Pallet fork, cargo taking and placing device and warehouse logistics system

Abstract

The invention belongs to the technical field of logistics, and particularly discloses a pallet fork, a cargo taking and placing device and a warehouse logistics system. The pallet fork comprises a telescopic linkage mechanism, a fixing plate, a first-stage telescopic plate, a second-stage telescopic plate and a third-stage telescopic plate, and the fixing plate, the first-stage telescopic plate, the second-stage telescopic plate and the third-stage telescopic plate are sequentially arranged in the first direction. And the second-stage telescopic plate is driven to stretch out and draw back in the same direction relative to the first-stage telescopic plate, and the third-stage telescopic plate is driven to stretch out and draw back in the same direction relative to the second-stage telescopic plate. The goods taking and placing device comprises a pair of forks, and the warehouse logistics system comprises the goods taking and placing device. According to the pallet fork, the goods taking and placing device and the warehouse logistics system, the extending stroke of the pallet fork can be increased, the goods taking efficiency can be improved, the width requirement for the running roadway needed by the goods taking and placing device can be reduced, and the warehouse density of the warehouse logistics system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, and in particular to a fork, a device for picking up and placing goods, and a warehousing logistics system. Background Art

[0002] With the rapid development of the logistics industry, automated stereoscopic warehouse storage and retrieval systems are increasingly widely used because of their large storage density, high efficiency and flexible operation, and are mostly used in the scenarios of goods-to-person picking and merging buffering in industries such as tobacco, medicine, food, beverage, and manufacturing.

[0003] Automated stereoscopic warehouse storage and retrieval systems usually use shuttle cars to pick up and place goods on the warehouse shelves. The shuttle car includes a frame and a pair of forks arranged on the frame. The forks can extend and retract relative to the frame. When the forks extend relative to the frame, the goods on the shelves can be picked up, and the picked-up goods can be transferred to the frame by retracting the forks; when it is necessary to transfer the goods on the shuttle car to the shelves, the forks extend relative to the forks and push or clamp the goods to transfer them to the shelves.

[0004] The forks provided by the prior art are usually of a double-stroke structure, that is, the forks include a fixed plate, a first extension plate, a second extension plate and a telescopic driving mechanism. When the telescopic driving mechanism drives the first extension plate to extend relative to the fixed plate, the second extension plate extends relative to the fixed plate at the same time, so that the speed and stroke of the second extension plate are twice that of the first extension plate, thereby increasing the speed and stroke of the fork extension and improving the efficiency of picking up and placing goods.

[0005] For the forks of the double-stroke structure, the stroke of the fork extension is approximately equal to the length of the fork in the retracted state. When the shuttle car runs between the shelves, the width of the aisle between the shelves needs to be greater than the length of the fork to meet the running requirements of the shuttle car in the aisle. With the increasing requirements for warehousing density in modern logistics, the existing forks of the double-stroke structure are difficult to meet the needs of picking up and placing goods in narrow-aisle warehouses. Therefore, there is an urgent need for a fork, a device for picking up and placing goods, and a warehousing logistics system to solve this technical problem. Summary of the Invention

[0006] The first object of the embodiments of the present invention is to provide a fork, which can increase the telescopic stroke of the fork and improve the efficiency of picking up and placing goods by the fork.

[0007] The second object of the embodiments of the present invention is to provide a device for picking up and placing goods, which can improve the efficiency of picking up and placing goods of the device for picking up and placing goods, reduce the size of the device for picking up and placing goods, and reduce the width requirement for the running aisle of the device for picking up and placing goods.

[0008] The third object of the embodiments of the present invention is to provide a warehousing logistics system, which can improve the warehousing density, reduce the warehousing cost, and improve the logistics efficiency.

[0009] To achieve the above object, the present invention adopts the following technical solutions:

[0010] A forklift fork includes a telescopic linkage mechanism and a fixed plate, a first-stage telescopic plate, a second-stage telescopic plate, and a third-stage telescopic plate arranged in sequence along a first direction. The telescopic linkage mechanism can drive the first-stage telescopic plate to telescopically move relative to the fixed plate along a second direction, while driving the second-stage telescopic plate to telescopically move in the same direction relative to the first-stage telescopic plate and driving the third-stage telescopic plate to telescopically move in the same direction relative to the second-stage telescopic plate.

