Telescopic fork device and two-way shuttle vehicle

Abstract

The present application relates to telescopic fork device and two-way shuttle vehicle, including telescopic fork and drive component, drive component includes shell, drive motor, threaded screw rod, internal thread sleeve, external thread cylinder shaft, spline shaft. First, second gear meshing transmits power to threaded screw rod, drives threaded screw rod and spline shaft to rotate; threaded screw rod rotates, drives internal thread sleeve to move axially; spline shaft rotates drives external thread cylinder shaft to rotate and move axially, makes telescopic fork telescopic. Parallel nested structure produces driving stroke superposition effect, forms two-stage range expansion telescopic structure, long working stroke, lightweight, energy saving, thin, compact structure, high space utilization. First, second threaded section forms positive and negative thread structure, amplifies drive motor force, forms self-locking, high moving precision. Telescopic fork picks and places goods, provides linear guide function for drive component. Hollow structure cooperates with spline shaft, can effectively bear different weight goods, good bending resistance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, and particularly relates to a telescopic fork device and a two-way shuttle vehicle. BACKGROUND

[0002] In a conventional automated warehouse, a heavy-duty stacker is usually used in cooperation with a telescopic fork to realize storage and retrieval of goods. For example, when storing goods, the stacker first needs to take goods from a conveying line beside a goods shelf, then moves along a lane between goods shelves to a position corresponding to the goods shelf, and then the loading table of the stacker is displaced along the height direction of the goods shelf to a suitable position, and the goods are placed on the goods shelf by the telescopic fork. Since the stacker is high and heavy, it has the defects of large inertia, slow speed, low efficiency, and high energy consumption. At the same time, the telescopic action of the conventional telescopic fork is usually driven by a gear rack, a chain wheel and a chain, which has the defects of complex structure, large thickness, large weight, and low moving precision. Therefore, the existing automated warehouse replaces the stacker and the telescopic fork with a light-duty four-way shuttle vehicle.

[0003] In an automated warehouse with a four-way shuttle vehicle without telescopic forks, when storing and retrieving goods, the four-way shuttle vehicle is displaced along a guide rail to below the goods, and the goods are lifted by a lifting mechanism at the top. The change in structure improves the transportation efficiency of the four-way shuttle vehicle compared with the stacker, and the space utilization of the warehouse is also improved. However, the four-way shuttle vehicle also has defects. The multi-layer four-way shuttle vehicle is connected to the goods shelf through a cross guide rail, and has a complex overall structure and high reliability requirements, which increases the transportation cost. At the same time, due to the limitation of the structure of the four-way shuttle vehicle, it cannot transport heavy goods like the stacker, and can only transport goods with small size and weight. In summary, there is an urgent need for a goods handling equipment that can simultaneously meet the comprehensive requirements of efficiency, precision and performance. SUMMARY

[0004] Therefore, the present application aims to solve the technical problem that the existing automated warehouse cannot simultaneously meet the comprehensive requirements of efficiency, precision and performance of the handling equipment, and provides a telescopic fork device and a two-way shuttle vehicle with long working stroke, high moving precision, light weight, energy saving, thin thickness, compact structure, and high space utilization.

[0005] The application provides a telescopic fork device, which comprises two groups of telescopic forks and a driving component for driving the telescopic forks to extend or retract, the telescopic forks provide linear guiding for the driving component, the two groups of telescopic forks are arranged on the two sides of the driving component respectively, the driving component comprises a shell, a driving motor connected with the shell, an output shaft of the driving motor connected with a first gear, a threaded screw rotatably connected with the shell, one end of the threaded screw in the shell connected with a second gear, the second gear engaged with the first gear, an outer wall of the other end of the threaded screw provided with a first thread segment, the threaded screw axially hollow provided with a spline hole, an inner thread sleeve coaxially arranged along the axial direction of the threaded screw, an outer thread cylinder shaft and a spline shaft, a cylinder shaft of the inner thread sleeve close to the shell connected with the first thread segment, an inner wall of a cylinder shaft of the other end of the inner thread sleeve provided with a second thread segment, the spiral direction of the second thread segment opposite to that of the first thread segment, an outer cylinder wall of the outer thread cylinder shaft connected with the second thread segment, the outer thread cylinder shaft axially provided with a containing space containing the threaded screw, one end of the spline shaft movably arranged in the spline hole along the axial direction of the threaded screw, the other end of the spline shaft connected with the outer thread cylinder shaft, the inner thread sleeve connected with the telescopic forks, the outer thread cylinder shaft rotatably connected with the telescopic forks, the power of the driving motor transmitted to the threaded screw through the engagement of the first gear and the second gear, the threaded screw and the spline shaft driven to rotate, the inner thread sleeve moved along the axial direction of the threaded screw through the rotation of the threaded screw, the outer thread cylinder shaft driven to rotate and move along the axial direction of the threaded screw through the rotation of the spline shaft, so that the telescopic forks extend or retract.

[0006] In an embodiment of the application, the threaded screw and the outer thread cylinder shaft are connected through the rolling friction spiral transmission of the ball spline structure.

[0007] In an embodiment of the application, the pitch of the first thread segment is related to the pitch of the second thread segment.

[0008] In an embodiment of the application, each group of the telescopic forks comprises a guide vertical plate, a telescopic guide strip and a telescopic tooth plate, the telescopic guide strip movably connected with the guide vertical plate along the length direction of the guide vertical plate, the telescopic guide strip fixedly connected with the inner thread sleeve, the telescopic tooth plate movably connected with the telescopic guide strip along the length direction of the telescopic guide strip, the telescopic tooth plate rotatably connected with the outer thread cylinder shaft.

[0009] In one embodiment of the present application, the guide vertical plate is symmetrically provided with a row of first guide bearings on both side walls along the length direction of the guide vertical plate, the telescopic guide strip is connected to the end face of the guide vertical plate and is provided with a first wide straight groove along the length direction of the telescopic guide strip, the first wide straight groove is symmetrically provided with a first guide groove on both side inner walls, and the telescopic guide strip is movably connected to the guide vertical plate through the first guide groove and the first guide bearing; the telescopic guide strip is symmetrically provided with a second guide groove on both side walls of the first wide straight groove, the telescopic tooth plate is connected to the end face of the telescopic guide strip and is provided with a second wide straight groove along the length direction of the telescopic tooth plate, the second wide straight groove is symmetrically provided with a row of second guide bearings on both side inner walls, and the telescopic tooth plate is movably connected to the telescopic guide strip through the second guide groove and the second guide bearing.

[0010] The present application also provides a two-way shuttle vehicle, which comprises a vehicle body and the telescopic fork device according to any one of the above embodiments, wherein the vehicle body comprises traveling wheels and a lifting component, and the telescopic fork device is connected to the lifting component.

[0011] In one embodiment of the present application, when the telescopic fork device is only provided with one, the telescopic fork device further comprises a rotating component connected to the lifting component, and the telescopic fork device is connected to the lifting component through the rotating component.

