Fork device and robot

Abstract

The present disclosure relates to the technical field of warehousing logistics, and particularly to a fork device and a robot. The fork device includes a base and at least one telescopic arm assembly. The telescopic arm assembly includes a chain, and the telescopic arm assembly is arranged on the base; the chain can move relative to the base so that the chain retracts or partially extends out of the base. When the chain retracts, the chain bends to one side in at least one direction to be stored in a bent shape. When a part of the chain extends out, the extended part of the chain extends in a direction opposite to the bending direction to pick up or place goods. The telescopic arm assembly of the present disclosure has a chain. When the chain contracts, it can be spirally stored in a bent shape to improve the space utilization rate of the telescopic arm assembly. When the chain extends out, it can extend in a straight shape under its own weight. The chain structure is simple and compact, easy to install, avoiding the enlargement of the fork device, and thus ensuring that the warehousing density will not decrease.

Description

Technical Field

[0001] The present disclosure relates to the technical field of warehousing logistics, and particularly to a fork device and a robot. Background Art

[0002] Warehousing is an important part of the modern logistics process. Efficient and reasonable warehousing can accelerate the speed of material flow, reduce costs, ensure the smooth progress of production, and thereby achieve effective control and management of logistics resources.

[0003] In the warehousing logistics industry, handling robots are mostly used to handle material boxes, and the handling robots are equipped with fork devices. In order to improve the handling efficiency of storage locations, the fork devices thereof usually adopt telescopic arm structures suitable for multiple storage location depths. Some of them are multi-stage transmission telescopic arms, which are driven by multi-stage chains or synchronous belts to make the plate guide rails telescopically slide, and some are scissor-type telescopic arms.

[0004] However, as the storage location depth continuously increases, the single section arm of the robotic arm is getting longer, or the number of sections is getting more, which directly leads to the enlargement of the fork device, and the box spacing of the material boxes increases, thus reducing the warehousing density. Summary of the Invention

[0005] The present disclosure provides a fork device and a robot to solve the problem that as the storage location depth continuously increases, the single section arm of the robotic arm is getting longer, or the number of sections is getting more, which directly leads to the enlargement of the fork device, and the box spacing of the material boxes increases, thus reducing the warehousing density.

[0006] In a first aspect, the present disclosure provides a fork device, including a base and at least one telescopic arm assembly. The telescopic arm assembly includes a chain, and the telescopic arm assembly is arranged on the base;

[0007] The chain can move relative to the base so that the chain retracts or partially extends out of the base. When the chain retracts, the chain bends to one side in at least one direction to be stored in a bent shape. When the chain partially extends out, the extended part of the chain extends in a direction opposite to the bending direction to pick or place goods.

[0008] In a second aspect, the present disclosure provides a robot, including a robot body and the above-mentioned fork device arranged on the robot body;

[0009] The robot body has a driving device and a lifting device. The driving device is used to drive the robot body to move and drive the lifting device to lift. The lifting device is connected to the fork device so that the fork device can lift along with the lifting assembly.

[0010] The forklift device and the robot provided by the present disclosure are provided with a telescopic arm assembly and a tray on the forklift device. The telescopic arm assembly has a chain. When the chain contracts, it can be arranged in a curved shape in the base and can be stored in a spiral along a curve, thereby reducing the space occupied by the telescopic arm assembly and improving the space utilization rate of the telescopic arm assembly. When the chain extends, it can rigidly abut against the other side and can be kept straight under its own weight. As the depth of the storage location increases, only the length of the chain needs to be extended accordingly, without adding other transmission components and support structures. Furthermore, the mass change of the telescopic arm assembly and the forklift device is small, the structure is simpler, and it is easy to install, avoiding the enlargement of the forklift device, and preventing the distance between the material boxes from increasing with the increase of the storage location depth, thereby ensuring that the storage density will not decrease. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 Structural schematic diagram of the forklift device provided by the embodiment of the present disclosure;

[0013] Figure 2 is Figure 1 Top view of the forklift device in

[0014] Figure 3 is Figure 1 Bottom view of the forklift device in

[0015] Figure 4 is Figure 1 Partial structural schematic diagram of the forklift device in

[0016] Figure 5 is Figure 2 Partial cross-sectional view of the B-B section in

[0017] Figure 6 is Figure 1 Schematic diagram of the extended state of the chain in the forklift device in

[0018] Figure 7 is Figure 6 Partial structural schematic diagram from another perspective;

[0019] Figure 8 is Figure 1 Partial top view of the forklift device in

[0020] Figure 9 isFigure 1 Bottom view of a partial structure of the middle fork device;

[0021] Figure 10 For Figure 4 Schematic diagram of the structure of the middle chain group;

[0022] Figure 11 For Figure 10 Connection schematic diagram of the middle chain group;

[0023] Figure 12 For Figure 1 Partial enlarged view at position A in the middle;

[0024] Figure 13 For Figure 6 Partial enlarged view at position C in the middle;

[0025] Figure 14 Usage state of the fork device provided by the embodiment of the present disclosure Figure 1 ;

[0026] Figure 15 Usage state of the fork device provided by the embodiment of the present disclosure Figure 2 .

[0027] Explanation of reference numerals:

[0028] 1 - Fork device;

[0029] 100 - Telescopic arm assembly;

[0030] 110 - Chain; 111 - Chain group; 112 - Hinge shaft; 113 - Chain plate; 1131 - First hinge part; 1132 - Second hinge part; 1133 - Flange; 114 - Spacer sleeve;

[0031] 120 - Mounting plate; 121 - Guide part;

[0032] 130 - Storage box; 131 - Entrance and exit; 132 - Box body; 133 - Box cover; 134 - Isolation column; 135 - Friction plate;

[0033] 140 - Mounting block; 141 - Finger assembly;

[0034] 150 - Detection part;

[0035] 160 - Driving assembly; 161 - Driving part; 162 - Driving shaft; 163 - Driving sprocket;

[0036] 200 - Tray;

[0037] 210 - Base; 211 - Mounting strip; 212 - Guide block;

[0038] 220 - Contact part;

[0039] 230 - Slide rail; 231 - Slide block;

[0040] 240 - Tension spring;

[0041] 250 - Pusher plate assembly; 251 - Pusher plate; 252 - Connecting piece; 2521 - Protrusion;

[0042] 260 - Scanning piece;

[0043] 300 - Shelf;

[0044] 400 - Material box. Detailed implementation manners

[0045] To make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present disclosure. In the drawings, the same or similar reference numerals denote the same or similar components or components with the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present disclosure. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present disclosure, and should not be construed as a limitation to the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure. The embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0046] In the description of the present disclosure, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

[0047] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present disclosure.

[0048] The terms "first", "second", "third" (if any) in the description, claims and the above drawings of the present disclosure are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order different from those illustrated or described herein, for example.

[0049] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or display comprising a series of steps or modules need not be limited to those steps or modules clearly listed, but may include other steps or modules not clearly listed or inherent to these processes, methods, products or displays.