[0011] As an alternative technical solution of a forklift fork, the telescopic linkage mechanism includes:

[0012] A main transmission component for drivingly connecting with a telescopic drive motor so that the telescopic drive motor drives the first-stage telescopic plate to telescopically move relative to the fixed plate;

[0013] A first-stage linkage component drivingly connected between the fixed plate, the first-stage telescopic plate, and the second-stage telescopic plate so that when the first-stage telescopic plate telescopically moves relative to the fixed plate, it drives the second-stage telescopic plate to telescopically move in the same direction relative to the first-stage telescopic plate;

[0014] A second-stage linkage component drivingly connected between the first-stage telescopic plate, the second-stage telescopic plate, and the third-stage telescopic plate so that when the second-stage telescopic plate telescopically moves relative to the first-stage telescopic plate, it drives the third-stage telescopic plate to telescopically move in the same direction relative to the second-stage telescopic plate.

[0015] As an alternative technical solution of a forklift fork, the second direction has a positive direction and a negative direction arranged oppositely. The first-stage linkage component includes a first double-ratio transmission component and a second double-ratio transmission component. The first double-ratio transmission component is used to pull the second-stage telescopic plate to telescopically move in the same direction relative to the first-stage telescopic plate when the first-stage telescopic plate extends along the positive direction or retracts along the negative direction relative to the fixed plate. The second double-ratio transmission component is used to pull the second-stage telescopic plate to telescopically move in the same direction relative to the first-stage telescopic plate when the first-stage telescopic plate retracts along the positive direction or extends along the negative direction relative to the fixed plate;

[0016] And / or, the second direction has a positive direction and a negative direction arranged oppositely. The second-stage linkage component includes a third double-ratio transmission component and a fourth double-ratio transmission component. The third double-ratio transmission component is used to pull the third-stage telescopic plate to telescopically move in the same direction relative to the second-stage telescopic plate when the second-stage telescopic plate retracts along the positive direction or extends along the negative direction relative to the first-stage telescopic plate. The fourth double-ratio transmission component is used to pull the third-stage telescopic plate to telescopically move in the same direction relative to the second-stage telescopic plate when the second-stage telescopic plate extends along the positive direction or retracts along the negative direction.

[0017] As an alternative technical solution for the forklift forks, when the forklift forks are in the retracted state, the first ends of the fixing plate, the first-stage telescopic plate, the second-stage telescopic plate, and the third-stage telescopic plate are correspondingly arranged in the first direction;

[0018] The first double-range transmission assembly includes a first guide member and a first transmission member. The first guide member is rotatably installed at the second end of the first-stage telescopic plate. The first transmission member is wound around the first guide member and its two ends are respectively connected to the first end of the fixing plate and the first end of the second-stage telescopic plate; and / or

[0019] The second double-range transmission assembly includes a second guide member and a second transmission member. The second guide member is rotatably installed at the first end of the first-stage telescopic plate. The second transmission member is wound around the second guide member and its two ends are respectively connected to the second end of the fixing plate and the second end of the first-stage telescopic plate; and / or

[0020] The third double-range transmission assembly includes a third guide member and a third transmission member. The third guide member is rotatably installed at the first end of the second-stage telescopic plate. The third transmission member is wound around the third guide member and its two ends are respectively connected to the second end of the first-stage telescopic plate and the second end of the third-stage telescopic plate; and / or

[0021] The fourth double-range transmission assembly includes a fourth guide member and a fourth transmission member. The fourth guide member is rotatably installed at the second end of the second-stage telescopic plate. The fourth transmission member is wound around the fourth guide member and its two ends are respectively connected to the first end of the first-stage telescopic plate and the first end of the third-stage telescopic plate.

[0022] As an alternative technical solution for the forklift forks, the first double-range transmission assembly and the third double-range transmission assembly are spaced apart in the third direction. The second double-range transmission assembly and the fourth double-range transmission assembly are spaced apart in the third direction. The third direction is perpendicular to both the first direction and the second direction.