[0012] In one embodiment of the present application, when the telescopic fork device is provided with two, the telescopic fork device further comprises a mounting platform connected to the lifting component, and the two telescopic fork devices are connected to the mounting platform; the telescopic directions of the telescopic forks of the two telescopic fork devices are perpendicular to the driving direction of the traveling wheels, and the telescopic directions of the telescopic forks of the two telescopic fork devices are opposite; wherein the two groups of telescopic forks of the first telescopic fork device are asymmetrically arranged on both sides of the corresponding driving components; the two groups of telescopic forks of the second telescopic fork device are asymmetrically arranged on both sides of the corresponding driving components and are located outside the two groups of telescopic forks of the first telescopic fork device.

[0013] In an embodiment of the present application, an anti-overturning structure for preventing the two-way shuttle vehicle from overturning is further included, the anti-overturning structure comprising a linear driver connected to the chassis of the vehicle body, the output end of the linear driver being movably provided with a guide wheel mounting plate; a linear guide column connected to the chassis of the vehicle body, the linear guide column being movably provided with a guide sleeve, the guide sleeve being connected to the guide wheel mounting plate; and a walking guide wheel rotatably connected to the guide wheel mounting plate, the axial direction of the walking guide wheel being perpendicular to the axis of the walking wheel; when the telescopic forks are extended, the telescopic end of the linear driver rotates and drives the guide wheel mounting plate and the walking guide wheel to move along the axial direction of the linear driver, so that the walking guide wheel abuts against or separates from the side wall of the guide rail.

[0014] In an embodiment of the present application, the linear driver is a double-head screw drive motor, the double-head screw drive motor comprising a first output end and a second output end, the first output end being movably connected to the guide wheel mounting plate, and the second output end being movably connected to the lifting component; when the telescopic forks are extended, the first output end and the second output end of the double-head screw drive motor rotate synchronously, driving the walking guide wheel and the lifting component to move along the axial direction of the double-head screw drive motor, so that the walking guide wheel abuts against or separates from the side wall of the guide rail, and the lifting component is lifted or lowered.

[0015] The above technical solutions of the present application have the following advantages compared with the prior art:

[0016] The telescopic fork device and the two-way shuttle vehicle of the present application have the following advantages: the first gear and the second gear mesh to transmit the power of the drive motor to the threaded screw rod, driving the threaded screw rod and the spline shaft to rotate; the threaded screw rod rotates, driving the inner threaded sleeve to move along the axial direction of the threaded screw rod; the spline shaft rotates, driving the outer threaded cylinder shaft to rotate and move along the axial direction of the threaded screw rod, so that the telescopic forks are extended or retracted. The nested structure of the threaded screw rod, the spline shaft, the inner threaded sleeve, and the outer threaded cylinder shaft produces the effect of driving stroke superposition, enabling the corresponding components to move along the axial direction and forming a parallel two-stage extended telescopic structure, which has the advantages of long working stroke, lightweight, energy saving, thinner overall device, compact structure, and high space utilization rate. Meanwhile, the first threaded segment and the second threaded segment form a positive and negative threaded structure, which can amplify the force of the drive motor and form self-locking, with high movement precision. The telescopic forks can be used for picking and placing goods, and also provide linear guidance for the driving components. The hollow structure of the entire device cooperates with the spline shaft to effectively bear goods of different weights, with good bending resistance. BRIEF DESCRIPTION OF DRAWINGS

[0017] For the purpose of making the content of the present application more easily understood, the present application will be further explained in detail below according to the specific embodiments of the present application and in conjunction with the accompanying drawings, in which:

[0018] Figure 1 is a rotating sectional view of the telescopic fork device at A-A in the preferred embodiment of the present application;

[0019] Figure 2 is a main sectional view of the telescopic fork device at B-B in the preferred embodiment of the present application;

[0020] Figure 3 is a partial sectional view of the telescopic fork device at C-C in the preferred embodiment of the present application;

[0021] Figure 4 is a schematic view of the telescopic fork device in the preferred embodiment of the present application when the telescopic forks are retracted;

[0022] Figure 5 is a schematic view of the telescopic fork device in the preferred embodiment of the present application when the telescopic forks are extended;

[0023] Figure 6 is a front schematic view of a bidirectional shuttle vehicle in the preferred embodiment of the present application;

[0024] Figure 7 is a half sectional top schematic view of the bidirectional shuttle vehicle in Figure 6 ;

[0025] Figure 8 is a top schematic view of another bidirectional shuttle vehicle in the preferred embodiment of the present application;

[0026] Figure 9 is a D-D sectional schematic view of the bidirectional shuttle vehicle in Figure 8 ;

[0027] Figure 10 is a E-E sectional main view of a roll-over-preventing structure in the preferred embodiment of the present application;

[0028] Figure 11 is a F-F half sectional top view of the roll-over-preventing structure in Figure 10 ;

[0029] Figure 12 is a main sectional view of a walking guide wheel in the preferred embodiment of the present application;

[0030] Figure 13 is a G-G sectional main view of another roll-over-preventing structure in the preferred embodiment of the present application;

[0031] Figure 14 is a H-H half sectional top view of the roll-over-preventing structure in Figure 13 .

[0032] 100, telescopic fork; 101, mounting base plate; 102, positioning pin shaft; 110, guide vertical plate; 111, first guide bearing; 120, telescopic guide strip; 121, first wide straight slot; 122, first guide slot; 123, second guide slot; 130, telescopic tooth plate; 131, second wide straight slot; 132, second guide bearing; 200, driving component; 201, support; 210, housing; 211, housing cover; 212, support bearing; 220, driving motor; 221, first gear; 230, threaded lead screw; 231, second gear; 232, first threaded section; 233, spline hole sleeve; 240, internally threaded sleeve; 241, second threaded section; 242, first lead screw nut; 243, handle-end cover; 244, first fixing strip; 2441, first eccentric V-shaped fixing strip; 2442, second eccentric V-shaped fixing strip; 250, externally threaded cylinder shaft; 251, accommodating space; 252, end face cylinder shaft; 253, hanger seat type bearing; 254, second fixing strip; 2541, first eccentric embedded fixing strip; 2542, second eccentric embedded fixing strip; 260, spline shaft; 261, key; 262, bearing cover; 310, vehicle body; 311, chassis; 320, traveling wheel; 331, lifting plate; 332, lifting strip; 340, rotating component; 341, mounting platform; 350, linear actuator; 351, guide wheel mounting plate; 360, double-headed lead screw driving motor; 361, forward-reverse rotation double-headed lead screw; 3611, first output end; 3612, second output end; 362, second lead screw nut; 363, third lead screw nut; 364, shaft circlip; 365, radial thrust bearing; 366, radial bearing end cover; 367, mounting shell; 368, long sleeve; 3691, third gear; 3692, fourth gear; 370, linear guide column; 371, guide sleeve; 380, traveling guide wheel; 381, guide wheel shaft; 382, guide wheel bearing; 383, guide wheel body; 384, thrust bearing; 400, guide rail. DETAILED DESCRIPTION

[0033] The application will be further described below in conjunction with the drawings and specific embodiments so that those skilled in the art can better understand the application and implement it. The embodiments are not intended to limit the application.

