A fork for a warehouse robot

Abstract

The application relates to a fork for a warehouse robot, which comprises left-right clamping mechanisms, front-rear clamping mechanisms and a fork moving mechanism, the left-right clamping mechanisms and the front-rear clamping mechanisms are arranged on the fork moving mechanism, the clamping arm of the left-right clamping mechanism comprises a clamping mechanism and a clamping adjusting mechanism, the clamping mechanism is provided with an adjusting screw rod and a clamping finger, and the distance between the clamping fingers is adjusted through the adjusting screw rod, a detection sheet and a photoelectric sensor. The left-right clamping mechanisms and the clamping motor are arranged to realize left-right clamping of the material box, ensure that the material box does not slide or tilt during the carrying process, improve the carrying safety, realize carrying of multiple material boxes at the same time through the arrangement of the clamping fingers, improve the carrying efficiency, and satisfy carrying requirements of multiple specifications by adjusting the distance between the clamping fingers. The fork provided by the application can carry multiple material boxes at the same time, can adapt to carrying of material boxes of different sizes, and effectively improves the carrying applicability and the carrying efficiency.

Description

Technical Field

[0001] This application relates to the field of forklift technology, and more particularly to a forklift for use in warehouse robots. Background Technology

[0002] Forks are commonly used lifting devices that are matched with trucks or other handling equipment. In the tobacco production process, forks are needed to move the hoppers used to store filter rods. The structure of the filter rod hopper differs from that of a typical hopper; its top and one side wall are open. Because the hopper needs to be fed vertically, this structure causes filter plates to fall off when using the current forks for feeding.

[0003] Meanwhile, since the back-end equipment requires three bins to be loaded simultaneously, and the thickness of the bins of different sizes is different, most of the forks currently in use cannot meet the need to clamp multiple bins at the same time. During handling, only one bin can be picked up and placed at a time, resulting in low handling efficiency. Even if a few forks can clamp multiple bins, they can only grab one type of bin because the clamping position is fixed, which has limitations in actual use. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides a fork for a warehouse robot. This fork can simultaneously pick up and place multiple bins and handle them, while also being suitable for handling bins of different sizes, thereby improving handling applicability and efficiency.

[0005] The first aspect of this application provides a fork for a warehouse robot, including a left and right gripping mechanism, a front and rear gripping mechanism and a fork transfer mechanism, wherein the left and right gripping mechanism and the front and rear gripping mechanism are mounted on the fork transfer mechanism. The left and right clamping mechanisms include: a left clamping arm and a right clamping arm. The left clamping arm includes: a clamping adjustment mechanism, an upper clamping mechanism and a lower clamping mechanism. The upper clamping mechanism and the lower clamping mechanism are respectively installed at the top and bottom of the clamping adjustment mechanism. The left clamping arm and the right clamping arm have the same composition and structure. The upper clamping mechanism and the lower clamping mechanism have the same composition and structure. The left and right clamping mechanisms also include protective housings, of which there are two, which are respectively installed on the left clamping arm and the right clamping arm.

[0006] The upper clamping mechanism includes: a second fixed bracket, a second clamping finger, a third clamping finger, and an adjusting motor, an adjusting screw, a second guide rail, and a first clamping finger mounted on the second fixed bracket. The adjusting screw is connected to the output shaft of the adjusting motor, and the second and third clamping fingers are mounted on the adjusting screw. The bottoms of the second and third clamping fingers are connected to the second guide rail. The adjusting screw is a variable pitch threaded screw, and the adjusting screw is provided with at least two different pitches. The different pitches of the adjusting screw are set proportionally, and from the front end to the rear end of the adjusting screw, the pitch of the latter section of the adjusting screw is twice the pitch of the former section of the adjusting screw.

[0007] The top of the third clamping finger is provided with a second detection plate, and two second photoelectric sensors are provided on the second fixing bracket on the rear side of the third clamping finger, with the second photoelectric sensors located on both sides of the third clamping finger.

[0008] The first, second, and third clamping fingers are all equipped with clamping strips made of rubber. A first detection plate is mounted on the second fixed bracket of the upper clamping mechanism, and two first photoelectric sensors are mounted on the first fixed bracket. Optionally, in some embodiments of the first aspect, The clamping adjustment mechanism includes: a first fixed bracket, a clamping motor, a first bearing housing, and a first guide rail; the clamping motor is mounted on the first fixed bracket, and a bevel gear is provided on each of the two output shafts of the clamping motor; there are four first bearing housings, two at the top and two at the bottom of the first fixed bracket; a first screw is installed between two first bearing housings, and a bevel gear and a first connecting block are installed on the first screw; the bevel gears on the two output shafts of the clamping motor are respectively meshed with the bevel gears on the two first bearing housings; there are four first guide rails, two at the top and two at the bottom of the first fixed bracket.