[0023] As an alternative technical solution for the forklift forks, the upper ends of the fixing plate and the third-stage telescopic plate both extend upward beyond the upper ends of the first-stage telescopic plate and the second-stage telescopic plate. The first guide member is rotatably installed at the upper end of the first-stage telescopic plate. The third guide member is rotatably installed at the upper end of the second-stage telescopic plate.

[0024] As an alternative technical solution for the forklift forks, the portion of the third transmission member between its first end and the third guide member is located inside the first transmission member;

[0025] and / or, the portion of the fourth transmission member between its first end and the fourth guide member is located inside the second transmission member.

[0026] As an alternative technical solution for the forklift forks, a first mounting seat is detachably connected to the upper side of the second end of the first-stage telescopic plate. The first guiding member is rotatably mounted on the first mounting seat, and the first end of the third transmission member is detachably connected to the first mounting seat.

[0027] And / or, a second mounting seat is detachably connected to the upper side of the first end of the second-stage telescopic plate. The third guiding member is rotatably mounted on the second mounting seat, and the second end of the first transmission member is detachably connected to the second mounting seat.

[0028] As an alternative technical solution for the forklift forks, the first mounting seat includes a fixed seat and an adjusting seat. The fixed seat is connected to the first-stage telescopic plate. The first guiding member is rotatably mounted between the fixed seat and the first-stage telescopic plate. The adjusting seat is slidably connected to the fixed seat to adjust the position of the adjusting seat in the second direction. The adjusting seat is connected to the third transmission member.

[0029] And / or, the second mounting seat includes a fixed seat and an adjusting seat. The fixed seat is connected to the second-stage telescopic plate. The third guiding member is rotatably mounted between the fixed seat and the second-stage telescopic plate. The adjusting seat is slidably connected to the fixed seat to adjust the position of the adjusting seat in the second direction. The adjusting seat is connected to the first transmission member.

[0030] As an alternative technical solution for the forklift forks, picking components are provided at at least two ends of the third-stage telescopic plate. The picking components include a fork and a picking drive motor, and the picking drive motor drives the fork to switch between a picking state and an idle state.

[0031] As an alternative technical solution for the forklift forks, a first cable is provided along the extending direction of the fourth transmission member. The first end of the first cable is electrically connected to the picking drive motor.

[0032] A drag chain is connected between the first-stage telescopic plate and the fixed plate. A second cable is provided on the drag chain. The first end of the second cable is electrically connected to the second end of the first cable, and the second end of the second cable passes through the fixed plate.

[0033] As an alternative technical solution for the forklift forks, an avoidance through hole is formed at the first end of the first-stage telescopic plate. The first end of the fourth transmission member passes through the avoidance through hole and is connected to the side of the first-stage telescopic plate facing the fixed plate.

[0034] And / or, a wiring terminal is connected to the side of the first-stage telescopic plate facing the fixed plate. The second end of the first cable is detachably electrically connected to the wiring terminal, and the first end of the second cable is detachably electrically connected to the wiring terminal.

[0035] As an alternative technical solution for the fork, the first cable is disposed inside the fourth transmission member.

[0036] As an alternative technical solution for the fork, a plurality of picking assemblies are arranged at intervals along the length direction of the three-stage telescopic plate. Each picking driving motor has a connecting wire, and the connecting wires of two adjacent picking driving motors are connected. The connecting wire of the picking driving motor close to the second end of the fourth transmission member is connected to the first end of the first cable.

[0037] A goods picking and placing device includes the fork as described above, and two forks are arranged opposite to and spaced apart from each other along the first direction.

[0038] A warehousing and logistics system includes the goods picking and placing device as described above.

[0039] The beneficial effects of the present invention are as follows:

[0040] In the embodiment of the present invention, when the first-stage telescopic plate telescopically moves relative to the fixed plate along the second direction, the second-stage telescopic plate telescopically moves in the same direction relative to the first-stage telescopic plate, so that the telescopic speed and stroke of the second-stage telescopic plate are twice that of the first-stage telescopic plate. Also, since the third-stage telescopic plate telescopically moves in the same direction relative to the second-stage telescopic plate, the telescopic stroke and speed of the third-stage telescopic plate are three times that of the first-stage telescopic plate. Thus, the overall length of the fork in the extended state is approximately three times the overall length of the fork in the retracted state, so that while reducing the length of the fork in the retracted state along the second direction, the length of the fork in the extended state can be increased, the goods picking and placing stroke of the fork can be increased, reliable picking and placing of goods can be ensured, and at the same time, the picking ability of the fork for deep positions in the shelf or for long goods can be enhanced, the goods picking and placing ability of the fork can be improved, and the use flexibility of the fork can be improved; at the same time, since the telescopic speed of the third-stage telescopic plate is three times that of the first-stage telescopic plate, the telescopic efficiency of the fork can be effectively improved, and thus the goods picking and placing efficiency of the goods picking and placing device using the fork can be improved.