[0034] The application discloses a telescopic fork device, which comprises two groups of telescopic forks 100 and a driving component 200 for driving the telescopic forks 100 to extend or retract, the telescopic forks 100 provide linear guiding action for the driving component 200, the two groups of telescopic forks 100 are arranged on the two sides of the driving component 200 respectively, the driving component 200 comprises a shell 210, a driving motor 220 connected with the shell 210, an output shaft of the driving motor 220 connected with a first gear 221, a threaded screw rod 230 rotatably connected with the shell 210, one end of the threaded screw rod 230 located in the shell 210 connected with a second gear 231, the second gear 231 engaged with the first gear 221, an outer wall of the other end of the threaded screw rod 230 provided with a first threaded section 232, the threaded screw rod 230 provided with a spline hole in the axial hollow, an inner threaded sleeve 240, an outer threaded cylinder shaft 250 and a spline shaft 260 coaxially arranged along the axial direction of the threaded screw rod 230, a cylinder shaft of one end of the inner threaded sleeve 240 close to the shell 210 connected with the first threaded section 232, an inner wall of a cylinder shaft of the other end of the inner threaded sleeve 240 provided with a second threaded section 241, the spiral direction of the second threaded section 241 opposite to that of the first threaded section 232, an outer cylinder wall of the outer threaded cylinder shaft 250 connected with the second threaded section 241, the outer threaded cylinder shaft 250 provided with an accommodation space 251 for accommodating the threaded screw rod 230 in the axial direction, one end of the spline shaft 260 movably arranged in the spline hole along the axial direction of the threaded screw rod 230, the other end of the spline shaft 260 connected with the outer threaded cylinder shaft 250, the inner threaded sleeve 240 connected with the telescopic forks 100, the outer threaded cylinder shaft 250 rotatably connected with the telescopic forks 100, the telescopic forks 100 connected with the inner threaded sleeve 240 and rotatably connected with the outer threaded cylinder shaft 250, the first gear 221 and the second gear 231 engaged to transmit the power of the driving motor 220 to the threaded screw rod 230, drive the threaded screw rod 230 and the spline shaft 260 to rotate, the threaded screw rod 230 drives the inner threaded sleeve 240 to move along the axial direction of the threaded screw rod 230, the spline shaft 260 drives the outer threaded cylinder shaft 250 to rotate and move along the axial direction of the threaded screw rod 230, so that the telescopic forks 100 extend or retract.

[0035] Reference Figure 1As shown, the telescopic fork device of the present application, two groups of telescopic forks 100 are used for picking up goods. The driving component 200 provides power for the telescopic forks 100 when extending or retracting, at the same time, the telescopic forks 100 also provide linear guidance for the driving component 200. Two groups of telescopic forks 100 are respectively arranged on both sides of the driving component 200, compared with two groups of telescopic forks 100 located on the same side of the driving component 200, the structure arrangement arranged on both sides can ensure that the telescopic forks 100 are uniformly stressed and improve the stability of the entire telescopic fork device. Preferably, the driving component 200 is centrally arranged. Preferably, the telescopic forks 100 and the driving component 200 are arranged on an installation base plate 101, so as to be connected with other equipment, such as a two-way shuttle vehicle. Referring to Figure 2 As shown, the driving component 200 includes a housing 210, a driving motor 220, a threaded screw rod 230, an internally threaded sleeve 240, an externally threaded cylinder shaft 250, and a spline shaft 260.

[0036] The housing 210 serves as a protective shell to protect the internal structure, prevent external dust and the like from affecting the components, and ensure the service life of the entire driving component 200. The housing 210 also serves as a support seat connected to the installation base plate 101 to ensure the stability of the entire telescopic fork device. Preferably, the housing 210 is provided with a shell cover 211, and the two are connected through fasteners and can be disassembled, which is convenient for installation and disassembly. The housing 210 is connected to the installation base plate 101 through a support 201.

[0037] The driving motor 220 serves as the power source of the driving component 200. The driving motor 220 is connected to the housing 210, and the output shaft of the driving motor 220 is connected to the first gear 221. Preferably, the first gear 221 and the output shaft of the driving motor 220 are fixedly connected through a clamping screw or connected through a key to stably transmit torque.

[0038] The threaded screw 230 is rotatably connected to the housing 210, and one end of the threaded screw 230 inside the housing 210 is connected to the second gear 231, which is engaged with the first gear 221. This structure transmits the power of the driving motor 220 to the threaded screw 230 through the second gear 231 and the first gear 221. Preferably, the second gear 231 and the threaded screw 230 at one end inside the housing 210 are fixedly connected by a locking screw or connected by a key to stably transmit the torque. Preferably, two support bearings 212 are arranged inside the housing 210, the threaded screw 230 is connected to the support bearings 212, and the second gear 231 is arranged between the two support bearings 212, so that the threaded screw 230 is rotatably connected to the housing 210 through the support bearings 212. Specifically, the outer ring of one of the support bearings 212 is fixed to the shell cover 211, and the inner ring is fixedly connected to the threaded screw 230 by bolts and washers; the outer ring of the other support bearing 212 is fixed to the housing 210. Preferably, the support bearing 212 is arranged as a radial thrust bearing 365, which is mainly used for the installation and fixation of a transmission shaft with radial and axial loads at the same time, so as to improve the rotation accuracy and rigidity of the threaded screw 230. The end of the threaded screw 230 connected to the support bearing 212 is provided with a fixing member to prevent the threaded screw and the support bearing 212 from being separated. Preferably, the fixing member is arranged as a fixed nut and a spacer ring; in some other embodiments, the fixing can also be achieved by means such as key and groove cooperation, as long as the two can be prevented from being separated. The outer wall of the other end of the threaded screw 230 is provided with a first threaded section 232, which is used to form a threaded transmission with the inner threaded sleeve 240, so that the inner threaded sleeve 240 can move along the axial direction of the threaded screw 230. At the same time, the first threaded section 232 can also be used to form self-locking, so as to ensure that the telescopic fork 100 does not retract when it is extended for operation, or does not extend when it is retracted for non-operation. In addition, the threaded structure ensures high movement accuracy of the telescopic fork 100. The threaded screw 230 is axially hollow and provided with a spline hole, which is used to cooperate with the spline shaft 260 to ensure that the threaded screw 230 provided with the spline hole can rotate synchronously with the spline shaft 260 and transmit torque. The axial hollow structure enables the spline shaft 260 to be retracted into the threaded screw 230, ensuring that the entire telescopic fork device has a small volume when the telescopic fork 100 is retracted for non-operation, thereby improving the space utilization rate. The spline hole can be integrally formed with the threaded screw 230, or the same effect can be achieved by means such as a spline hole sleeve 233 cooperating with a through hole formed along the axial direction of the threaded screw 230.