[0009] The first guide rail is fixedly connected to the second fixed bracket, and the adjusting screw is fixedly installed on the second fixed bracket through the second bearing seat.

[0010] Optionally, in some embodiments of the first aspect, The front and rear clamping mechanism includes: a third fixed bracket, front and rear clamping electric cylinders, and clamping baffles. The front and rear clamping electric cylinders are mounted on the third fixed bracket, and the clamping baffles are mounted on the top of the output shafts of the front and rear clamping electric cylinders. At least one third guide rail is provided on the left and right side walls of the third fixed bracket, and the left and right side walls of the clamping baffles are respectively connected and fixed to the third guide rails on the left and right side walls of the third fixed bracket.

[0011] Optionally, in some embodiments of the first aspect, The fork transfer mechanism includes: a fork system fixed bracket, fork transfer guide rails, a transfer motor, a transmission rod, a bearing housing, a rotating belt, and a belt connecting plate. Two fork transfer guide rails are provided, respectively installed on the left and right inner walls of the fork system fixed bracket. Both fork transfer guide rails are connected and fixed to the first and third fixed brackets. The transfer motor is installed on the fork system fixed bracket, and the transmission rod is installed on the fork system fixed bracket via the bearing housing. One end of the transmission rod is connected to the front output shaft of the transfer motor. A first belt gear is installed on the rear output shaft of the transfer motor, and a second belt gear is installed on the other end of the transmission rod. A third belt gear and a fourth belt gear are respectively installed on the left and right inner walls of the fork system fixed bracket. Two rotating belts are provided; one rotating belt connects the first and third belt gears, and the other rotating belt connects the second and fourth belt gears. One of the rotating belts is fixedly connected to the third fixed bracket via the belt connecting plate.

[0012] The third fixed bracket is equipped with a third detection plate, and the fork system fixed bracket is equipped with a third photoelectric sensor.

[0013] The technical solution provided in this application may include the following beneficial effects: This application, by incorporating left and right clamping mechanisms and clamping motors, drives the upper and lower clamping mechanisms to clamp the hopper from both sides, ensuring that the hopper will not slip or tilt during handling and improving handling safety. The clamping fingers enable the simultaneous handling of multiple hoppers, improving handling efficiency. The spacing between the clamping fingers is controlled by adjusting screws with different pitches, achieving the handling effect of hoppers of different sizes. Simultaneously, detection plates and photoelectric sensors monitor the movement of the clamping fingers, enabling better adjustment and control of the clamping spacing and ensuring normal spacing adjustment. The forks provided in this application can handle multiple hoppers simultaneously, adapting to the handling of hoppers of different sizes, effectively improving handling applicability and efficiency.