[0050] In the warehousing and transportation industry, generally, handling robots are used to handle goods such as material boxes. The handling robot consists of a driving device, a lifting device and a fork device. For current handling robots, the telescopic arm in the fork device generally adopts a single-bin telescopic structure to directly fork and handle goods, but its telescopic length is limited. In order to improve the working efficiency of goods handling and cope with the multi-bin working conditions of different goods depths, there are also handling robots with double-bin telescopic arms. The telescopic arm extends into the relatively close first bin or the deeper second bin in the shelf, so that the finger clamp at the end of the telescopic arm clamps and pulls the goods (such as a material box), so that the goods are translated from the shelf to the tray structure for holding the goods, or the goods can be pushed by the push plate at the rear position of the telescopic arm, so that the goods are translated from the tray structure to the shelf.

[0051] Therefore, most of the existing telescopic arms adopt a multi-stage transmission structure, which is driven by a transmission chain or a synchronous belt, and drives the joint arms or multi-stage nested vertical plates arranged on both sides of the tray structure to move back and forth accordingly, so as to realize the movement of the fingers at the end of the telescopic arm. The overall structure is relatively compact. However, as the depth of the corresponding bin increases, the length that the telescopic arm needs to extend also becomes larger and larger. As a result, the transmission chain or synchronous belt becomes longer, the number of joint arms or vertical plates and the corresponding parts increases, and the weight becomes larger, resulting in a relatively complex structure and being not convenient for installation and maintenance.

[0052] In addition, there are also telescopic arms with a scissor structure. However, similarly, as the bin depth increases, the number of parts required is relatively large, which is not convenient for installation and has a relatively large mass. Moreover, it also has relatively large requirements for the storage space and working space of the scissor telescopic structure. In addition, in order to accommodate more scissor structure parts, the overall size of the fork device will also be correspondingly larger, making it difficult to effectively ensure the stability of the posture of the telescopic arm when extending or retracting.

[0053] Therefore, as the depth of the storage location continues to increase, in order to make the robotic arm adapt to the corresponding working conditions, either longer individual arm segments need to be set, or a larger number of arm segments need to be set to increase the length of the robotic arm. This will lead to the enlargement of the forklift device, and consequently, the distance between the bins will increase accordingly, ultimately reducing the overall storage density of the warehouse and being unfavorable for the efficient and reasonable progress of warehousing work.

[0054] To solve the above problems, the present disclosure provides a forklift device and a robot.

[0055] The following will specifically describe the forklift device and the robot provided by the present disclosure with reference to the accompanying drawings.

[0056] Figure 1 Structural schematic diagram of the forklift device provided by an embodiment of the present disclosure; Figure 2 For Figure 1 Top view of the forklift device in Figure 3 For Figure 1 Bottom view of the forklift device in Figure 4 For Figure 1 Partial structural schematic diagram of the forklift device in Figure 5 For Figure 2 Partial cross-sectional view of the B-B section in the forklift device in Figure 6 For Figure 1 Schematic diagram of the extended state of the chain in the forklift device in Figure 7 For Figure 6 Partial structural schematic diagram from another perspective.

[0057] As Figures 1 to 7 shown, the forklift device 1 provided by the present disclosure includes a base 210 and at least one telescopic arm assembly 100. The telescopic arm assembly 100 includes a chain 110, and the telescopic arm assembly 100 is arranged on the base 210; the chain 110 can move relative to the base 210 so that the chain 110 retracts or partially extends from the base 210. When the chain 110 retracts, the chain 110 bends in at least one direction to one side to be stored in a bent shape, and when the chain 110 partially extends, the extended part of the chain 110 extends in the direction opposite to the bending direction to pick up or place goods.

[0058] It can be understood that in this embodiment, the forklift device 1 is provided with two telescopic arm assemblies 100, and the two telescopic arm assemblies 100 are symmetrically arranged on both sides of the base 210 to facilitate extension or retraction along both sides of the base 210 and ensure the efficiency of goods handling. In other embodiments, according to the specific working condition requirements, only one telescopic arm assembly 100 or more than two telescopic arm assemblies 100 can be set, and the present disclosure does not limit this.

[0059] Moreover, the setting direction of the telescopic arm assembly 100 can be as Figure 1It can be horizontally arranged as shown, or vertically arranged according to the working conditions, so that the telescopic arm assembly 100 can be used to pick up and place goods in the vertical direction. The present disclosure does not limit this either.

[0060] The telescopic arm assembly 100 has a chain 110. The chain 110 has unidirectional flexibility. On the one hand, it can be bent and coiled unidirectionally towards one of its sides to have a spiral bent shape, as Figure 4 shown. This shape can retract the chain 110 into the tray 200 for storage, and this bent shape effectively reduces the space occupied when the telescopic arm assembly 100 retracts, improving the space utilization rate; on the other hand, as Figure 5 and Figure 6 shown, when the chain 110 extends in the direction opposite to the bending direction, the other side of the chain 110 can also be unable to deform due to rigid contact, so that the chain 110 extends forward in a straight line in a horizontal state.

[0061] Therefore, when the chain 110 swings towards one of its sides, it can be bent and coiled, and when it swings towards the other side, it can be kept straight and extended. Based on the difference in the structural characteristics of these two sides, only by setting the chain 110 can the telescopic arm assembly 100 be extended and retracted, without setting other transmission parts or support parts, making the overall structure of the telescopic arm assembly 100 simple and compact, occupying less space and having less demand for the operating space. And when it is necessary to cope with the working conditions of deep storage locations, only by increasing the length of the chain 110 can the extension length of the telescopic arm assembly 100 be satisfied, without adding other components, resulting in less increase in the weight of the forklift structure, lighter overall weight, and stronger flexibility.

[0062] Specifically, when the forklift device 1 copes with the working conditions of multiple storage locations, the chains 110 bent and stored on both sides of the base 210 extend forward in a straight shape. As the length of the extended part of the chain 110 increases, the bent part will decrease synchronously, that is, when the bent part of the chain 110 swings in the opposite direction to the straight state under the action of its own weight, it will not be able to bend further towards that side and will then be converted into a straight state. When the telescopic arm assembly 100 retracts, the straight part of the chain 110 will be converted into a bent part for storage. Thus, the telescopic ratio of the chain 110 can be relatively large, that is, the length in the fully straight extended state is greater than the overall length when fully retracted.

[0063] Therefore, the telescopic arm assembly 100 of the fork device 1 provided by the present disclosure has a chain 110. Since the chain 110 has unidirectional flexibility, when the chain 110 contracts, it can be bent toward one of its side surfaces and arranged in a curve and coiled in the base 210, thereby reducing the space occupied by the telescopic arm assembly 100 and improving the space utilization rate of the telescopic arm assembly 100. When the chain 110 extends, it can rigidly abut against the other side surface and maintain a straight shape under its own weight. As the depth of the storage location increases, only the length of the chain 110 needs to be correspondingly extended, without adding other transmission components and support structures, thereby making the mass change of the telescopic arm assembly 100 and the fork device 1 relatively small, the structure simpler and more compact, and it is easy to install.