[0039] The inner threaded sleeve 240, the outer threaded cylinder shaft 250 and the spline shaft 260 are coaxially arranged along the axial direction of the threaded screw 230, which ensures the normal rotation of each component, and also ensures the space utilization and the strength of the entire structure. The cylinder shaft of the inner threaded sleeve 240 near one end of the housing 210 is connected with the first threaded section 232, that is, the cylinder shaft of the inner threaded sleeve 240 near one end of the housing 210 is also provided with the first threaded section 232, and the difference between the two threaded sections is that one is a male thread and the other is a female thread. The inner threaded sleeve 240 and the threaded screw 230 form the first-stage driving telescopic structure of the entire driving component 200. Preferably, the inner threaded sleeve 240 comprises an inner threaded sleeve body and a first screw nut 242 arranged on the inner threaded sleeve body near one end of the housing 210, and at the same time, the first screw nut 242 is arranged as a ball screw nut and the threaded screw 230 is arranged as a ball screw, so as to replace sliding friction with rolling friction, reduce friction and make the telescopic action more smooth and improve efficiency. The inner wall of the cylinder shaft of the inner threaded sleeve 240 at the other end is provided with a second threaded section 241, the spiral direction of the second threaded section 241 is opposite to that of the first threaded section 232, and the cylinder wall of the outer threaded cylinder shaft 250 is connected with the second threaded section 241, that is, the outer cylinder wall of the outer threaded cylinder shaft 250 is also provided with the second threaded section 241, and the difference between the two threaded sections is that one is a male thread and the other is a female thread. The second threaded section 241 is used to form threaded transmission between the inner threaded sleeve 240 and the outer threaded cylinder shaft 250, so that the outer threaded cylinder shaft 250 can move along the axial direction of the threaded screw 230. At the same time, the second threaded section 241 can also be used to form self-locking, so as to ensure that the telescopic fork 100 will not retract when it is extended for operation, or will not extend when it is retracted for operation. In addition, the threaded structure ensures high movement accuracy of the telescopic fork 100. Preferably, the lengths of the first threaded section 232 and the second threaded section 241 can be adjusted according to actual needs, so that the telescopic fork device obtains a longer working stroke. The inner threaded sleeve 240 is coaxially arranged along the axial direction of the threaded screw 230, which ensures the normal rotation of each component, and also ensures the space utilization and the strength of the entire structure. The cylinder shaft of the inner threaded sleeve 240 near one end of the housing 210 is connected with the first threaded section 232, that is, the cylinder shaft of the inner threaded sleeve 240 near one end of the housing 210 is also provided with the first threaded section 232, and the difference between the two threaded sections is that one is a male thread and the other is a female thread. The inner threaded sleeve 240 and the threaded screw 230 form the first-stage driving telescopic structure of the entire driving component 200. Preferably, the inner threaded sleeve 240 comprises an inner threaded sleeve body and a first screw nut 242 arranged on the inner threaded sleeve body near one end of the housing 210, and at the same time, the first screw nut 242 is arranged as a ball screw nut and the threaded screw 230 is arranged as a ball screw, so as to replace sliding friction with rolling friction, reduce friction and make the telescopic action more smooth and improve efficiency. The inner wall of the cylinder shaft of the inner threaded sleeve 240 at the other end is provided with a second threaded section 241, the spiral direction of the second threaded section 241 is opposite to that of the first threaded section 232, and the cylinder wall of the outer threaded cylinder shaft 250 is connected with the second threaded section 241, that is, the outer cylinder wall of the outer threaded cylinder shaft 250 is also provided with the second threaded section 241, and the difference between the two threaded sections is that one is a male thread and the other is a female thread. The second threaded section 241 is used to form threaded transmission between the inner threaded sleeve 240 and the outer threaded cylinder shaft 250, so that the outer threaded cylinder shaft 250 can move along the axial direction of the threaded screw 230. At the same time, the second threaded section 241 can also be used to form self-locking, so as to ensure that the telescopic fork 100 will not retract when it is extended for operation, or will not extend when it is retracted for operation. In addition, the threaded structure ensures high movement accuracy of the telescopic fork 100. Preferably, the lengths of the first threaded section 232 and the second threaded section 241 can be adjusted according to actual needs, so that the telescopic fork device obtains a longer working stroke.One end of the spline shaft 260 is movably arranged in the spline hole along the axial direction of the threaded screw rod 230, and the other end of the spline shaft 260 is connected with the outer threaded cylinder shaft 250. The main function of the spline shaft 260 is to transmit torque, so that the outer threaded cylinder shaft 250 moves along the axial direction of the threaded screw rod 230 under the action of the torque provided by the spline shaft 260. At the same time, the spline shaft 260 also plays a role in improving the bending resistance of the telescopic fork and the driving component during telescopic movement. The telescopic structure of the conventional telescopic fork is often driven by a gear rack, a chain wheel and a chain, which cannot take into account the size, weight and performance, and often needs to sacrifice one or more points to obtain a certain advantage, which is difficult to achieve. Therefore, the spline shaft 260 is arranged, and the threaded screw rod 230, the inner threaded sleeve 240 and the outer threaded cylinder shaft 250 are matched, and the whole is in a hollow structure. Compared with the solid structure, the bending resistance is good, the weight of the structure is lighter, and the thickness is thinner, which is convenient for driving the motor 220 to drive and save energy. Due to the hollow structure, the four form a nested structure, and the space utilization rate is high. Specifically, the whole structure can be retracted into another component during retraction, so as to improve the space utilization and make the thickness thinner. When extended, the design of the parallel two-stage telescopic structure can ensure a long working stroke; at the same time, the spline shaft 260 cooperates with the extended outer threaded cylinder shaft 250 to form a double-layer structure with an outer hollow and an inner solid, which can well ensure the bending resistance of the whole structure. Preferably, the spline shaft 260 is sequentially provided with a spline section, a cylindrical section and a connecting threaded section from one end close to the second gear 231 to the other end away from the second gear 231. The spline section is provided with a spline to cooperate with the spline hole. The cylindrical section is used to set a key to cooperate with the outer threaded cylinder shaft 250 to transmit torque. The connecting threaded section is used to form a threaded connection with the outer threaded cylinder shaft 250 through a nut, so that the spline shaft 260 can firmly connect the outer threaded cylinder shaft 250 and transmit torque whether it is extended or retracted; at the same time, it also ensures that the spline shaft 260 can provide support force when elongated, effectively bearing goods of different weights, preventing the outer threaded cylinder shaft 250 from being bent or broken due to excessive force of the goods, and effectively improving the running stability and service life of the whole telescopic fork device. The inner threaded sleeve 240 is connected with the corresponding component of the telescopic fork 100, and the outer threaded cylinder shaft 250 is rotatably connected with the corresponding component of the telescopic fork 100. So as to ensure that the driving component 200 can work normally and drive the telescopic movement.

[0040] Reference Figure 4 and Figure 5As shown, the telescopic fork device of the present application, the first gear 221 and the second gear 231 mesh to transmit the power of the driving motor 220 to the threaded lead screw 230, driving the threaded lead screw 230 and the spline shaft 260 to rotate; the threaded lead screw 230 rotates, driving the inner threaded sleeve 240 to move along the axial direction of the threaded lead screw 230; the spline shaft 260 rotates, driving the outer threaded cylinder shaft 250 to rotate and move along the axial direction of the threaded lead screw 230, so that the telescopic fork 100 extends or retracts. The nested structure of the threaded lead screw 230, the spline shaft 260, the inner threaded sleeve 240, and the outer threaded cylinder shaft 250 produces the effect of driving stroke superposition, so that the corresponding components move along the axial direction, forming a parallel two-stage stroke-increasing telescopic structure, which has the advantages of long working stroke, lightweight, energy saving, thinner overall device, compact structure, and high space utilization rate. At the same time, the first threaded section 232 and the second threaded section 241 form a positive and negative threaded structure, which can not only amplify the force of the driving motor 220, but also form self-locking, with high moving precision. The telescopic fork 100 can be used for picking and placing goods, and also provides a linear guiding effect for the driving component 200. The hollow structure of the entire device cooperates with the spline shaft 260, which can effectively bear goods of different weights and has good bending resistance.