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0015] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0016] Figure 1 This is a schematic diagram of the structure of a fork shown in an embodiment of this application; Figure 2This is a front view structural schematic diagram of the left and right clamping mechanism shown in the embodiments of this application; Figure 3 This is a rear view structural schematic diagram of the left and right clamping mechanism shown in the embodiments of this application; Figure 4 This is a front view schematic diagram of the clamping adjustment mechanism shown in the embodiments of this application; Figure 5 This is a rear view schematic diagram of the clamping adjustment mechanism shown in the embodiments of this application; Figure 6 This is a front view schematic diagram of the upper clamping mechanism shown in the embodiments of this application; Figure 7 This is a rear view schematic diagram of the upper clamping mechanism shown in the embodiments of this application; Figure 8 This is a structural schematic diagram of the front and rear clamping mechanism and forks shown in an embodiment of this application; Figure 9 This is a rear view structural schematic diagram of the front and rear clamping mechanism shown in the embodiments of this application; Figure 10 This is a front view structural schematic diagram of the front and rear clamping mechanism shown in the embodiments of this application; Figure 11 This is a left-side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanism shown in the embodiments of this application; Figure 12 This is a right-side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanism shown in the embodiments of this application; Figure 13 This is a schematic diagram of a fork transfer mechanism shown in an embodiment of this application; Figure label: 100 - Forklift; 1 - Left and right clamping mechanisms; 10 - Left clamping arm; 11 - Right clamping arm; 101-Clamping adjustment mechanism, 102-Upper clamping mechanism, 103-Lower clamping mechanism, 104-Protective housing; 1011-First fixed bracket, 1012-Clamping motor, 1013-First bearing seat, 1014-First guide rail, 1015-Bevel gear, 1016-First screw, 1017-First connecting block; 1021-Second fixed bracket, 1022-Adjusting motor, 1023-Adjusting screw, 1024-Second bearing seat, 1025-Second guide rail, 1026-First clamping finger, 1027-Second clamping finger, 1028-Third clamping finger; 2-Front and rear clamping mechanism, 201-Third fixed bracket, 202-Front and rear clamping electric cylinder, 203-Clamping baffle, 204-Third guide rail, 205-Clamping connecting plate; 3-Fork transfer mechanism, 301-Fork system fixing bracket, 302-Fork transfer guide rail, 303-Transfer motor, 304-Transmission rod, 305-Bearing seat, 306-First belt gear, 307-Second belt gear, 308-Third belt gear, 309-Fourth belt gear, 310-Rotating belt, 311-Belt connecting plate; 401-First detection element, 402-First photoelectric sensor, 403-Second detection element, 404-Second photoelectric sensor, 405-Third detection element, 406-Third photoelectric sensor; 501-Clamping strip; 500-material bin. Detailed Implementation

[0017] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0018] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0019] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the structure of a fork shown in an embodiment of this application; Figure 2 This is a front view structural schematic diagram of the left and right clamping mechanism shown in the embodiments of this application; Figure 3 This is a rear view structural schematic diagram of the left and right clamping mechanism shown in the embodiments of this application; Figure 4 This is a front view schematic diagram of the clamping adjustment mechanism shown in the embodiments of this application; Figure 5 This is a rear view schematic diagram of the clamping adjustment mechanism shown in the embodiments of this application; Figure 6 This is a front view schematic diagram of the upper clamping mechanism shown in the embodiments of this application; Figure 7 This is a rear view schematic diagram of the upper clamping mechanism shown in the embodiments of this application; Figure 8 This is a structural schematic diagram of the front and rear clamping mechanism and forks shown in an embodiment of this application; Figure 9 This is a rear view structural schematic diagram of the front and rear clamping mechanism shown in the embodiments of this application; Figure 10 This is a front view structural schematic diagram of the front and rear clamping mechanism shown in the embodiments of this application; Figure 11 This is a left-side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanism shown in the embodiments of this application; Figure 12 This is a right-side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanism shown in the embodiments of this application; Figure 13 This is a schematic diagram of a fork transfer mechanism shown in an embodiment of this application.

[0023] See Figures 1-13The first aspect of this application provides a fork, including: a left and right clamping mechanism 1, a front and rear clamping mechanism 2, and a fork transfer mechanism 3, wherein the left and right clamping mechanism 1 and the front and rear clamping mechanism 2 are mounted on the fork transfer mechanism 3.

[0024] The left and right clamping mechanisms 1 of the fork 100 include: a left clamping arm 10 and a right clamping arm 11. The left clamping arm 10 and the right clamping arm 11 have the same composition and structure. The left clamping arm 10 and the right clamping arm 11 are respectively installed on the left and right sides of the fork transfer mechanism 3. The left clamping arm 10 includes a clamping adjustment mechanism 101, an upper clamping mechanism 102, and a lower clamping mechanism 103. The upper clamping mechanism 102 and the lower clamping mechanism 103 have the same structure and are respectively installed at the top and bottom of the clamping adjustment mechanism 101. The clamping adjustment mechanism 101 includes a first fixed bracket 1011, a clamping motor 1012, a first bearing seat 1013, and a first guide rail 1014. The lower clamping mechanism 103 is fixedly connected to the two first guide rails 1014 located at the bottom of the first fixed bracket and is also fixedly connected to the first connecting block 1017.

[0025] A clamping motor 1012 is mounted on a first fixed bracket 1011. A bevel gear 1015 is mounted on each of the output shafts at both ends of the clamping motor 1012. Four first bearing seats 1013 are provided, with two at the top and two at the bottom of the first fixed bracket 1011. A first screw 1016 is installed between two first bearing seats 1013, and a bevel gear 1015 and a first connecting block 1017 are mounted on the first screw 1016. The bevel gears on the output shafts at both ends of the clamping motor 1012 mesh with the bevel gears 1015 on the two first bearing seats 1013. Four first guide rails 1014 are provided, with two at the top and two at the bottom of the first fixed bracket 1011.