[0041] In the goods picking and placing device provided by the embodiment of the present invention, by using the above-mentioned fork, while ensuring the telescopic stroke of the fork, the size of the goods picking and placing device along the second direction can be reduced, or on the basis of the unchanged size of the goods picking and placing device along the second direction, the picking ability of the goods picking and placing device can be increased, and the goods picking and placing efficiency of the goods picking and placing device for goods can be improved.

[0042] In the warehousing and logistics system provided by the embodiment of the present invention, by using the above-mentioned goods picking and placing device, while improving the goods picking and placing efficiency, the width of the running lane of the goods picking and placing device can be reduced, the warehousing density of the warehousing and logistics system can be improved, and the warehousing cost can be reduced. Description of the Drawings

[0043] Figure 1 is a schematic structural view of the fork provided in the first embodiment of the present invention from a perspective;

[0044] Figure 2 is a schematic structural view of the fork provided in the first embodiment of the present invention from another perspective;

[0045] Figure 3 is Figure 2 a partial enlarged view of I in

[0046] Figure 4 is the front view of the fork provided in the first embodiment of the present invention;

[0047] Figure 5 is Figure 4 a sectional view taken along line A - A in

[0048] Figure 6 is Figure 5 a partial enlarged view of J in

[0049] Figure 7 is Figure 5 a partial enlarged view of K in

[0050] Figure 8 is Figure 4 a sectional view taken along line B - B in

[0051] Figure 9 is Figure 8 a partial enlarged view of L in

[0052] Figure 10 is Figure 8 a partial enlarged view of M in

[0053] Figure 11 is a schematic layout view of the first - stage transmission assembly and the third - stage transmission assembly provided in the first embodiment of the present invention;

[0054] Figure 12 is a schematic layout view of the second - stage transmission assembly and the fourth - stage transmission assembly provided in the first embodiment of the present invention;

[0055] Figure 13 is a partial schematic structural view of the fork provided in the first embodiment of the present invention;

[0056] Figure 14 is a schematic structural view of the fork provided in the first embodiment of the present invention after removing the fixing plate and the second transmission member;

[0057] Figure 15 is a schematic structural view of the fork provided in the first embodiment of the present invention after removing the fixing plate, the three - stage telescopic plate and the second transmission member;

[0058] Figure 16 It is a schematic structural diagram of the goods picking and placing device provided in the second embodiment of the present invention.

[0059] The markings in the figure are as follows:

[0060] 100, forklift fork; 200, moving body; 201, electrical compartment;

[0061] 1, fixed plate; 11, fork plate part; 111, mounting through hole; 12, mounting plate part; 2, first telescopic plate; 21, avoidance through hole; 3, second telescopic plate; 4, third telescopic plate; 41, lower flanging part; 42, upper flanging part;

[0062] 5, telescopic linkage mechanism; 51, main transmission component; 511, driving pulley; 512, driven pulley; 513, tensioning pulley; 514, synchronous toothed belt; 515, straight toothed belt; 516, belt support bar; 52, first double - range transmission component; 521, first guide; 522, first transmission part; 523, first wheel shaft; 53, second double - range transmission component; 531, second guide; 532, second transmission part; 533, second wheel shaft; 534, guide shaft; 54, third double - range transmission component; 541, third guide; 542, third transmission part; 543, third wheel shaft; 55, fourth double - range transmission component; 551, fourth guide; 552, fourth transmission part; 553, fourth wheel shaft; 554, reversing shaft;

[0063] 6, goods picking component; 61, goods picking driving motor; 62, fork;

[0064] 7, mounting seat; 7a, first mounting seat; 7b, second mounting seat; 71, fixing seat; 711, main seat part; 712, extension plate part; 72, adjusting seat; 721, adjusting side part; 722, adjusting bottom part; 73, adjusting bolt; 74, fastening shaft;

[0065] 8, drag chain; 9, wiring terminal; 10, drag chain support bar. Detailed implementation manners

[0066] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0067] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside 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 invention can be understood according to specific situations.