[0064] In this way, the structure of the chain 110 of the telescopic arm assembly 100 of the fork device 1 can be utilized to avoid the enlargement of the fork device 1, thereby preventing the box spacing of the material box 400 from increasing as the depth of the storage location increases, thus ensuring that the storage density will not decrease and making the storage work more efficient and reasonable.

[0065] Figure 10 Figure Figure 4 is a schematic structural diagram of the chain group; Figure 11 Figure Figure 10 is a schematic connection diagram of the chain group.

[0066] Among them, as Figure 4 , Figure 10 and Figure 11 shown, the chain 110 includes a plurality of chain groups 111. The chain group 111 includes a hinge shaft 112 and at least one link plate 113. The link plate 113 has a first hinge portion 1131 and a second hinge portion 1132. The first hinge portion 1131 of one of the adjacent two chain groups 111 and the second hinge portion 1132 of the other are hinged through the hinge shaft 112 in the other.

[0067] It can be understood that the chain 110 is composed of chain groups 111 connected in sequence two by two. The chain group 111 is a metal part, with a relatively large overall structural rigidity and is not easily deformed, and is wear-resistant. The adjacent two chain groups 111 can swing in a single direction. When they swing in the opposite direction, they will abut and block each other, and can form a balanced moment relative to the hinge shaft 112. In this way, the chain 110 in this embodiment is formed, so that the chain 110 can be bent and stored toward one side surface and abut straight against the other side surface.

[0068] It can be understood therefrom that the chain group 111 includes a hinge shaft 112 and chain plates 113. The chain plates 113 are in a Z-shaped structure. The chain plates 113 of adjacent chain groups 111 are connected by the hinge shaft 112 and can swing unidirectionally therewith. The chain plate 113 has a first hinge portion 1131 and a second hinge portion 1132. The first hinge portion 1131 and the second hinge portion 1132 are respectively located at both ends of the Z-shaped structure of the two plates, and the hinge shaft 112 corresponding to the chain group 111 is inserted on the second hinge portion 1132.

[0069] In this embodiment, two chain plates 113 are symmetrically arranged at both ends of the hinge shaft 112. In other embodiments, only one chain plate 113 or more than two chain plates 113 may be provided according to specific working conditions, and the present disclosure does not limit this.

[0070] As Figure 4 、 Figure 7 、 Figure 10 and Figure 11 shown, when adjacent chain groups 111 swing downward, the lower structures of the two chain groups 111 will abut against each other to prevent the chain group 111 from swinging. Since there is only the hinge shaft 112 at the upper part of the chain group 111, it does not affect the upward swing of the chain group 111. Thus, the chain 110 can have unidirectional flexibility.

[0071] In order to prevent the chain 110 from twisting and then tilting to the left and right after extending in a straight shape, so as to improve the stability of the telescopic arm assembly 100 and facilitate the smooth connection of the first hinge portion 1131 of the chain group 111 and the second hinge portion 1132 of the next chain group 111 on the same hinge shaft 112, the width between the first hinge portions 1131 of the two chain plates 113 within the same chain group 111 is set to be smaller than the width between the second hinge portions 1132, that is, the first hinge portion 1131 of the two chain groups 111 hinged on the same hinge shaft 112 is located inside the second hinge portion 1132. In this way, when the chain groups 111 are connected in sequence, the first hinge portion 1131 and the second hinge portion 1132 of each chain group 111 can limit each other, thereby preventing the chain 110 from twisting and tilting.

[0072] In other embodiments, it is also possible to make the width of the first hinge portion 1131 greater than the width of the second hinge portion 1132, and the present disclosure does not limit this.

[0073] Specifically, as Figure 4 、 Figure 7 and Figure 11As shown, when the chain 110 bends, the link plate 113 rotates relative to at least one hinge axis 112 thereon to form a gap on the side opposite to the bending direction between two adjacent chain groups 111. When the chain 110 extends, the link plate 113 rotates in the opposite direction relative to at least one hinge axis 112 thereon, so that the distance between the gaps gradually decreases until the sides of two adjacent chain groups 111 opposite to the bending direction abut. At this time, the bottom surface of the chain 110 is parallel to the horizontal plane. It can be understood that due to manufacturing errors and other reasons, the aforementioned parallelism is not absolutely parallel, and approximate parallelism is sufficient.

[0074] It can be understood that, as described above, when the chain 110 bends or extends, it can be refined into the relative swing between adjacent chain groups 111, and the swing of the chain group 111 is actually the rotation of the link plate 113 relative to the hinge axis 112 thereon. By rotating the link plate 113 relative to the hinge axis 112 forward or backward, the abutment or disengagement between the chain groups 111 can be achieved on the side of the chain 110 opposite to the bending direction. That is, when the adjacent chain groups 111 abut, the corresponding part of the chain 110 is in an extended state, and when the adjacent chain groups 111 disengage, the corresponding part of the chain 110 is in a bent state, and a gap is formed on the side of two adjacent chain groups opposite to the bending direction. The larger the gap, the greater the bending degree of the chain 110.

[0075] In some embodiments, as Figure 10 and Figure 11 shown, the second hinge portion 1132 and the hinge axis 112 located on the second hinge portion 1132 are fixedly connected.

[0076] It can be understood that fixing the second hinge portion 1132 and the hinge axis 112 thereon, specifically by welding, can make the two adjacent chain groups 111 swing when the chain 110 extends or retracts, and only the first hinge portion 1131 rotates relative to the hinge axis 112, while the second hinge portion 1132 and the hinge axis 112 are relatively stationary, reducing the friction between the chain groups 111, thereby correspondingly extending the service life of the chain groups 111 and further extending the maintenance cycle of the forklift device 1.

[0077] In other embodiments, the hinge axis 112 can also be rotatably connected to the second hinge portion 1132 to improve the flexibility of the chain 110; or the hinge axis 112 of each chain group 111 can be inserted into the first hinge portion 1131 and fixedly connected or rotatably connected to the first hinge portion 1131, and the present disclosure does not limit this.

[0078] In addition, as Figure 10 and Figure 11As shown, the chain group 111 further includes a spacer sleeve 114. The spacer sleeve 114 is sleeved on the hinge shaft 112, and the spacer sleeve 114 abuts between the first hinge portion 1131 of one of the adjacent two chain groups 111 and the second hinge portion 1132 of the other.

[0079] It can be understood that the spacer sleeve 114 is composed of a ring-shaped member made of nylon. Two spacer sleeves 114 are located at both ends of the same hinge shaft 112, and the two side surfaces of the spacer sleeve 114 respectively abut against the first hinge portion 1131 and the second hinge portion 1132 to separate the first hinge portion 1131 and the second hinge portion 1132, avoiding direct contact and friction between them, thereby extending the service life of the chain group 111. At the same time, it can also limit the relative distance between the first hinge portion 1131 and the second hinge portion 1132 on the same side of the hinge shaft 112 to prevent them from moving on the hinge shaft 112.