[0026] The upper clamping mechanism 102 includes: a second fixed bracket 1021, an adjusting motor 1022, an adjusting screw 1023, a second bearing seat 1024, a second guide rail 1025, a first clamping finger 1026, a second clamping finger 1027, and a third clamping finger 1028. The second fixed bracket 1021 is fixedly connected to two first guide rails 1014 located at the top of the first fixed bracket, and is also fixedly connected to the first connecting block 1017. The adjusting motor 1022 is mounted on the second fixed bracket 1021. The adjusting screw 1023 is mounted on the second fixed bracket 1021 through the second bearing seat 1024. One end of the adjusting screw 1023 is connected to the output shaft of the adjusting motor 1022. The second guide rail 1025 is mounted on the second fixed bracket 1021, and the second guide rail 1025 is parallel to the adjusting screw 1023. The first clamping finger 1026 is mounted on the second fixed bracket 1021. The second clamping finger 1027 and the third clamping finger 1028 are respectively mounted on the adjusting screw 1023 and are threadedly connected to the adjusting screw 1023. The bottoms of the second clamping finger 1027 and the third clamping finger 1028 are also fixedly connected to the second guide rail 1025. By setting the first clamping finger 1026, the second clamping finger 1027 and the third clamping finger 1028, multiple material boxes can be moved, thus improving the handling efficiency.

[0027] Each of the first clamping finger 1026, the second clamping finger 1027, and the third clamping finger 1028 is equipped with a clamping strip 501, which is made of rubber. By installing the clamping strip 501, the clamping force of the clamping fingers can be increased, preventing the material box from sliding or swinging during handling. At the same time, the rubber clamping strip 501 has good wear resistance and impact resistance, making it better suited for handling the material box.

[0028] The adjusting screw 1023 is a variable pitch screw with at least two different pitches. These pitches are proportionally set, with each subsequent pitch being twice the pitch of the previous one. By setting different pitches on the adjusting screw 1023, the distance between the first clamping finger 1026, the second clamping finger 1027, and the third clamping finger 1028 can be controlled, thus adapting to the handling of hoppers of different sizes and improving handling applicability. Hoppers containing filter rods are typically placed in three vertical rows. When handling hoppers of different sizes, the distance between the second and third clamping fingers 1027 and 1028 needs to be adjusted twice as much as the distance between the first and second clamping fingers 1026 and 1027. Therefore, by setting different pitches on the adjusting screw 1023, adaptability to handling hoppers of different sizes can be achieved, improving handling efficiency.

[0029] The second fixed bracket 1021 of the upper clamping mechanism 102 is provided with a first detection plate 401, and the top of the first fixed bracket 1011 is provided with two first photoelectric sensors 402; the top of the third clamping finger 1028 of the upper clamping mechanism 102 is provided with a second detection plate 403, and the second fixed bracket 1021 of the upper clamping mechanism is provided with two second photoelectric sensors 404.

[0030] By setting the first detection plate 401 and two first photoelectric sensors 402, the movement status of the upper clamping mechanism 102 and the lower clamping mechanism 103 can be detected, ensuring the stability of the transport. By setting the second detection plate 403 and the second photoelectric sensor 404, the movement status of the second clamping finger 1027 and the third clamping finger 1028 can be detected, allowing for better adjustment and control of the clamping distance and ensuring normal distance adjustment.

[0031] By driving the clamping motor 1012, the first screw 1016 can rotate, driving the first connecting block 1017 to move, which in turn causes the upper clamping mechanism 102 and the lower clamping mechanism 103 to move sequentially. By setting up left and right clamping mechanisms 1, and controlling the driving clamping motor 1012, the upper clamping mechanism 102 and the lower clamping mechanism 103 can be driven to move, thereby achieving left and right clamping 100 of the material box, ensuring that the material box will not slip or tilt during transportation, and improving transportation safety.