[0068] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0069] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, 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 thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0070] Embodiment 1

[0071] As Figure 1 and Figure 2 shown, this embodiment provides a fork 100, which can be applied to a shuttle car, a handling robot or other cargo picking and placing devices to transfer the cargo through the telescopic movement of the fork 100, and improve the stroke and efficiency of the telescopic movement of the fork 100, thereby improving the cargo picking and placing efficiency of the cargo picking and placing device applying it.

[0072] In this embodiment, the forklift fork 100 includes a fixed plate 1, a first-stage telescopic plate 2, a second-stage telescopic plate 3, a third-stage telescopic plate 4, and a telescopic linkage mechanism 5 arranged in sequence along a first direction. Among them, the length directions of the fixed plate 1, the first-stage telescopic plate 2, the second-stage telescopic plate 3, and the third-stage telescopic plate 4 are all arranged along a second direction, and the second direction is perpendicular to the first direction. The telescopic linkage mechanism 5 can drive the first-stage telescopic plate 2 to telescopically move relative to the fixed plate 1 along the second direction, while driving the second-stage telescopic plate 3 to telescopically move in the same direction relative to the first-stage telescopic plate 2 and driving the third-stage telescopic plate 4 to telescopically move in the same direction relative to the second-stage telescopic plate 3, so that the forklift fork 100 can be switched between an extended state and a retracted state. When the forklift fork 100 is in the retracted state, the fixed plate 1, the first-stage telescopic plate 2, the second-stage telescopic plate 3, and the third-stage telescopic plate 4 are arranged side by side and at intervals in the first direction; when the forklift fork 100 is in the extended state, the fixed plate 1, the first-stage telescopic plate 2, the second-stage telescopic plate 3, and the third-stage telescopic plate 4 are arranged in sequence along the second direction.

[0073] For the forklift fork 100 provided in this embodiment, when the first-stage telescopic plate 2 telescopically moves relative to the fixed plate 1 along the second direction, the second-stage telescopic plate 3 telescopically moves in the same direction relative to the first-stage telescopic plate 2, so that the telescopic speed and stroke of the second-stage telescopic plate 3 are twice that of the first-stage telescopic plate 2. Also, since the third-stage telescopic plate 4 telescopically moves in the same direction relative to the second-stage telescopic plate 3, the telescopic stroke and speed of the third-stage telescopic plate 4 are three times that of the first-stage telescopic plate 2. Thus, the overall length of the forklift fork 100 in the extended state is approximately three times the overall length of the forklift fork 100 in the retracted state. Thereby, while reducing the length of the forklift fork 100 in the second direction in the retracted state, the length of the forklift fork 100 in the extended state can be increased, so as to increase the cargo picking and placing stroke of the forklift fork 100, ensure the reliable picking and placing of goods, and at the same time enhance the picking ability of the forklift fork 100 for the deep part of the shelf or for long goods, improve the cargo picking and placing ability of the forklift fork 100, and improve the use flexibility of the forklift fork 100; meanwhile, since the telescopic speed of the third-stage telescopic plate 4 is three times that of the first-stage telescopic plate 2, the telescopic efficiency of the forklift fork 100 can be effectively improved, thereby improving the cargo picking and placing efficiency of the cargo picking and placing device using the forklift fork 100.