[0041] In some embodiments of the telescopic fork device of the present application, the threaded lead screw 230 and the outer threaded cylinder shaft 250 are connected by rolling friction screw transmission through a ball spline structure. Preferably, the spline shaft 260 is a ball spline shaft 260, the threaded lead screw 230 includes a threaded lead screw body and a spline hole sleeve 233 arranged at the end of the threaded lead screw body away from the second gear 231, and the spline hole sleeve 233 is a ball spline hole sleeve 233. Rolling friction is used instead of sliding friction to reduce friction and make the telescopic action more smooth, thereby improving the sorting efficiency of goods. In some embodiments, the pitch of the first threaded section 232 is related to the pitch of the second threaded section 241. In some other embodiments, the pitch of the first threaded section 232 is equal to the pitch of the second threaded section 241, so that the linear moving speed and stroke of the corresponding inner threaded sleeve 240 and outer threaded cylinder shaft 250 are equal. In some other embodiments, due to the structural difference between the accommodation space 251 of the outer threaded cylinder shaft 250 and the axial hollow of the inner threaded sleeve 240, the axial distances of the two are different, and the telescopic strokes of the threaded sections are different. In the case of consistent angular displacement, to achieve the minimum axial size in the state of retraction to the final position, the pitch of the first threaded section 232 and the second threaded section 241 are matched in any single or combined manner as follows: matching according to the pitch, matching according to the type of thread, which is trapezoidal thread or rectangular thread or triangular thread, and matching according to single-thread or double-thread, to ensure that the demand for different working strokes can be met while having high space utilization.

[0042] Reference Figure 1And Figure 3 As shown in the drawings, the telescopic fork device of the present application, in some embodiments, each group of the telescopic fork 100 comprises a guide upright plate 110, a telescopic guide strip 120 and a telescopic tooth plate 130, preferably, the guide upright plate 110 is arranged on the mounting bottom plate 101. The telescopic guide strip 120 is connected with the guide upright plate 110 and can move along the length direction of the guide upright plate 110, and the telescopic guide strip 120 is fixedly connected with the inner threaded sleeve 240. The telescopic tooth plate 130 is connected with the telescopic guide strip 120 and can move along the length direction of the telescopic guide strip 120, and the telescopic tooth plate 130 is rotatably connected with the outer threaded cylinder shaft 250. By arranging the fixed guide upright plate 110, the telescopic guide strip 120 and the telescopic tooth plate 130 which can move along the length direction of the guide upright plate 110, and cooperating with the driving component 200 of the two-stage range-extending telescopic structure to realize telescoping, the structure is stable and firm, the space utilization rate is high, the working stroke is long, and the driving component 200 can also be provided with a straight-line guiding effect. The guide upright plate 110, the telescopic guide strip 120 and the telescopic tooth plate 130 can be directly contacted and slid to realize sliding friction, or can be realized by rolling friction such as bearings. Preferably, as shown in the drawings, Figure 2 、 Figure 4 And Figure 5 As shown in the drawings, the inner threaded sleeve body is fixedly connected with a handle end cover 243 at the end away from the second gear 231, and the handle portions of the handle end covers 243 of the two telescopic forks 100 are connected with the first fixed strip 244; at the same time, the first fixed strip 244 is also connected with the telescopic guide strip 120, so as to ensure that the telescopic guide strips 120 of the two telescopic forks 100 simultaneously telescope. Preferably, the outer threaded cylinder shaft 250 comprises an outer threaded cylinder shaft body, an end face cylinder shaft 252 and a bearing cover 262 arranged at the end of the outer threaded cylinder shaft body away from the second gear 231, the end face cylinder shaft 252 and the bearing cover 262 are fixedly connected, the end face cylinder shaft 252 is connected with the cylindrical section of the spline shaft 260 through the key 261 to transmit torque, the outer cylinder wall of the end face cylinder shaft 252 is provided with a hanging seat type bearing 253, and the bearing cover 262 is fixedly connected with the end face cylinder shaft 252 through the nut and the threaded section of the spline shaft 260. The hanging seat type bearing 253 is embedded in the second fixed strip 254, and the second fixed strip 254 is also connected with the telescopic tooth plate 130, so as to ensure that the telescopic tooth plates 130 of the two telescopic forks 100 simultaneously telescope. Preferably, the handle end cover 243 is arranged near the middle part of the first fixed strip 244, and the hanging seat type bearing 253 is arranged near the middle part of the second fixed strip 254, so as to form a longer force arm to save energy. Preferably, the first fixed strip 244 is arranged as a V-shaped fixed strip, compared with a straight fixed strip, the force transmission effect can be ensured while the space in the height direction is saved, so that the thickness of the whole device is thinner. Preferably, the second fixed strip 254 is arranged as an embedded fixed strip and is embedded in the telescopic tooth plate 130, which is firm and stable.

[0043] It should be noted that the threaded screw 230 can be either a single-piece non-standard part including a first threaded section and a splined hole, or an assembly composed of the threaded screw body and the splined hole sleeve 233. The internal threaded sleeve 240 can be either a single-piece non-standard part including a first threaded section and a second threaded section, forming two screw-nut pairs (i.e., first and second stage drive telescopic structures) with the threaded screw 230 and the external threaded sleeve shaft 250, respectively; or it can be an assembly composed of the internal threaded sleeve body and the first screw nut 242, where the first screw nut 242 forms a screw-nut pair with the threaded screw 230 (i.e., the first stage drive telescopic structure), and the internal threaded sleeve body forms a screw-nut pair with the external threaded sleeve shaft 250 (i.e., the second stage drive telescopic structure). The external threaded sleeve shaft 250 can be either a single-piece non-standard part including a second threaded section and a receiving space, or an assembly composed of the external threaded sleeve shaft body and the end-face sleeve shaft 252.

[0044] Furthermore, refer to Figure 1 and Figure 3 As shown, in some embodiments of the telescopic fork device of the present invention, a row of first guide bearings 111 is symmetrically provided on both sides of the guide plate 110 along its own length direction. A first wide straight groove 121 is formed on the end face of the telescopic guide bar 120 connecting to the guide plate 110 along its own length direction. First guide grooves 122 are symmetrically formed on both inner walls of the first wide straight groove 121. The telescopic guide bar 120 can move along the guide plate 110 via the first guide grooves 122 and the first guide bearings 111. The telescopic guide bar 120 is connected to the vertical plate 110; the telescopic guide bar 120 has a second guide groove 123 symmetrically opened on both sides of the side wall opposite to the first wide straight groove 121; the telescopic tooth plate 130 has a second wide straight groove 131 opened on the end face of the telescopic guide bar 120 along its own length direction; a row of second guide bearings 132 is symmetrically arranged on both sides of the inner wall of the second wide straight groove 131; the telescopic tooth plate 130 is movably connected to the telescopic guide bar 120 through the second guide groove 123 and the second guide bearings 132.