[0080] In other embodiments, the spacer sleeve 114 can also be a rubber part or a silica gel part, or can be a metal part, or the spacer sleeve 114 can also be not provided. The present disclosure does not limit this.

[0081] Among them, as Figure 6 、 Figure 7 and Figure 11 shown, the chain 110 has a first end and a second end. The first end can extend out of the base 210. Both second hinge portions 1132 in the chain group 111 located at the first end are hinged to the hinge shaft 112 located on the second hinge portion 1132 in this group; the two first hinge portions 1131 in the chain group 111 located at the second end are connected by the hinge shaft 112 located on the second hinge portion 1132 in this group.

[0082] It can be understood that the first end of the chain 110 can move outside the base 210 as the chain 110 extends, and the second end moves synchronously. However, when the first end moves to the farthest stroke, the second end is still within the base 210, thereby avoiding the chain 110 from extending excessively and detaching from the base 210.

[0083] At the same time, to facilitate the sequential connection between the chain groups 111, starting from the first end, the second hinge portion 1132 of the previous chain group 111 can be sequentially connected to the hinge shaft 112 of the previous chain group 111, and the first hinge portion 1131 of the next chain group can be similarly connected to the hinge shaft 112 of the next chain group, until the last chain group 111, that is, the last chain group 111 is the chain group 111 at the second end. Because the chain group 111 at the second end lacks a subsequent chain group 111 connected to it, in some embodiments, an additional hinge shaft 112 can be added to the first hinge portion 1131 of the chain group 111 at the second end to enhance the stability of the connection. Alternatively, the first hinge portion 1131 can be connected only through the hinge shaft 112 on the second hinge portion 1132 on the chain group 111, and this is not limited in this disclosure.

[0084] In other embodiments, the arrangement direction of the chain 110 can also be reversed, that is, the first hinge part 1131 is arranged toward the first end and the second hinge part 1132 is arranged toward the second end, so that the two first hinge parts 1131 in the chain group 111 at the first end are connected through the hinge shaft 112 in the group, and similarly, the two second hinge parts 1132 in the chain group 111 at the second end are connected through the hinge shaft 112 in the group; or the hinge shaft 112 is not added to the chain group 111 at the second end, and only the second hinge part 1132 of the chain group 111 at the second end is hinged to the first hinge part 1131 of the previous chain group 111 through the hinge shaft 112 thereon. The present disclosure does not impose any restrictions on this.

[0085] Figure 14 The use state of the fork device provided in the embodiment of the present disclosure Figure 1 .

[0086] Among them, such as Figure 6 、 Figure 7 and Figure 14 As shown, in a specific implementation, the length of the chain 110 extending out of the base 210 can be made greater than the sum of the lengths of the two standard material boxes 400 along the extending direction of the chain 110 .

[0087] It is understandable that the size of the standard material box 400 in a general warehouse is known. Making the length of the chain 110 extending outside the pallet 200 greater than the length of two material boxes 400 can adapt to multi-location working conditions, and thereby make the extended length equivalent to the depth of one or two storage locations, thereby improving the efficiency of handling work.

[0088] In other embodiments, if there are three storage location conditions or more storage location conditions, the number of chain groups 111 of the chain 110 can also be increased on the existing basis to extend the length of the chain 110 extending outside the pallet 200 to achieve the retrieval and placement of goods in more storage locations; if it is only used for a single storage location condition, the number of chain groups 111 can also be appropriately reduced, and the present disclosure does not impose any restrictions on this.

[0089] As Figure 4 and Figure 7 shown, in some embodiments, the telescopic arm assembly 100 further includes a mounting plate 120, and the mounting plate 120 has a curved guiding portion 121, and the chain 110 is wound around the guiding portion 121.

[0090] It can be understood that providing the mounting plate 120 can facilitate the stable and reliable installation of the chain 110 on both sides of the base 210 to perform the retracting or extending action on the mounting plate 120. To ensure the stability and accuracy of the extending and retracting actions of the chain 110 and avoid jamming of the actions, a curved guiding portion 121 is further provided on the mounting plate 120, and the chain 110 is wound around the guiding portion 121 for the chain 110 to move along the curved structure of the guiding portion 121.

[0091] Among them, as Figure 5 shown, the guiding portion 121 is a chute opened on the mounting plate 120, and the hinge shafts 112 in the same chain group 111 are inserted into the chute, and the same chain group 111 includes at least two chain plates 113 and at least two chain plates 113 are respectively located on opposite sides of the mounting plate 120.

[0092] It can be understood that the guiding portion 121 with a chute structure can insert the hinge shafts 112 of each chain group 111 on the chain 110 into the guiding portion 121. Since the two chain plates 113 of the chain group 111 are respectively arranged at both ends of the hinge shaft 112 and there is no connection between the two chain plates 113, the two chain plates 113 can be respectively located on both sides of the mounting plate 120 and abut against the two sides. In this way, not only can the guiding portion 121 provide guidance for the movement of the chain 110, but also the two chain plates 113 of the chain group 111 can be separated and limited.

[0093] Since the first hinge portions 1131 and the second hinge portions 1132 belonging to the two chain groups 111 on the same hinge shaft 112 are arranged inside and outside in sequence and abut against each other, when the distance between the first hinge portion 1131 and the second hinge portion 1132 on one hinge shaft 112 is fixed, the distances between the first hinge portions 1131 and the second hinge portions 1132 belonging to the two chain groups 111 on all the other same hinge shafts 112 are also fixed accordingly, thereby preventing the two chain plates 113 from approaching each other, improving the structural stability of the chain 110, and effectively preventing the chain 110 from twisting as the extending length increases.

[0094] In other embodiments, two mounting plates 120 may be respectively disposed on both sides of the base 210, and a curved chute or slide rail 230 may be disposed on the mounting plate 120 to form a guiding portion 121. The hinge shaft 112 is extended and the end of the hinge shaft 112 is slidably engaged with the guiding portion 121. At the same time, two chain plates 113 are disposed between the two mounting plates 120 to achieve the sliding installation of the chain 110 and the mounting plate 120. The present disclosure does not limit this here.

[0095] In addition, on the basis of mounting the chain 110 between the two mounting plates 120, in order to prevent the distance between the two chain plates 113 from being unstable, a limiting sleeve may be further installed on the hinge shaft 112. The limiting sleeve is located between the first hinge portions 1131 of the two chain plates 113, or a radial convex ring may be machined on the hinge shaft 112, or the two chain plates 113 may be fixedly connected, such as welding or integrally forming the two chain plates 113. The present disclosure does not limit this.

[0096] In some embodiments, as Figure 5 and Figure 11 shown, the chain plate 113 has a flanging 1133. The flangings 1133 on at least two chain plates 113 in the same chain group 111 all face the mounting plate 120, so that the mounting plate 120 is clamped between the flangings 1133 on at least two chain plates 113.