[0074] The telescopic linkage mechanism 5 includes a main drive assembly 51, a first-stage linkage assembly, and a second-stage linkage assembly. Among them, the main drive assembly 51 is used for driving connection with the telescopic drive motor so that the telescopic drive motor drives the first-stage telescopic plate 2 to telescopically move relative to the fixed plate 1; the first-stage linkage assembly is drivingly connected between the fixed plate 1, the first-stage telescopic plate 2, and the second-stage telescopic plate 3, so that while the first-stage telescopic plate 2 telescopically moves relative to the fixed plate 1, it drives the second-stage telescopic plate 3 to telescopically move in the same direction relative to the first-stage telescopic plate 2; the second-stage linkage assembly is drivingly connected between the first-stage telescopic plate 2, the second-stage telescopic plate 3, and the third-stage telescopic plate 4, so that while the second-stage telescopic plate 3 telescopically moves relative to the first-stage telescopic plate 2, it drives the third-stage telescopic plate 4 to telescopically move in the same direction relative to the second-stage telescopic plate 3. This kind of setting can simplify the structure of the telescopic linkage mechanism 5 and reduce the processing difficulty while ensuring the linkage of the first-stage telescopic plate 2, the second-stage telescopic plate 3, and the third-stage telescopic plate 4.

[0075] The main drive assembly 51 adopts a transmission structure of transmission parts. Specifically, the main drive assembly 51 includes a driving pulley 511, a driven pulley 512, a synchronous toothed belt 514, and a straight toothed belt 515. Among them, both the driving pulley 511 and the driven pulley 512 are rotatably installed on the fixed plate 1, and the rotation axes are arranged along the first direction. The two driven pulleys 512 are respectively arranged at both ends of the fixed plate 1, the driving pulley 511 is located in the middle of the two driven pulleys 512, the synchronous toothed belt 514 is wound around the driving pulley 511 and the two driven pulleys 512, and the synchronous toothed belt 514 has a telescopic transmission section located between the two driven pulleys 512, and the telescopic transmission section extends along the second direction; the straight toothed belt 515 extends along the second direction and is installed on the lower side of the first-stage telescopic plate 2, and the straight toothed belt 515 engages with the telescopic transmission section.

[0076] The telescopic drive motor is drivingly connected to the driving pulley 511, that is, when the telescopic drive motor rotates, it drives the driving pulley 511 to rotate, thereby driving the synchronous toothed belt 514 to rotate, that is, the telescopic transmission section moves along the second direction; since the straight toothed belt 515 is installed on the first-stage telescopic plate 2 and engages with the telescopic transmission section, the telescopic transmission section drives the straight toothed belt 515 and the first-stage telescopic plate 2 to move relative to the fixed plate 1 along the second direction.

[0077] In this embodiment, the main drive assembly 51 further includes a tension pulley 513. One tension pulley 513 is provided on each of the opposite sides of the driving pulley 511 along the second direction. The distance between the rotation axis of the tension pulley 513 and the telescopic transmission section is greater than the distance between the driving pulley 511 and the telescopic transmission section. The synchronous toothed belt 514 is wound around the two tension pulleys 513, and the two tension pulleys 513 are located inside the synchronous toothed belt 514, and the driving pulley 511 is located outside the synchronous toothed belt 514. The installation position of the tension pulley 513 on the fixed plate 1 can be adjusted in the third direction to realize the adjustment of the tension degree of the synchronous toothed belt 514.

[0078] The fixed plate 1 includes a fork plate portion 11 and a mounting plate portion 12 connected in the third direction. The fork plate portion 11 is opposite to and spaced from the first-stage telescopic plate 2. The mounting plate portion 12 is located below the telescopic plate. The driving pulley 511, the driven pulley 512, and the tensioning pulley 513 are all rotatably mounted on the mounting plate portion 12.

[0079] A belt support bar 516 is also mounted on the mounting plate portion 12. The belt support bar 516 extends in the second direction and is located inside the synchronous toothed belt 514. The telescopic transmission section is supported on the belt support bar 516. The setting of the belt support bar 516 can prevent the telescopic transmission section from sagging in the direction away from the straight toothed belt 515, ensuring the stable engagement between the telescopic synchronous section and the straight toothed belt 515. The mounting position of the belt support bar 516 on the mounting plate portion 12 can be adjusted in the third direction to adjust the engagement force between the telescopic transmission section and the straight toothed belt 515.