[0032] The front and rear clamping mechanism 2 of the forklift 100 includes: a third fixed bracket 201, front and rear clamping electric cylinders 202, and clamping baffles 203. The front and rear clamping electric cylinders 202 are mounted on the third fixed bracket 201, and the clamping baffles 203 are mounted on the top of the output shaft of the front and rear clamping electric cylinders 202. Two third guide rails 204 are provided on both the left and right side walls of the third fixed bracket 201, and the left and right side walls of the clamping baffles 203 are respectively connected and fixed to the two third guide rails 204 on the left and right side walls of the third fixed bracket 201. By driving the front and rear clamping electric cylinders 202, the clamping baffles 203 can be moved. The third guide rails 204 ensure the stability of the movement of the clamping baffles 203.

[0033] By setting up front and rear clamping mechanisms 2 and controlling the front and rear clamping electric cylinders 202, the clamping baffles 203 can be driven to move, thereby sealing the top of the material box and preventing the material in the material box from scattering during transportation, thus further improving the safety of transportation.

[0034] The left and right clamping mechanisms 1 also include protective housings 104, which are mounted on the left clamping arm 10 and the right clamping arm 11. By providing protective housings 104, the forks 100 can be protected from external damage and influence, and operators can be prevented from being injured by contact with the forks 100.

[0035] The fork transfer mechanism 3 of the fork 100 includes: a fork system fixed bracket 301, fork transfer guide rails 302, a transfer motor 303, a transmission rod 304, a bearing seat 305, a rotating belt 310, and a belt connecting plate 311. Two fork transfer guide rails 302 are provided, respectively installed on the left and right inner walls of the fork system fixed bracket 301. Both fork transfer guide rails 302 are connected and fixed to the side walls of the first fixed bracket 1011 and the third fixed bracket 201. The transfer motor 303 is installed on the fork system fixed bracket 301. The transmission rod 304 is installed on the fork system fixed bracket 301 via the bearing seat 305, and one end of the transmission rod 304 is connected to the front output shaft of the transfer motor 303. A first belt gear 306 is mounted on the rear output shaft of the transfer motor 303, and a second belt gear 307 is mounted on the other end of the transmission rod 304. A third belt gear 308 and a fourth belt gear 309 are respectively mounted on the left and right inner walls of the fork system mounting bracket 301. Two rotating belts 310 are provided; one rotating belt connects the first belt gear 306 and the third belt gear 308, and the other rotating belt connects the second belt gear 307 and the fourth belt gear 309. One of the rotating belts 310 is fixedly connected to the third mounting bracket 201 via a belt connecting plate 311. A protective housing 104 is also provided on the fork system mounting bracket 301.

[0036] By setting up the fork transfer mechanism 3, the transfer motor 303 can drive the left and right clamping mechanisms 1 and the front and rear clamping mechanisms 2 to move on the fork transfer guide rail 302 through the transmission rod 304 and the pulley, thereby realizing the clamping, transfer and handling of the material box on the shelf.

[0037] A third detection plate 405 is installed on the third fixed bracket 201, and a third photoelectric sensor 406 is installed on the fixed bracket 301 of the forklift system. By setting the third detection plate 405 and the third photoelectric sensor 406, the movement state of the third fixed bracket 201 can be detected, ensuring the normal operation of the clamping, transfer and handling of the hopper.

[0038] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0039] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0040] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A forklift for a warehouse robot, characterized in that, include: Left and right clamping mechanism (1), front and rear clamping mechanism (2) and fork transfer mechanism (3), the left and right clamping mechanism (1) and the front and rear clamping mechanism (2) are installed on the fork transfer mechanism (3); The left and right clamping mechanism (1) includes: a left clamping arm (10) and a right clamping arm (11). The left clamping arm (10) includes: a clamping adjustment mechanism (101), an upper clamping mechanism (102) and a lower clamping mechanism (103). The upper clamping mechanism (102) and the lower clamping mechanism (103) are respectively installed on the top and bottom of the clamping adjustment mechanism (101). The left clamping arm (10) and the right clamping arm (11) have the same composition and structure. The upper clamping mechanism (102) and the lower clamping mechanism (103) have the same composition and structure. The upper clamping mechanism (102) includes: a second fixed bracket (1021), a second clamping finger (1027), a third clamping finger (1028), and an adjusting motor (1022), an adjusting screw (1023), a second guide rail (1025), and a first clamping finger (1026) mounted on the second fixed bracket (1021). The adjusting screw (1023) is connected to the output shaft of the adjusting motor (1022). The second clamping finger (1027) and the third clamping finger (1028) are mounted on the adjusting screw (1023), and the bottoms of the second clamping finger (1027) and the third clamping finger (1028) are connected to the second guide rail (1025). The adjusting screw (1023) is a variable pitch threaded screw, and the adjusting screw (1023) is provided with at least two different pitches; The top of the third clamping finger (1028) is provided with a second detection plate (403), and two second photoelectric sensors (404) are provided on the second fixing bracket (1021) on the rear side of the third clamping finger (1028), and the second photoelectric sensors (404) are located on both sides of the third clamping finger (1028).