[0097] It can be understood that by providing the flanging 1133 on the chain plate 113 facing the mounting plate 120, the flanging 1133 can be made to abut against the mounting plate 120, thereby strengthening the limiting and guiding effects of the mounting plate 120 on the two chain plates 113.

[0098] Moreover, by providing the flanging 1133, when the adjacent chain groups 111 of the chain 110 extend straight out, the flangings 1133 of the adjacent chain groups 111 can abut against each other and limit the further relative swing of the chain group 111, so as to effectively improve the rigid contact effect of the chain group 111, thereby improving the structural stability when the chain 110 extends straight out and preventing the chain 110 from bending downward as the extension length increases.

[0099] In some embodiments, as Figure 4 and Figure 7 shown, the telescopic arm assembly 100 further includes a storage box 130. The storage box 130 is disposed on the base 210. The mounting plate 120 and the chain 110 are located inside the storage box 130. The storage box 130 has an entrance and exit 131 for the chain 110 to enter and exit.

[0100] It can be understood that the storage box 130 is specifically located on both sides of the base 210. Setting the storage box 130 enables the chain 110 to be stored in a bent shape inside the storage box 130 when the chain 110 is retracted, preventing the chain 110 from directly contacting the external environment. The setting of the access opening 131 can also prevent the storage box 130 from interfering with the entry and exit of the chain 110. This can prevent dust from accumulating on the surface of the chain 110 and at the gaps, causing the chain 110 to move stuck, thereby extending the service life of the chain 110.

[0101] Among them, as Figure 4 and Figure 7 shown, the storage box 130 includes a box body 132 and a box cover 133. The box body 132 has an opening facing the base 210, and the box cover 133 is provided on the box body 132 to close at least part of the opening; the box cover 133 is detachably connected to the box body 132, and at least one spacer post 134 is provided between the side of the box body 132 facing away from the opening and the mounting plate 120. The box body 132 and the mounting plate 120 are respectively in contact with or fixedly connected to the spacer post 134.

[0102] It should be noted that setting the detachably connected box body 132 and box cover 133 can make the disassembly and assembly of the storage box 130 easier and more convenient, so as to improve the disassembly and assembly efficiency. Assuming the extended end of the chain 110 is the front side, the box body 132 is relatively located outside the tray 200, so that the opening of the box body 132 faces the base 210, providing effective protection for the chain 110 at least from the upper side, outer side, and rear side of the mounting plate 120, and the box cover 133 closes the opening from the inner side relative to the box body 132, making the overall structure more compact.

[0103] In other embodiments, the box body 132 can also be located inside the base 210 relative to the mounting plate 120, that is, the opening of the box body 132 faces away from the base 210, and the cover is used to cover the opening from the outside. The present disclosure does not limit this.

[0104] Moreover, in order to prevent the box cover 133 and the box body 132 from directly contacting the chain group 111 and generating friction, and to provide sufficient accommodation width for the chain group 111, spacer posts 134 are also provided on the mounting plate 120. In this embodiment, the spacer posts 134 are provided on the side of the mounting plate 120 facing the box body 132, and are fixedly connected to the mounting plate 120 by bolts or screws and are in contact with the box body 132. Specifically, thirteen spacer posts 134 can be provided to ensure the isolation effect. And the stability of the mounting plate 120 can also be improved through the spacer posts 134, so that the guiding portion 121 on the mounting plate 120 provides stable guidance for the chain 110.

[0105] In other embodiments, the isolation posts 134 can also be fixedly connected to the box body 132 and abutted against the mounting plate 120. The specific number is not limited, and preferably there are no less than two. Alternatively, the isolation posts 134 can also be located on the side of the mounting plate 120 facing the box cover 133 and fixedly connected to the mounting plate 120, and abutted against the box cover 133; or fixedly connected to the box cover 133 and abutted against the mounting plate 120. In addition, isolation posts 134 can also be provided on both sides of the mounting plate 120, and they can be abutted or fixedly connected to the isolation posts 134. The present disclosure does not limit this.

[0106] Figure 13 For Figure 6 the partial enlarged view at C in the figure.

[0107] As Figure 7 and Figure 13 shown, in some embodiments, the telescopic arm assembly 100 further includes a mounting block 140, and the mounting block 140 is connected to the end of the chain 110 in the extending direction; it further includes a finger assembly 141, and the finger assemblies 141 are arranged on the mounting block 140 in one-to-one correspondence. Part of the finger assembly 141 is located outside the box body 132 and can rotate relative to the box body 132.

[0108] By providing the mounting block 140 at the first end of the chain 110 and connecting the finger assembly 141 through the mounting block 140, it can be avoided that the finger assembly 141 is directly connected to the chain group 111, reducing the installation difficulty of the finger assembly 141.

[0109] Among them, the finger assembly 141 includes a rotating finger perpendicular to the extending direction of the chain 110 and a finger motor, so as to rotate and cooperate to grasp the material box 400 after the chain 110 moves in place. The finger motor is arranged along the arrangement direction of the chain 110, and the rotating finger is connected to the output shaft of the finger motor, and the rotating finger is driven to rotate inward relative to the box body 132 of the storage box 130 through the rotation of the output shaft.

[0110] It should be noted that when the telescopic arm assembly 100 is retracted, the chain 110 together with the mounting block 140 and the finger motor are all located inside the storage box 130, the rotating finger is always located outside the storage box 130, and in the initial state, the rotating finger is placed vertically.

[0111] Furthermore, as Figure 11 and Figure 13 shown, the mounting block 140 is hinged to the hinge shaft 112 on the second hinge portion 1132 of the chain group 111 at this end of the chain 110.

[0112] It can be understood that by hinging the mounting block 140 to the hinge shaft 112, the structure of the telescopic arm assembly 100 can be made simple and compact, eliminating the need for additional connecting components to install the mounting block 140. Moreover, the mounting block 140 can swing relative to the chain group 111 at this end, making its structure more flexible.

[0113] In other embodiments, the mounting block 140 can also be fixedly connected to the chain group at this end. Specifically, the mounting block 140 can be fixedly connected to the hinge shaft 112 on the second hinge portion 1132, and the hinge shaft 112 can be fixedly connected to the second hinge portion 1132. Alternatively, the mounting block 140 can be directly connected to the chain group 111 by bolt threading or welding, etc. The present disclosure places no restrictions on this.

[0114] In some embodiments, such as Figure 1 、 Figure 4 、 Figure 7 and Figure 13 shown, the storage box 130 further includes a friction plate 135. Part of the friction plate 135 is inserted into the box body 132 through the opening, and the mounting block 140 and part of the chain 110 are both fixedly connected to the friction plate 135.

[0115] It can be understood that the setting of the friction plate 135 can reduce the frictional resistance of the finger assembly 141, the mounting block 140, and the chain 110, improve their service life, and enhance the efficiency when the telescopic arm assembly 100 extends and retracts.

