelves can all be shelves with hoisting type buffer layers, or can all be shelves with cross beam mounted buffer layers, or can be a combination of the two types of shelves.

[0174] In some embodiments, the warehouse system is an intelligent sorting system, the container handling robot carries the containers stored in the storage space of the shelf to the buffer space, and the delivery robot delivers the buffered containers to the sorting workstations, so that the order picker sorts the materials in the containers to the order boxes.

[0175] In one specific example, all the shelves of the intelligent sorting system are provided with low layer buffer layers. For example, at least one low layer buffer position is arranged at the low layer position corresponding to each high layer storage position, in other words, each high layer storage position corresponds to at least one low layer buffer position, that is, the low layer of the shelf is all arranged with buffer positions. Among them, at least part of the low layer buffer layers of the shelves are hoisting type buffer layers. In some embodiments, the low layer buffer layers of all the shelves are hoisting type buffer layers. In other embodiments, the shelves at both ends can be shelves with cross beam mounted buffer layers, and the shelves between the two ends can be partially or entirely shelves with hoisting type buffer layers. Compared with all shelves with cross beam mounted buffer layers, the introduction of shelves with hoisting type buffer layers can make the low layer of the shelf all arranged with buffer positions without reserving space for the movement of the delivery robot without buffer positions. The delivery robot can move in the space corresponding to the hoisting type buffer position, so that the delivery robot has greater freedom of movement and more scheduling space, and the movable space of the delivery robot is increased, which is conducive to shortening the delivery distance of the delivery robot, reducing the possibility of congestion, and thus improving the efficiency of the sorting system.

[0176] In some embodiments, when one high layer storage position corresponds to a plurality of low layer buffer positions, the corresponding low layer buffer positions can be arranged in the vertical direction, that is, the low layer buffer layer can have multiple layers.Figure 16 The buffer space of the shelf is provided with a plurality of buffer layers, each buffer layer is provided with a plurality of spaced-apart pallets 1222, at least part of the pallets 1222 of different buffer layers are correspondingly arranged in the height direction, the corresponding pallets 1222 of different buffer layers are connected into one through the hoisting component 1224 and are hoisted on the bottom pallet of the storage space. The conveying robot can take or put goods from any buffer layer by adjusting the height of the lifting mechanism.

[0177] In the intelligent sorting system of some embodiments, referring to Figure 17 The conveying robot 1100 transports the box 941 to the sorting station, can move along the slope 1700 arranged at the sorting station, and stop at a preset position. The slope is arranged such that the picker can directly perform the sorting operation on the box on the conveying robot without bending over at the preset sorting position. The slope 1700 can have an upward slope section, a downward slope section, or can also have a flat top section. Each slope section can include a flat slope section and / or a curved slope section. It can be understood that the setting of the sorting height H can not be fixed, and can be set according to the height of the conveying robot, the height of the box, and / or the height of the picker. In some embodiments, the conveying robot 1100 moves along the slope 1700 to stop at a position where the height of the box reaches the set sorting height H, so that the picker can directly perform the sorting operation on the box on the conveying robot. By arranging the slope at the sorting station, the box can be quickly supplied to the sorting position without the need to unload the box from the conveying robot or control the lifting of the conveying robot, and the system control difficulty can also be reduced.

[0178] In the intelligent sorting system of some embodiments, after the conveying robot transports the box to the sorting station, the box can also be moved to the liftable operation table arranged at the sorting station. Then, by controlling the lifting of the operation table, the height of the box can be adjusted to the sorting height of the picker. In this embodiment, the occupation of the conveying robot by the sorting station can be reduced, and the turnover efficiency of the conveying robot can be improved.

[0179] In some embodiments, when docking with the automatic loading and unloading machine, the warehouse robot 900 moves to the area where the automatic loading and unloading machine is located according to the received instruction through the base 910, and then controls the fork device 940 to move to the specified position and angle. The mechanical hand of the automatic loading and unloading machine carries the box from the storage area 930 or carries the box from other positions to the storage area 930.

[0180] It can be understood that the specific process of taking or putting goods by the fork device when applied to the conveying line, the buffer shelf, or the docking automatic loading and unloading machine can refer to the description of the previous embodiments, which will not be repeated here.