[0045] Preferably, the first guide bearing 111 and the second guide bearing 132 are connected to the corresponding side wall through the positioning pin shaft 102. Preferably, the positioning pin shaft 102 is provided as a threaded stepped pin shaft, and the first guide bearing 111 and the second guide bearing 132 are sleeved in the middle section of the threaded stepped pin shaft. Specifically, taking the first guide bearing 111 as an example, the stepped face of one end of the threaded stepped pin shaft axially limits one side of the inner ring of the first guide bearing 111, and the guide vertical plate 110 axially limits the other side of the inner ring of the first guide bearing 111, and there is a gap between the outer ring of the first guide bearing 111 and the guide vertical plate 110, the middle section of the threaded stepped pin shaft is gap-fitted with the hole of the guide vertical plate 110 and is fixed on the guide vertical plate 110 by a nut; a straight groove is opened on the plane of the guide vertical plate 110 for fastening the nut on the threaded stepped pin shaft, so that the guide vertical plate 110 is limited in the cross-sectional direction between the guide vertical plate 110 and the telescopic guide strip 120, the fixing and transmission effect is good, the guiding precision is high, the relative displacement is more smooth, and the sorting efficiency of goods is improved. In some other embodiments, the straight groove can not be opened, and a long pin shaft is used to fix the first guide bearing 111 on both sides of the guide vertical plate 110. Preferably, the width size of the first guide groove 122 and the outer diameter size of the first guide bearing 111, and the width size of the second guide groove 123 and the outer diameter size of the second guide bearing 132 are all gap-fitted, so that the relative displacement is more smooth and the sorting efficiency is improved. The first wide straight groove 121 and the second wide straight groove 131 are provided, so that the cross sections of the corresponding telescopic guide strip 120 and telescopic tooth plate 130 are all in the shape of inverted “U”, which can well prevent the telescopic guide strip 120 and the telescopic tooth plate 130 from being turned on one side, derailing and other problems, and has good stability.

[0046] The application further discloses a two-way shuttle vehicle, which comprises a vehicle body 310 and at least one telescopic fork device as described in any one of the above embodiments, and the vehicle body 310 comprises traveling wheels 320 and a lifting component, and the telescopic fork device is connected to the lifting component. The traveling wheels 320 are used for displacement along a guide rail 400. The lifting component is used for lifting the telescopic fork device. The lifting component is arranged in consideration of the light and thin structure requirement of the two-way shuttle vehicle. Compared with a high and thick vehicle body 310, the light and thin two-way shuttle vehicle formed by the lifting structure is not only convenient to use and maintain, but also has a wider application range and can be applied to narrow spaces or wide spaces. The two-way shuttle vehicle disclosed by the application comprises the telescopic fork device described in the above embodiments, so that the telescopic fork device has the advantages, and the present embodiment also has all the advantages.

[0047] Preferably, the lifting component comprises a lifting strip 332 and a lifting plate 331 arranged on the lifting strip 332, and the lifting plate 331 is arranged to facilitate the installation of the telescopic fork device.

[0048] The stacker has high rated load and is suitable for the scene of heavy goods. The disadvantages are large inertia, slow speed, low efficiency, high energy consumption. At the same time, the telescopic fork 100 used by the stacker also has defects such as complex structure, large thickness, large weight, low moving precision, etc. The four-way shuttle vehicle is an intelligent transfer robot that can freely shuttle in the stereoscopic warehouse. It can move on the shelf guide rail and complete the picking and handling of goods, which is efficient and flexible. When performing operations, the four-way shuttle vehicle needs to move along the horizontal guide rail. The horizontal guide rail includes longitudinal and transverse guide rails. Therefore, the four-way shuttle vehicle usually has two pairs of driving wheels and driven wheels, which can ensure that at least one pair of driving wheels and driven wheels can contact the guide rail, play the role of driving and guiding support when switching between the longitudinal and transverse guide rails. Taking picking as an example, after moving to the lower part of the goods, the four-way shuttle vehicle lifts the goods on the top, and then drives into the elevator. After descending to the ground, the goods are transported to the conveying line or the mother vehicle for coordinated transportation. As can be seen from the above, although the four-way shuttle vehicle is more efficient and flexible than the stacker, the structure of the four-way shuttle vehicle and its transportation guide rail is more complex, and the reliability requirement is higher. At the same time, it cannot transport heavy goods.

[0049] Therefore, the two-way shuttle vehicle cooperates with the telescopic fork device, which first overcomes the problems of stacker such as weight, energy consumption, moving precision, space utilization, etc. The overall structure is light and thin. Secondly, the structure of the two-way shuttle vehicle body 310 is simpler and lower in cost compared with the four-way shuttle vehicle support, and the requirement for the guide rail is lower, which is convenient to maintain and has wide application range. Finally, the telescopic fork device has good bending resistance and long working stroke, which can well handle heavy goods.

[0050] Reference Figure 6 and Figure 7As shown, the bidirectional shuttle vehicle according to the present application, in some embodiments, when the telescopic fork device is provided with only one, further comprises a rotating component 340 connected to the lifting component, and the telescopic fork device is connected to the lifting component through the rotating component 340. Preferably, the rotating component 340 is a worm and gear type numerical control rotary table, which has high precision and can effectively meet the rotation of heavy goods. Preferably, the mounting bottom plate 101 and the rotating disc of the worm and gear type numerical control rotary table are connected, and the rotating disc of the worm and gear type numerical control rotary table is connected to the lifting plate 331. During operation, the bidirectional shuttle vehicle is displaced to a suitable position, the worm and gear type numerical control rotary table is indexed, and then the driving component 200 drives the telescopic fork 100 to extend; after the telescopic fork 100 extends to the position, the lifting bar 332 is lifted to place the goods on the telescopic tooth plate 130 on the goods shelf or lift the goods on the goods shelf. Specifically, the worm and gear type numerical control rotary table is indexed by 180 degrees, so as to realize the goods storage and retrieval on both sides of the aisle where the bidirectional shuttle vehicle is located; the worm and gear type numerical control rotary table is indexed by 90 degrees to realize the exchange of goods with the conveying line or the workbench.

[0051] Further, the bidirectional shuttle vehicle according to the present application, in some embodiments, when the telescopic fork device is provided with two, further comprises a mounting platform 341 connected to the lifting component, and the two telescopic fork devices are connected to the mounting platform 341; the telescopic direction of the telescopic fork 100 of the two telescopic fork devices is perpendicular to the driving direction of the walking wheel 320, and the telescopic direction of the telescopic fork 100 of the two telescopic fork devices is opposite. It should be noted that the two telescopic fork devices can select their installation positions according to actual needs, which can be symmetrically arranged or staggered by an asymmetric eccentric structure to improve the space utilization. Preferably, since two telescopic fork devices are provided, the smaller mounting bottom plate 101 is replaced by a larger mounting platform 341, and the two telescopic fork devices are arranged on the mounting platform 341; the mounting platform 341 is arranged on the lifting bar 332. The limitation of the telescopic direction of the telescopic fork 100 is to enable it to directly access the goods on the shelves on both sides of the aisle where the bidirectional shuttle vehicle is located, without the need for rotation through the rotating component 340 as when only one telescopic fork device is provided, which improves the goods sorting efficiency.