[0116] Moreover, by fixedly connecting both the mounting block 140 and the part of the chain 110 near the first end to the friction plate 135, a stable and reliable support can also be formed between the mounting block 140 and the chain 110 using the friction plate 135, preventing the finger assembly 141 from falling off.

[0117] Among them, the entrance / exit 131 is in communication with a part with the opening facing forward. The friction plate 135 is inserted into the box body 132 through the opening, while the mounting block 140 and the chain 110 can extend or retract through the entrance / exit 131.

[0118] In some embodiments, such as Figure 1 and Figure 4 shown, the telescopic arm assembly 100 further includes at least two detection components 150. The detection components 150 are arranged on the storage box 130 or the mounting plate 120, and are used to detect whether the chain 110 has completely entered the storage box 130.

[0119] It can be understood that the detection component 150 can be a sensor, specifically an optoelectronic sensor. In this way, the detection component 150 is arranged at the guiding portion 121, corresponding to the end of the chain 110 on the side away from the finger assembly 141, and it is determined whether the chain 110 has completely entered the storage box 130 by detecting whether there is a chain group 111 at this location.

[0120] Among them, the detection member 150 is disposed on the outer surface of the box body 132 of the storage box 130. To prevent the box body 132 from interfering with the detection, a through hole is further provided on the box body 132. The detection member 150 is fixedly disposed at the through hole through a bracket, and the bracket is fixed to the storage box 130 by screws. In other embodiments, the detection member 150 may also be disposed inside the storage box 130, specifically on the box body 132 or the mounting plate 120, and the present disclosure does not limit this.

[0121] In the embodiment of the present forklift device 1, as Figure 2 , Figure 4 and Figure 7 shown, it further includes at least one driving component 160. The driving component 160 drives the chain 110 to wind, so that the chain 110 moves relative to the base 210.

[0122] It can be understood that the driving component 160 is provided to drive the chain 110 to wind in the storage box 130 as the driving component 160 rotates, so that the chain 110 moves relative to the base 210, realizing the extension or retraction of the telescopic arm assembly 100. Among them, the telescopic arm assemblies 100 on both sides of the base 210 share one driving component 160 to achieve synchronous control of the telescopic arm assemblies 100.

[0123] In other embodiments, two driving components 160 may also be provided, and the two driving components 160 are respectively connected to the chain 110 to independently control the two telescopic arm assemblies 100, and the present disclosure does not limit this.

[0124] Among them, as Figure 4 shown, the driving component 160 includes a driving member 161, a driving shaft 162 and a driving sprocket 163. The driving member 161 is connected to the driving sprocket 163 through the driving shaft 162; the mounting plate 120 has mounting holes, and the mounting holes communicate with part of the guiding portion 121. The driving sprocket 163 is located in the mounting holes, and part of the chain 110 is wound around the driving sprocket 163. The driving member 161 drives part of the chain 110 to rotate around the driving sprocket 163 through the driving shaft 162 and the driving sprocket 163.

[0125] It can be understood that the driving member 161 may specifically be a driving motor, and may further include a speed reducer. The output end of the driving motor is connected to the speed reducer, and the output end of the speed reducer is connected with a rotating shaft through a flat key. The rotating shaft serves as the driving shaft 162 and is supported by bearings and bearing seats. After passing through the bearings and their bearing seats on both sides at its two ends, it is also respectively connected with a driving sprocket 163 through a flat key. The driving sprocket 163 is located in the mounting holes of the mounting plate 120 and meshes with the chain 110 to drive the chain 110 to move.

[0126] It should be noted that the mounting holes are located at the rear of the mounting plate 120 and communicate with the guiding portion 121, so that the driving sprocket 163 drives the chain 110 to move along the guiding portion 121. And the mounting holes being located at the rear of the mounting plate 120 also facilitates arranging the driving member 161 and the driving shaft 162 behind the tray 200, making the overall structure compact.

[0127] Figure 8 For Figure 1 the partial top view of the medium fork device; Figure 9 For Figure 1 the partial bottom view of the medium fork device.

[0128] In some embodiments, as Figure 1 and Figure 14 shown, the telescopic arm assembly 100 includes two and is arranged on opposite sides of the base 210. Two mounting bars 211 are provided on the base 210, and the telescopic arm assemblies 100 are arranged on the mounting bars 211 in a one-to-one correspondence. Guide blocks 212 are provided at the ends of the mounting bars 211 facing the extending direction of the chain 110.

[0129] It can be understood that the base 210 can be an aluminum alloy base 210 for supporting the tray 200 to enable the tray 200 to slide relative to the base 210. At least two abutting blocks are further provided at one end of the tray 200 facing the extending direction of the chain 110. The abutting blocks can effectively protect the tray 200 from being damaged when sliding, and specifically can be rubber blocks. And the mounting bars 211 can be aluminum profiles. They are arranged on the base 210. On the one hand, they can keep the position of the telescopic arm assembly 100 unchanged when the tray 200 slides, ensuring the stability of the overall structure. On the other hand, they can also make the telescopic arm assembly 100 higher than the plane of the tray 200 through the mounting bars 211 to avoid interference between the two and improve the handling work efficiency.

[0130] In addition, the guide blocks 212 at the front end of the mounting bars 211 can provide guidance for the material box 400 when it enters the tray 200, so that the material box 400 can enter smoothly, further improving the handling work efficiency. The guide blocks 212 can specifically be nylon blocks and are connected to the mounting bars 211 by screws.

[0131] As Figure 8 and Figure 9 shown, wherein, at least one slide rail 230 and at least one slider 231 are provided on the tray 200. The slider 231 that slides relative to the slide rail 230 is provided on the slide rail 230. One of the slide rail 230 and the slider 231 is fixedly connected to the tray 200, and the other is fixedly connected to the base 210.

[0132] It can be understood that setting the slide rail and slider structure facilitates the sliding of the tray 200 relative to the base 210. The two slide rails 230 are fixedly connected to the base 210 by bolt members and are respectively located on both sides of the upper surface of the base 210. Two limit blocks are respectively arranged at both ends of the slide rail 230, and the limit blocks are fixed to the base 210 by screws to limit the displacement of the slider 231. The four sliders 231 are fixedly connected to the lower surface of the tray 200 by bolt members, and every two sliders 231 are slidably assembled with one side slide rail 230.

[0133] In other embodiments, the positions of the slide rail 230 and the slider 231 can also be interchanged, or only one slide rail 230 or more than two slide rails 230 can be provided. Two or six sliders 231 can also be provided corresponding to the slide rail 230. The present disclosure does not limit this.

[0134] The tension spring 240 provided on the tray 200 is located between the tray 200 and the base 210. One end of the tension spring 240 is fixedly connected to the tray 200, and the other end of the tension spring 240 is fixedly connected to the base 210.