2. The forklift according to claim 1, characterized in that, The clamping adjustment mechanism (101) includes: a first fixed bracket (1011), a clamping motor (1012), a first bearing seat (1013), and a first guide rail (1014); the clamping motor (1012) is mounted on the first fixed bracket (1011), and a bevel gear (1015) is provided on each of the two output shafts of the clamping motor (1012). There are four first bearing seats (1013), two at the top and two at the bottom of the first fixed bracket. A first screw (1016) is installed between the two first bearing seats, and a bevel gear (1015) and a first connecting block (1017) are installed on the first screw (1016). The bevel gears (1015) on the two output shafts of the clamping motor (1012) are respectively meshed with the bevel gears (1015) on the two first bearing seats (1013); there are four first guide rails (1014), two at the top and two at the bottom of the first fixed bracket.

3. The forklift according to claim 2, characterized in that, The first guide rail (1014) is fixedly connected to the second fixed bracket (1021), and the adjusting screw (1023) is fixedly installed on the second fixed bracket (1021) through the second bearing seat (1024).

4. The forklift according to claim 1, characterized in that, The front and rear clamping mechanism (2) includes: a third fixed bracket (201), front and rear clamping electric cylinders (202) and clamping baffles (203). The front and rear clamping electric cylinders (202) are mounted on the third fixed bracket (201), and the clamping baffles (203) are mounted on the top of the output shaft of the front and rear clamping electric cylinders (202). At least one third guide rail (204) is provided on the left and right side walls of the third fixed bracket (201), and the left and right side walls of the clamping baffles (203) are respectively connected and fixed to the third guide rails (204) on the left and right side walls of the third fixed bracket (201).

5. The forklift according to claim 1, characterized in that, The different pitches of the adjusting screw (1023) are set proportionally, and from the front end to the rear end of the adjusting screw, the pitch of the latter section of the adjusting screw (1023) is twice the pitch of the former section of the adjusting screw (1023).

6. The forklift according to claim 1, characterized in that, The first clamping finger (1026), the second clamping finger (1027), and the third clamping finger (1028) are all equipped with clamping strips (501), which are made of rubber.

7. The forklift according to claim 1, characterized in that, The left and right clamping mechanism (1) also includes a protective shell (104), which is provided in two parts, and the two protective shells are respectively installed on the left clamping arm (10) and the right clamping arm (11).

8. The forklift according to claim 1, characterized in that, The fork transfer mechanism (3) includes: a fork system fixed bracket (301), a fork transfer guide rail (302), a transfer motor (303), a transmission rod (304), a bearing seat (305), a rotating belt (310), and a belt connecting plate (311); two fork transfer guide rails (302) are provided, and the two fork transfer guide rails are respectively installed on the left and right inner walls of the fork system fixed bracket (301). Both fork transfer guide rails are connected and fixed to the first fixed bracket (1011) and the third fixed bracket (201). The transfer motor (303) is installed on the fork system fixed bracket (301). The transmission rod (304) is installed on the fork system fixed bracket (301) through the bearing seat (305). On the transmission rod, one end is connected to the front output shaft of the transfer motor; a first belt gear (306) is installed on the rear output shaft of the transfer motor, and a second belt gear (307) is installed on the other end of the transmission rod. A third belt gear (308) and a fourth belt gear (309) are respectively installed on the left and right inner walls of the fork system fixed bracket (301). There are two rotating belts (310), one of which connects the first belt gear (306) and the third belt gear (308), and the other connects the second belt gear (307) and the fourth belt gear (309). One of the rotating belts is fixedly connected to the third fixed bracket (201) through the belt connecting plate (311).

9. The forklift according to claim 1, characterized in that, The second fixed bracket (1021) of the upper clamping mechanism (102) is provided with a first detection plate (401), and the first fixed bracket (1011) is provided with two first photoelectric sensors (402). A third detection plate (405) is provided on the third fixed bracket (201), and a third photoelectric sensor (406) is provided on the fork system fixed bracket (301).

Images