[0052] Further, referring to Figure 8 and Figure 9As shown, in some embodiments, the two-way shuttle vehicle described in the present application, the two groups of the telescopic forks 100 of the first telescopic fork device are asymmetrically arranged on both sides of the corresponding driving component 200; the two groups of the telescopic forks 100 of the second telescopic fork device are asymmetrically arranged on both sides of the corresponding driving component 200 and are located outside the two groups of the telescopic forks 100 of the first telescopic fork device. Preferably, the two telescopic fork devices are arranged at the middle position of the vehicle body 310 to improve stability. The driving component 200 of the first telescopic fork device is arranged on one side of the axis and connected to the corresponding telescopic fork 100 through the first eccentric V-shaped fixing strip 2441 and the first eccentric embedded fixing strip 2541; the driving component 200 of the second telescopic fork device is arranged on the other side of the axis and connected to the corresponding telescopic fork 100 through the second eccentric V-shaped fixing strip 2442 and the second eccentric embedded fixing strip 2542. The length of the first eccentric V-shaped fixing strip 2441 is less than that of the second eccentric V-shaped fixing strip 2442; the length of the first eccentric embedded fixing strip 2541 is less than that of the second eccentric embedded fixing strip 2542. Compared with the direct symmetrical arrangement on both sides, the staggered arrangement of the two telescopic fork devices through the asymmetric eccentric structure can further reasonably utilize the space, reduce the volume, and improve the space utilization. At the same time, the above structure not only reduces the volume, but also ensures that the two telescopic fork devices can work independently and do not affect each other. During operation, the two telescopic fork devices are respectively responsible for the storage and retrieval of goods on the shelves on one side of the two-way shuttle vehicle.

[0053] The two-way shuttle vehicle described in the present application, in some embodiments, further comprises an anti-overturning structure for preventing the two-way shuttle vehicle from overturning. Considering the improvement of the bending resistance of the telescopic fork device and the ability to carry heavier goods, in order to ensure the stability of the two-way shuttle vehicle, the anti-overturning structure is arranged to avoid shaking, overturning and other problems during the extension of the telescopic fork 100.

[0054] Further, with reference to Figure 10 and Figure 11As shown, the anti-overturning structure of the bidirectional shuttle vehicle in some embodiments includes: a linear driver 350 connected with the chassis 311 of the vehicle body 310, the output end of the linear driver 350 being movably provided with a guide wheel mounting plate 351; a linear guide column 370 connected with the chassis 311 of the vehicle body 310, the linear guide column 370 being movably provided with a guide sleeve 371, the guide sleeve 371 being connected with the guide wheel mounting plate 351; a walking guide wheel 380 rotatably connected with the guide wheel mounting plate 351, and the axial direction of the walking guide wheel 380 being perpendicular to the axis of the walking wheel 320; wherein when the telescopic forks 100 are extended, the telescopic end of the linear driver 350 rotates and drives the guide wheel mounting plate 351 and the walking guide wheel 380 to move along the axial direction of the linear driver 350, so that the walking guide wheel 380 abuts against or separates from the sidewall of the guide rail 400. The linear driver 350 is used to provide lifting power for the walking guide wheel 380. The guide column and the guide sleeve 371 cooperate to ensure the stability and accuracy of the lifting process; at the same time, the walking guide wheel 380 can be displaced for a longer distance, and the descending position is lower, so as to further ensure the good anti-overturning effect. The walking guide wheel 380 is lowered and abuts against the sidewall of the guide rail 400 to form an anti-overturning structure with the walking wheel 320, so as to ensure the stability of the bidirectional shuttle vehicle, and the structure is simple and the effect is good. Preferably, only one linear driver 350 is provided, and four walking wheels 320, linear guide columns 370 and walking guide wheels 380 are provided.

[0055] Preferably, referring to Figure 12 As shown, the walking guide wheel 380 includes a guide wheel shaft 381, a guide wheel shaft bearing 382, a guide wheel body 383 and a thrust bearing 384. The guide wheel shaft 381 is fixedly connected with the guide wheel mounting plate 351, the inner ring of the guide wheel shaft bearing 382 is sleeved on the guide wheel shaft 381, the outer ring of the guide wheel shaft bearing 382 is in the stepped hole of the guide wheel body 383, the stepped surface above the guide wheel body 383 limits the axial movement of the outer ring of the guide wheel shaft bearing 382, the thrust bearing 384 is installed in the stepped hole of the guide wheel body 383, the stepped surface below the guide wheel body 383 limits the axial movement of the rotating piece above the thrust bearing 384, and the screws and gaskets fasten the fixed piece below the thrust bearing 384 on the guide wheel shaft 381; so as to realize that the guide wheel body 383, the rotating piece above the outer ring of the guide wheel shaft bearing 382 and the thrust bearing 384 rotate together, and the guide wheel shaft 381, the inner ring of the guide wheel shaft bearing 382 and the fixed piece below the thrust bearing 384 do not rotate, so as to achieve good anti-overturning effect.

[0056] Further, referring to Figure 13 and Figure 14As shown, the bidirectional shuttle vehicle described in the present application, in some embodiments, the linear driver 350 is provided as a double-headed screw drive motor 360, the double-headed screw drive motor 360 includes a first output end 3611 and a second output end 3612, the first output end 3611 is movably connected with the guide wheel mounting plate 351, the second output end 3612 is movably connected with the lifting component; wherein, when the telescopic forks 100 are extended, the first output end 3611 and the second output end 3612 of the double-headed screw drive motor 360 rotate synchronously, driving the walking guide wheel 380 and the lifting component to move along the axial direction of the double-headed screw drive motor 360, so that the walking guide wheel 380 abuts or separates from the sidewall of the guide rail 400, and the lifting component rises or falls. Through the double-headed screw drive motor 360, the lifting bar 332 and the walking guide wheel 380 are reversely linked. When the lifting bar 332 rises, the walking guide wheel 380 corresponds to fall, which is more efficient and has better anti-overturning effect. Preferably, the linear guide column 370 is also provided as a double-headed linear guide column 370, which ensures the stability of lifting. The lifting bar 332 is provided as a multi-convex platform lifting bar 332, which includes five cylindrical hollow convex platforms, four of which are connected with the double-headed linear guide column 370 through the guide sleeve 371, and the middle one is rotatably connected with the second output end 3612 of the double-headed linear guide column 370 through the third screw nut 363; the guide wheel mounting plate 351 is rotatably connected with the first output end 3611 of the double-headed linear guide column 370 through the second screw nut 362. The hollow cylindrical hole depth of the five cylindrical hollow convex platforms all meet the lifting stroke of the multi-convex platform lifting bar 332. The mounting shell 367 of the double-headed screw drive motor 360 is fixed in the middle of the chassis 311, and the positive and negative rotation double-headed screw 361 is rotatably arranged in the mounting shell 367 through two radial thrust bearings 365. The structure of the positive and negative rotation double-headed screw 361 is sequentially arranged from top to bottom along the axial direction as a third threaded section matched with the third screw nut 363, a long cylinder, a stepped cylinder, and a fourth threaded section matched with the second screw nut 362. Among them, the end of the long cylinder is provided with a ring groove for installing the shaft snap ring 364. The positive and negative rotation double-headed screw 361 is sequentially arranged from top to bottom along the axial direction as the third screw nut 363, the radial bearing end cover 366, the shaft snap ring 364, the radial thrust bearing 365, the long sleeve 368, the third gear 3691, the radial thrust bearing 365, and the second screw nut 362. The output shaft of the double-headed screw drive motor 360 is vertically fixed downward at the lower step surface of the mounting shell 367, and the fourth gear 3692 is arranged on the output shaft of the double-headed screw drive motor 360, which is engaged with the third gear 3691. This structure is simple and can effectively realize the reverse linkage of the lifting bar 332 and the walking guide wheel 380.The output shaft of the double-head screw driving motor 360 rotates, driving the fourth gear 3692 and the third gear 3691 to rotate, so that the positive and negative rotating double-head screw 361 rotates, thereby the second screw nut 362 and the third screw nut 363 simultaneously move along the axial direction of the positive and negative rotating double-head screw 361, so that the multi-convex platform lifting strip 332 and the walking guide wheel 380 move reversely, to lift the telescopic fork device and simultaneously lower the walking guide wheel 380 to prevent overturning.