[0080] The fixed plate 1 has a first end and a second end oppositely arranged in the second direction. For the convenience of subsequent description, when the forklift fork 100 is in the retracted state, it is defined that the end of each telescopic plate (the first-stage telescopic plate 2, the second-stage telescopic plate 3, and the third-stage telescopic plate 4) corresponding to the first end of the fixed plate 1 is the first end of each telescopic plate, and the end of each telescopic plate aligned with the second end of the fixed plate 1 is the second end of each telescopic plate. At the same time, for the convenience of description, the direction from the first end of the fixed plate 1 to the second end of the fixed plate 1 is called the positive direction of the second direction, and the direction from the second end of the fixed plate 1 to the first end of the fixed plate 1 is called the negative direction of the second direction. The positive direction and the negative direction are opposite.

[0081] As Figure 2 、 Figure 5 and Figure 8 shown, the first-stage linkage assembly includes a first double-ratio transmission assembly 52 and a second double-ratio transmission assembly 53. The first double-ratio transmission assembly 52 is used to pull the second-stage telescopic plate 3 to telescopically move in the same direction relative to the first-stage telescopic plate 2 when the first-stage telescopic plate 2 extends relative to the fixed plate 1 in the positive direction or retracts in the negative direction. The second double-ratio transmission assembly 53 is used to pull the second-stage telescopic plate 3 to telescopically move in the same direction relative to the first-stage telescopic plate 2 when the first-stage telescopic plate 2 retracts relative to the fixed plate 1 in the positive direction or extends in the negative direction. This setting enables the second-stage telescopic plate 3 to be pulled to telescopically move in the same direction regardless of whether the first-stage telescopic plate 2 extends or retracts in the positive or negative direction, ensuring the reliability of the extension or retraction operation of the second-stage telescopic plate 3 relative to the first-stage telescopic plate 2. At the same time, it can also achieve the two-way extended picking of the forklift fork 100 in the positive and negative directions.

[0082] The second direction has a positive direction and a negative direction with opposite settings. The secondary linkage assembly includes a third triple-range transmission assembly 54 and a fourth triple-range transmission assembly 55. The third triple-range transmission assembly 54 is used to pull the tertiary telescopic plate 4 to telescopically extend or retract in the same direction relative to the secondary telescopic plate 3 when the secondary telescopic plate 3 retracts relative to the primary telescopic plate 2 in the positive direction or extends in the negative direction. The fourth triple-range transmission assembly 55 is used to pull the tertiary telescopic plate 4 to telescopically extend or retract in the same direction relative to the secondary telescopic plate 3 when the secondary telescopic plate 3 extends relative to the primary telescopic plate 2 in the positive direction or retracts in the negative direction. With this setting, regardless of whether the forklift 100 extends or retracts in the positive direction or the negative direction, it can pull the tertiary telescopic plate 4 to telescopically extend or retract in the same direction relative to the secondary telescopic plate 3, ensuring the reliability of the extension or retraction operation of the tertiary telescopic plate 4 relative to the secondary telescopic plate 3. At the same time, it can also achieve two-way extension for picking up goods when the forklift 100 extends in the positive direction and extends in the negative direction.

[0083] As Figures 2 to 6 shown, the first triple-range transmission assembly 52 includes a first guide member 521 and a first transmission member 522. The first guide member 521 is rotatably installed at the second end of the primary telescopic plate 2, and the rotation axis is arranged along the third direction. The first end of the first transmission member 522 is connected to the first end of the fixed plate 1, and the second end of the first transmission member 522 is connected to the first end of the secondary telescopic plate 3. The first transmission member 522 is wound around the first guide member 521.

[0084] As Figure 2 、 Figure 5 and Figure 7 shown, the second triple-range transmission assembly 53 includes a second guide member 531 and a second transmission member 532. The second guide member 531 is rotatably installed at the first end of the primary telescopic plate 2, and the rotation axis is arranged along the third direction. The first end of the second transmission member 532 is connected to the second end of the fixed plate 1, and the second end of the second transmission member 532 is connected to the second end of the secondary telescopic plate 3. The second transmission member 532 is wound around the second guide member 531.

[0085] When the primary telescopic plate 2 extends relative to the fixed plate 1 in the positive direction, the first guide member 521 moves in the positive direction relative to the fixed plate 1. As a result, the length of the first transmission member 522 between the first guide member 521 and the first end increases. Since the length of the first transmission member 522 remains unchanged, it is necessary to synchronously reduce the length between the first guide member 521 and the second end, that is, the first transmission member 522 pulls the secondary telescopic plate 3 to extend relative to the primary telescopic plate 2, and the length and speed of the primary telescopic plate 2 extending relative to the fixed plate 1 are the same as the length and speed of the secondary telescopic plate 3 extending relative to the primary telescopic plate 2.