[0181] Having described various embodiments of the application, it is to be understood that the above description is meant to be illustrative only, and that many modifications and variations of the embodiments described herein are possible. It is therefore to be understood that within the scope of the appended claims, and their equivalents, many alternatives to the embodiments described herein are possible. The selection of terms to be used in the description is not intended to limit the scope of the embodiments described herein, but rather to best explain the principles of the embodiments, practical application, or improvement over the technology in the art, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A fork device, characterized in that: include: A fork body, comprising a base, a pallet, and a telescopic assembly, wherein the pallet is supported on the base, and the telescopic assembly comprises a pickup mechanism connecting member that can extend or retract relative to the pallet in a cargo moving direction; as well as, A pickup mechanism, the pickup mechanism being detachably mounted on the pickup mechanism connecting member; The pickup mechanism includes: a first pickup mechanism, the first pickup mechanism comprising a first pickup member acting on the goods in a first manner; or a second pickup mechanism, the second pickup mechanism comprising a second pickup member that acts on the goods in a second manner different from the first manner; A linkage assembly is provided between the pickup mechanism and the tray, and the pickup mechanism drives the tray to extend and / or retract through the linkage assembly during the extension and / or retraction process; the linkage assembly includes two linkage triggering members provided on the tray, and a linkage matching member fixedly provided relative to the pickup mechanism; The two linkage trigger members are respectively provided at the two ends of the pallet along the cargo moving direction, and the linkage matching member is located between the two linkage trigger members; when the linkage matching member moves to a preset position along the extending or retracting direction with the cargo picking mechanism, it can abut against the corresponding linkage trigger member to drive the pallet to extend or retract; The first pickup mechanism is detachably mounted on a first mounting bracket, and the second pickup mechanism is detachably mounted on a second mounting bracket, and both the first mounting bracket and the second mounting bracket are provided with a mounting portion that cooperates with a connecting piece of the pickup mechanism; or The first pickup mechanism and / or the second pickup mechanism can be detachably mounted on a third mounting bracket, and the third mounting bracket is provided with a mounting portion that cooperates with the pickup mechanism connector.

2. The fork device according to claim 1, wherein: The first pickup mechanism includes a hook assembly; and / or The second picking mechanism includes a suction cup assembly.

3. The fork device according to claim 1, characterized in that: The first picking-up member and / or the second picking-up member acts on a unidirectional surface of the goods.

4. The fork device according to claim 1, wherein: The first picking-up component acts on a single-direction surface of the goods, and the second picking-up component acts on at least two-direction surfaces of the goods.

5. The fork device according to any one of claims 1 to 4, characterized in that: There are two telescopic assemblies, which are respectively arranged on both sides of the tray; The telescopic assembly is driven by a telescopic driving member through a telescopic transmission mechanism, and the telescopic transmission mechanisms of the telescopic assemblies on both sides of the tray are synchronously driven by a single telescopic driving member.

6. The fork device according to claim 5, characterized in that: The telescopic assembly includes a second guide rail arranged along the cargo moving direction, the cargo picking mechanism connecting member is connected to a second sliding member that is slidably fitted on the second guide rail, and the cargo picking mechanism connecting member is slidably connected to the tray through the second sliding member.

7. The fork device according to claim 6, characterized in that: The telescopic transmission mechanism includes a belt transmission mechanism, which includes a telescopic driving wheel, a telescopic driven wheel and a synchronous belt wound around the telescopic driving wheel and the telescopic driven wheel, and the telescopic driving wheel is connected to the output shaft of the telescopic driving member; a linear running portion that runs along the direction of moving goods is formed on the synchronous belt, and the second sliding member is connected to the linear running portion.

8. The fork device according to claim 1, characterized in that: The telescopic assembly includes a first guide rail and a second guide rail arranged parallel to the cargo moving direction; the pallet is slidably connected to the base through the first guide rail and a first sliding member that slides with the first guide rail, and the cargo picking mechanism connecting member is slidably connected to the pallet through the second guide rail and a second sliding member that slides with the second guide rail.

9. The fork device according to claim 1, characterized in that: It also includes a locking mechanism arranged between the tray and the base, the locking mechanism includes a connecting rod assembly arranged on the tray and a locking piece arranged on the connecting rod assembly, the locking piece is used to lock with or separate from the base, and the two linkage triggering pieces are arranged on the connecting rod assembly; when the linkage mating pieces respectively abut against the two linkage triggering pieces, the connecting rod assembly is driven to move in the extending or retracting direction to lock the locking piece with or separate from the base.