[0135] It can be understood that setting the tension spring 240 to be respectively connected to the tray 200 and the base 210 can realize the automatic reset of the tray 200 and effectively reduce the cost. Two tension springs 240 are provided here. In other embodiments, only one tension spring 240 or more than two tension springs 240 can also be provided, or the tension spring 240 can be replaced with other elastic reset members or elastic reset structures, such as pneumatic rods or elastic bands, etc. The present disclosure does not limit this.

[0136] It should be noted that the setting direction of the tension spring 240 is parallel to the setting direction of the slide rail 230.

[0137] In other embodiments, the tension spring 240 can also be replaced with a compression spring, and the connection directions of the compression spring with the tray 200 and the base 210 are correspondingly adjusted so that the compression spring provides a force for the tray 200 along the extending direction of the telescopic arm assembly 100. The present disclosure does not limit this.

[0138] Figure 12 For Figure 1 the partial enlarged view at position A in

[0139] As Figure 1 、 Figure 6 and Figure 12 shown, wherein, the forklift device 1 further includes a push plate assembly 250. The push plate assembly 250 includes at least one push plate 251 and at least one connecting member 252. The push plate 251 is fixedly connected to the connecting member 252. The storage box 130 has a guiding groove facing the center of the base 210. The connecting member 252 is inserted into the storage box 130 through the guiding groove and is fixedly connected to the chain 110.

[0140] The chain 110 retracts into the tray 200, and the connecting member 252 abuts against the tray 200 to push the tray 200 to slide onto the base 210 through the connecting member 252, and the tension spring 240 deforms to be in a stretched state; when the chain 110 extends out of the tray 200, the connecting member 252 disengages from the tray 200, and the tension spring 240 restores its deformation to drive the tray 200 to partially slide outside the base 210 and abut against the shelf 300.

[0141] It can be understood that the push plate assembly 250 is provided to cooperate with the tension spring 240 to realize the reset control of the tray 200. A guide groove extending along the moving direction of the tray 200 is provided at the lower part of the box body 132. A part of the connecting member 252 of the push plate 251 assembly 250 is inserted into the guide groove and is connected to both the push plate 251 and the chain 110 at the same time. Specifically, the connecting member 252 is bolted to the middle part of the friction plate 135, and the chain 110 is connected to the connecting member 252 through the friction plate 135. In this way, when the chain 110 moves, the connecting member 252 can drive the push plate 251 to move along the guide groove, and then the tray 200 moves accordingly under the action of the tension spring 240. When the push plate 251 moves forward, it can push the goods onto the shelf 300.

[0142] In this embodiment, there is one push plate 251, and both ends of it are respectively connected to the connecting members 252 on both sides. In other embodiments, two shorter push plates 251 can also be provided. The two push plates 251 are respectively connected to the connecting members 252 on both sides, and a set interval is left between the two push plates 251. The length of the set interval is less than the width dimension of the material box 400 in the extending direction of the set interval, or only one connecting member 252 is provided and the connecting member 252 is connected to the push plate 251. The present disclosure does not limit the specific setting of the push plate 251.

[0143] It should be noted that one end of the tension spring 240 close to the extending direction of the chain 110 is connected to the base 210, and the other end is connected to the tray 200. Thus, when the chain 110 retracts, the connecting member 252 abuts against the tray 200 and drives the tray 200 to move backward, making the tension spring 240 in a stretched and tensioned state. When the chain 110 extends, as the push plate 251 and the connecting member 252 move forward, the tray 200 loses its limit, and then moves forward under the action of the restored deformation of the tension spring 240 until the tray 200 moves to a position where goods can be taken, such as moving to abut against the edge of the shelf 300.

[0144] Among them, there are two abutting parts 220 on the tray 200, and there are protrusions 2521 on the connecting member 252. The abutting parts 220 and the protrusions 2521 abut against or disengage from each other one by one.

[0145] It can be understood that the provision of the abutting portion 220 and the protrusion 2521 facilitates better abutting cooperation or disengagement between the tray 200 and the connecting member 252 during the movement of the chain 110, and makes the overall structure more compact. Among them, the protrusion 2521 is located in front of the abutting portion 220 along the moving direction of the tray 200.

[0146] Figure 15 The usage state of the forklift device provided by the embodiment of the present disclosure Figure 2 。

[0147] In some embodiments, as Figure 1 、 Figure 14 and Figure 15 shown, a scanning member 260 is provided on the base 210, and the scanning end of the scanning member 260 faces the extending direction of the chain 110.

[0148] It can be understood that the provision of the scanning member 260 may specifically be a camera or a camera for scanning barcodes or for scanning the outlines of the shelves 300 and the material boxes 400. Its lens faces the extending direction of the chain 110, and scans barcodes or two-dimensional codes on the shelves 300 to identify cargo information or location information. The cargo information may include cargo name, origin, production date, shelf life, etc., and the location information may be absolute location information or relative location information. The present disclosure does not limit this.

[0149] As Figure 1 、 Figure 14 and Figure 15 shown, when the forklift device 1 provided by the present disclosure picks up goods, the driving motor rotates forward to drive the chain 110 in the storage box 130 to extend, so that the finger assembly 141 extends accordingly, and the push plate 251 moves. The tray 200 is also pulled out by the tension spring 240 because it is disengaged from the limit of the connecting member 252 and abuts against the edge of the shelf 300. The finger assembly 141 moves to a deeper second storage position and is located behind the material box 400. The driving motor of the chain 110 pauses, the motor of the finger assembly 141 controls the finger assembly 141 to rotate and then stops, and then the driving motor of the chain 110 resumes operation and reverses, driving the chain 110 to retract, so that the finger assembly pulls the material box 400 to move onto the tray 200 together. The connecting member 252 abuts against the tray 200, and pushes the tray 200 to overcome the tension of the tension spring 240 and retract together to complete the picking of goods. Since only the chain 110 and the finger assembly 141 extend into the shelf 300 when the forklift device 1 picks up goods, the occupied space is small, and thus the layer spacing of the shelf 300 can be reduced.

[0150] Moreover, the picking operations of the forklift device for different storage positions are the same, and the difference is only the number of rotation turns of the driving motor, which in turn results in different meshing turns of the chain 110 with the driving sprocket 163 and different extending distances of the chain. The overall structure is simple and easy to install and control.

[0151] When the fork device 1 provided by the present disclosure discharges goods, the operation is basically the same as when picking up goods. The difference is that when the pallet 200 moves forward under the action of the pulling spring 240, a material box 400 is placed thereon. After the pallet 200 abuts against the shelf 300, the push plate 251 pushes the material box 400 to continue moving forward to the target storage location. Subsequently, the chain 110 directly retracts. During this period, the finger assembly 141 can remain upright without movement, or can be first placed horizontally to prevent the material box 400 from falling, and then stand upright when preparing to retract the chain 110.

[0152] The present disclosure also provides an embodiment of a robot, including a robot body and the fork device 1 in any of the above embodiments provided on the robot body; the robot body has a driving device and a lifting device. The driving device is used to drive the robot body to move and drive the lifting device to lift and lower. The lifting device is connected to the fork device 1 so that the fork device 1 can lift and lower with the lifting device.