[0057] The third threaded section and the fourth threaded section have a thread pitch correlation. Since the movement stroke of the multi-convex platform lifting strip 332 is usually greater than the movement stroke of the guide wheel mounting plate 351, preferably, the thread pitch of the fourth threaded section is smaller than the thread pitch of the third threaded section.

[0058] Obviously, the above-mentioned embodiments are only examples for clearly illustrating, not limiting the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A telescopic fork device, characterized in that, The device includes two sets of telescopic forks and a drive unit for extending or retracting the telescopic forks. The telescopic forks provide linear guidance to the drive unit. The two sets of telescopic forks are respectively disposed on both sides of the drive unit. The drive unit includes: case; A drive motor is connected to the housing, and the output shaft of the drive motor is connected to a first gear; A threaded screw is rotatably connected to the housing. One end of the threaded screw located inside the housing is connected to a second gear, which meshes with the first gear. The outer wall of the other end of the threaded screw is provided with a first threaded section, and the threaded screw is axially hollow and provided with a spline hole. An internally threaded sleeve, an externally threaded cylindrical shaft, and a splined shaft are coaxially arranged along the axial direction of the threaded screw. The cylindrical shaft of the internally threaded sleeve, near one end of the housing, is connected to the first threaded segment. The inner wall of the cylindrical shaft at the other end of the internally threaded sleeve has a second threaded segment, the helical direction of which is opposite to that of the first threaded segment. The outer wall of the externally threaded cylindrical shaft is connected to the second threaded segment, and an axially oriented receiving space is provided within the externally threaded cylindrical shaft to accommodate the threaded screw. One end of the splined shaft is movable along the axial direction of the threaded screw and passes through the splined hole; the other end of the splined shaft is connected to the externally threaded cylindrical shaft. The internal threaded sleeve connects to the telescopic fork, and the external threaded cylinder shaft is rotatably connected to the telescopic fork. The first gear and the second gear mesh to transmit the power of the drive motor to the threaded screw, causing the threaded screw and the spline shaft to rotate. The rotation of the threaded screw causes the internal threaded sleeve to move axially along the threaded screw. The rotation of the spline shaft causes the external threaded cylinder shaft to rotate and move axially along the threaded screw, so that the telescopic fork extends or retracts.

2. The telescopic fork device according to claim 1, characterized in that: The threaded screw and the external threaded cylinder shaft are connected by a rolling friction helical transmission with a ball spline structure.

3. The telescopic fork device according to claim 1, characterized in that: The pitch of the first threaded segment is related to the pitch of the second threaded segment.

4. The telescopic fork device according to claim 1, characterized in that: Each set of telescopic forks includes a guide plate, a telescopic guide bar, and a telescopic toothed plate. The telescopic guide bar is movable along the length direction of the guide plate and connected to the guide plate, and the telescopic guide bar is fixedly connected to the internal threaded sleeve. The telescopic toothed plate is movable along the length direction of the telescopic guide bar and connected to the telescopic guide bar, and the telescopic toothed plate is rotatably connected to the external threaded cylinder shaft.

5. The telescopic fork device according to claim 4, characterized in that: The guide plate has a row of first guide bearings symmetrically arranged on both sides of its length direction. The end face of the telescopic guide bar connected to the guide plate has a first wide straight groove along its length direction. The inner walls of both sides of the first wide straight groove have first guide grooves symmetrically arranged. The telescopic guide bar is movably connected to the guide plate through the first guide grooves and the first guide bearings. The telescopic guide bar has a second guide groove symmetrically arranged on both sides of its side opposite the first wide straight groove. The end face of the telescopic toothed plate connected to the telescopic guide bar has a second wide straight groove along its length direction. The inner walls of both sides of the second wide straight groove have a row of second guide bearings symmetrically arranged. The telescopic toothed plate is movably connected to the telescopic guide bar through the second guide grooves and the second guide bearings.

6. A two-way shuttle vehicle, characterized in that, The vehicle includes a vehicle body and at least one telescopic fork device as described in any one of claims 1-5, wherein the vehicle body includes wheels and a lifting component, and the telescopic fork device is connected to the lifting component.

7. The bidirectional shuttle according to claim 6, characterized in that: When there is only one telescopic fork device, it also includes a rotary component connected to the lifting component, and the telescopic fork device is connected to the lifting component through the rotary component.

8. The bidirectional shuttle car according to claim 6, characterized in that: When two telescopic fork devices are provided, a mounting platform connecting the lifting component is also included, and both telescopic fork devices are connected to the mounting platform; the telescopic fork directions of the two telescopic fork devices are perpendicular to the travel direction of the traveling wheel, and the telescopic fork directions of the two telescopic fork devices are opposite; wherein, the two sets of telescopic forks of the first telescopic fork device are asymmetrically arranged on both sides of the corresponding driving component; the two sets of telescopic forks of the second telescopic fork device are asymmetrically arranged on both sides of the corresponding driving component, and are both located outside the two sets of telescopic forks of the first telescopic fork device.

9. The bidirectional shuttle according to claim 6, characterized in that, It also includes an anti-tipping structure for preventing the bidirectional shuttle from overturning, the anti-tipping structure comprising: A linear actuator, which is connected to the chassis of the vehicle body, and the output end of the linear actuator is movably provided with a guide wheel mounting plate; A linear guide post is connected to the chassis of the vehicle body. A guide sleeve is movably provided on the linear guide post, and the guide sleeve is connected to the guide wheel mounting plate. A walking guide wheel, which is rotatably connected to the guide wheel mounting plate, and the axis of the walking guide wheel is perpendicular to the axis of the walking wheel; When the telescopic fork extends, the telescopic end of the linear actuator rotates, causing the guide wheel mounting plate and the travel guide wheel to move along the axial direction of the linear actuator, so that the travel guide wheel abuts against or separates from the side wall of the guide rail.

10. The bidirectional shuttle according to claim 9, characterized in that: The linear actuator is configured as a double-ended lead screw drive motor, which includes a first output end and a second output end. The first output end is movably connected to the guide wheel mounting plate, and the second output end is movably connected to the lifting component. When the telescopic forks extend, the first and second output ends of the double-ended lead screw drive motor rotate synchronously, driving the travel guide wheel and the lifting component to move along the axial direction of the double-ended lead screw drive motor, so that the travel guide wheel abuts or separates from the side wall of the guide rail, and the lifting component rises or falls.

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