10. The fork device according to claim 9, characterized in that: It also includes an unlocking trigger, which is in transmission cooperation with the locking mechanism; when the picking mechanism pulls the goods until it touches the unlocking trigger, the unlocking trigger drives the locking mechanism to move, so that the locking member is unlocked from the base.

11. The fork device according to claim 9, characterized in that: A latch plate is provided on the base, and a plurality of latch teeth are provided on the latch plate along the direction of moving goods; when the linkage matching part drives the connecting rod assembly to move in the extending or retracting direction, the connecting rod assembly drives the locking part to move toward or away from the latch plate in the direction forming an angle relative to the direction of moving goods, so that the locking part is engaged between two adjacent latch teeth or disengaged from the engaged latch teeth.

12. The fork device according to claim 9 or 11, characterized in that: The connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod that are connected in rotation in sequence, the first connecting rod is fixed to the tray, the two linkage trigger members are respectively provided on the second connecting rod and the fourth connecting rod, and the locking member is provided on the first connecting rod and the third connecting rod; The lengths of the first link and the third link are greater than the lengths of the second link and the fourth link.

13. The fork device according to claim 1, characterized in that: The first pickup mechanism includes a hook assembly; The hook assembly includes at least one hook, which is directly connected to the first mounting bracket and is located between two sides of the pallet to be opposite to the goods along the direction of moving the goods.

14. The fork device according to claim 1, characterized in that: The first pickup mechanism includes a hook assembly; The hook assembly includes a hook driving member and at least one hook, wherein the at least one hook is connected to the output shaft of the hook driving member; The hook is arranged above the pallet between two sides of the pallet to face the goods along the direction of moving goods; The hook driving member is used to drive the hook to rise or fall in a vertical direction so that the hook is engaged with or disengaged from the cargo.

15. The fork device according to claim 1, characterized in that: The second pickup mechanism includes a suction cup assembly; The suction cup assembly includes a pneumatic control assembly and at least one suction cup, wherein the at least one suction cup is connected to the pneumatic control assembly, and the pneumatic control assembly is used to control the gas flow state in the at least one suction cup so as to make the suction cup adhere to or detach from the cargo box; The suction cup is arranged above the pallet between two sides of the pallet to be opposite to the goods along the direction of moving the goods.

16. The fork device according to claim 1, characterized in that: The base includes a fixed base and a rotating frame, the rotating frame is rotatably mounted on the fixed base, and the tray and the telescopic assembly are mounted on the rotating frame; The rotating frame is driven by a rotating driving member through a rotating transmission mechanism; The rotary transmission mechanism includes a rotating member, a rotating driving wheel, a rotating driven wheel, and a transmission member wound around the rotating driving wheel and the rotating driven wheel, and the rotating frame is connected to the fixed seat through the rotating member; The rotating driving wheel is fixed to the output shaft of the rotating driving member, and the rotating driven wheel is fixed relative to the rotating frame and is coaxially arranged with the rotating member.

17. The fork device according to claim 16, characterized in that: The rotating driving wheel is a driving sprocket, and the rotating driven wheel is a driven sprocket; the rotating driving wheel and the rotating driven wheel are connected through a chain.

18. The fork device according to claim 17, characterized in that: The rotary transmission mechanism also includes a tensioning device, which includes a chain tensioning rod fixed to the rotating frame and a chain tensioning spring sleeved on the chain tensioning rod. One end of the chain tensioning spring abuts against the mounting seat of the driving sprocket, and the other end abuts against the rotating frame.

19. The fork device according to claim 16, characterized in that: The rotating frame includes a rotating support plate, two fixed plates arranged on both sides of the rotating support plate, and a mounting frame arranged at one end of the rotating support plate away from the goods along the direction of picking up the goods; wherein: The telescopic assembly is correspondingly mounted on each of the fixed plates, and the rotating support plate is rotatably mounted on the fixed seat; and / or, The rotary drive member and the telescopic drive member for driving the telescopic assembly are installed on the mounting frame; a control device is also provided on the mounting frame, and the rotary drive member and the telescopic drive member are electrically connected to the control device.

20. The fork device according to claim 17, characterized in that: It also includes a tensioning adjustment mechanism, which includes a guide rod installed on the rotating frame, and a synchronous belt tensioning spring is sleeved on the guide rod. One end of the synchronous belt tensioning spring is pressed against the rotating frame, and the other end is pressed against the tensioning wheel of the belt transmission mechanism.

21. A storage robot, characterized in that: The method comprises the fork device according to any one of claims 1 to 20.

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