[0153] The fork device 1 has been described in detail in the above embodiments, and will not be repeated in this embodiment.

[0154] Wherein the driving device is used to drive the robot to move and drive the lifting device to move up and down. The fork device 1 is connected to the lifting device and can move up and down therewith.

[0155] In summary, for the fork device 1 and the robot provided by the present disclosure, a telescopic arm assembly 100 and a pallet 200 are provided on the fork device 1. The telescopic arm assembly 100 has a chain 110, and the chain 110 has unidirectional flexibility due to the different structures of its upper and lower side surfaces. When the chain 110 contracts, it can be spirally stored along a curve, thereby reducing the space occupied by the telescopic arm assembly 100 and improving the space utilization rate of the telescopic arm assembly 100. When it extends, it can maintain a straight state under its own weight. Only by correspondingly extending the length of the chain 110 can it adapt to multi-storage location conditions with different depths, thereby making the mass change of the telescopic arm assembly 100 and the fork device 1 smaller, the structure simpler and more compact, and it is easy to install, thus avoiding the large-scale of the fork device 1, and further preventing the box spacing of the material box 400 from increasing with the depth of the storage location, so as to ensure that the storage density will not decrease.

[0156] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A forklift fork device, characterized in that, It includes a base and at least one telescopic arm assembly. The telescopic arm assembly includes a chain, and the telescopic arm assembly is arranged on the base; The chain can move relative to the base so that the chain retracts or partially extends out of the base. When the chain retracts, the chain bends to one side in at least one direction to be stored in a bent shape. When the chain partially extends out, the extended part of the chain extends in the direction away from the bending direction to pick up or place goods; The chain includes a plurality of chain groups. Each chain group includes a hinge shaft and at least one chain plate. The chain plate has a first hinge portion and a second hinge portion. The first hinge portion of one of the adjacent two chain groups and the second hinge portion of the other are hinged through the hinge shaft in the other; When the chain bends, the chain plate rotates relative to at least one of the hinge shafts thereon to form a gap on the side away from the bending direction between two adjacent chain groups. When the chain extends, the chain plate rotates in the opposite direction relative to at least one of the hinge shafts thereon so that the distance of the gap gradually decreases until the sides of two adjacent chain groups away from the bending direction abut; The telescopic arm assembly further includes a mounting plate. The mounting plate has a bent guiding portion, and the chain is wound around the guiding portion.

2. The forklift tine device according to claim 1, characterized in that The second hinge portion and the hinge shaft located on the second hinge portion are fixedly connected.

3. The forklift tine device according to claim 2, characterized in that, Each chain group further includes a spacer sleeve. The spacer sleeve is sleeved on the hinge shaft, and the spacer sleeve abuts between the first hinge portion of one of the adjacent two chain groups and the second hinge portion of the other.

4. The forklift tine device according to claim 1, characterized in that, The guiding portion is a chute opened on the mounting plate. The hinge shafts in the same chain group are inserted into the chute. At least two chain plates are included in the same chain group and at least two chain plates are respectively located on opposite sides of the mounting plate.

5. The forklift tine device according to claim 4, characterized in that The chain plate has a flange. The flanges on at least two chain plates in the same chain group all face the mounting plate so that the mounting plate is clamped between the flanges on at least two chain plates.

6. The forklift tine device according to claim 1, characterized in that, The telescopic arm assembly further includes a storage box. The storage box is arranged on the base. The mounting plate and the chain are located in the storage box, and the storage box has an entrance and an exit for the chain to pass through.

7. The forklift fork device according to claim 6, characterized in that, The storage box includes a box body and a box cover. The box body has an opening facing the base, and the box cover is covered on the box body to close at least part of the opening; The box cover is detachably connected to the box body. At least one spacer post is arranged between the side of the box body away from the opening and the mounting plate. The box body and the mounting plate respectively abut against or are fixedly connected to the spacer post.

8. The forklift tine device according to claim 7, characterized in that, The telescopic arm assembly further includes a mounting block. The mounting block is connected to the end of the chain in the extending direction; It further includes a finger assembly. The finger assemblies are arranged on the mounting block one by one. Part of the finger assembly is located outside the box body and can rotate relative to the box body.

9. The forklift tine device according to claim 8, characterized in that The mounting block is hinged to the hinge shaft, and the hinge shaft is located on the second hinge portion of the chain group at the extending end of the chain.

10. The forklift tine device according to claim 8, characterized in that, The storage box further includes a friction plate, and part of the friction plate is inserted into the box body through the opening, and the mounting block and part of the chain are fixedly connected to the friction plate.

11. The forklift tine device according to claim 6, characterized in that, The telescopic arm assembly further includes at least two detection members, the detection members are arranged on the storage box or the mounting plate, and the detection members are used to detect whether the whole chain enters the storage box.

12. The forklift attachment device according to any one of claims 1-11, characterized in that, It further includes at least one driving assembly, and the driving assembly drives the winding of the chain so that the chain moves relative to the base.

13. The forklift attachment device according to claim 12, wherein, The driving assembly includes a driving member, a driving shaft and a driving sprocket, and the driving member is connected to the driving sprocket through the driving shaft; The mounting plate has a mounting hole, the mounting hole communicates with part of the guiding portion, the driving sprocket is located in the mounting hole, part of the chain is wound around the driving sprocket, and the driving member drives part of the chain to rotate around the driving sprocket through the driving shaft and the driving sprocket.

14. The forklift attachment device according to any one of claims 1-5, characterized in that, The telescopic arm assembly includes two and is arranged on opposite sides of the base; Two mounting strips are provided on the base, the telescopic arm assemblies are arranged on the mounting strips in one-to-one correspondence, and guiding blocks are arranged at the ends of the mounting strips facing the extending direction of the chain.

15. The forklift tine device according to any one of claims 6-11, characterized in that, The telescopic arm assembly includes two and is arranged on opposite sides of the base; Two mounting strips are provided on the base, the telescopic arm assemblies are arranged on the mounting strips in one-to-one correspondence, and guiding blocks are arranged at the ends of the mounting strips facing the extending direction of the chain.

16. The forklift tine device according to claim 15, characterized in that, It further includes a push plate assembly, the push plate assembly includes at least one push plate and at least one connecting member, the push plate is fixedly connected to the connecting member, the storage box has a guiding groove facing the center of the base, the connecting member is inserted into the storage box through the guiding groove and is fixedly connected to the chain.

17. The forklift tine device according to any one of claims 1-11, characterized in that, A scanning member is arranged on the base, and the scanning end of the scanning member faces the extending direction of the chain.

18. A robot, characterized in that, It includes a robot body and the fork device according to any one of claims 1-17 provided on the robot body; The robot body has a driving device and a lifting device, the driving device is used to drive the lifting of the lifting device, and the lifting device is connected to the fork device so that the fork device can be lifted and lowered along with the lifting device.

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