[0086] When the first telescopic plate 2 extends relative to the fixed plate 1 in the negative direction, the second guiding member 531 moves relative to the fixed plate 1 in the negative direction, and the length of the second transmission member 532 between its first end and the second guiding member 531 increases. As a result, the length of the second transmission member 532 between the second guiding member 531 and the second end needs to be reduced, so that the second transmission member 532 pulls the second telescopic plate 3 to extend relative to the first telescopic plate 2 in the negative direction.

[0087] When the forklift 100 extends to the extended state in the negative direction, the length of the first transmission member 522 between the first guiding member 521 and the first end is the smallest. Thus, when the first telescopic plate 2 retracts relative to the fixed plate 1 in the positive direction, the length of the first transmission member 522 between the first guiding member 521 and the first end increases. Therefore, it is necessary to synchronously reduce the length of the first transmission member 522 between the first guiding member 521 and the second end, so that the first transmission member 522 pulls the second telescopic plate 3 to retract relative to the first telescopic plate 2 in the negative direction until the forklift 100 returns to the retracted state.

[0088] When the forklift 100 extends to the extended state in the positive direction, the length of the second transmission member 532 between the second guiding member 531 and the first end is the smallest. Thus, when the first telescopic plate 2 retracts relative to the fixed plate 1 in the negative direction, the length of the second transmission member 532 between the second guiding member 531 and the first end increases. Therefore, it is necessary to synchronously reduce the length of the second transmission member 532 between the second guiding member 531 and the second end, so that the second transmission member 532 pulls the second telescopic plate 3 to retract relative to the first telescopic plate 2 in the negative direction until the forklift 100 returns to the retracted state.

[0089] That is, the first double - range transmission assembly 52 can drive the second telescopic plate 3 to extend synchronously relative to the first telescopic plate 2 when the forklift 100 extends in the positive direction, and drive the second telescopic plate 3 to retract synchronously relative to the first telescopic plate 2 when the forklift 100 retracts in the negative direction; the second double - range transmission assembly 53 can drive the second telescopic plate 3 to extend synchronously relative to the first telescopic plate 2 when the forklift 100 extends in the negative direction, and drive the second telescopic plate 3 to retract synchronously relative to the first telescopic plate 2 when the forklift 100 retracts in the positive direction. Thus, it can conveniently realize the forward and backward extension of the forklift 100 in the second direction.

[0090] Such as Figure 2 、 Figure 8 and Figure 9As shown, the third triple-range transmission assembly 54 includes a third guide member 541 and a third transmission member 542. The third guide member 541 is rotatably mounted at the first end of the secondary telescopic plate 3 and the rotation axis is arranged along the third direction. The first end of the third transmission member 542 is connected to the second end of the primary telescopic plate 2, the second end of the third transmission member 542 is connected to the second end of the tertiary telescopic plate 4, and the third transmission member 542 is wound around the third guide member 541.

[0091] As Figure 2 , Figure 8 and Figure 10 shown, the fourth triple-range transmission assembly 55 includes a fourth guide member 551 and a fourth transmission member 552. The fourth guide member 551 is rotatably mounted at the second end of the secondary telescopic plate 3 and the rotation axis is arranged along the third direction. The first end of the fourth transmission member 552 is connected to the first end of the primary telescopic plate 2, the second end of the fourth transmission member 552 is connected to the first end of the tertiary telescopic plate 4, and the fourth transmission member 552 is wound around the fourth guide member 551.

[0092] When the secondary telescopic plate 3 extends in the positive direction relative to the primary telescopic plate 2, the fourth guide member 551 moves in the positive direction relative to the primary telescopic plate 2. As a result, the length of the fourth transmission member 552 between the fourth guide member 551 and the first end increases. Since the length of the fourth transmission member 552 remains unchanged, it is necessary to synchronously reduce the length between the fourth guide member 551 and the second end, that is, the fourth transmission member 552 pulls the tertiary telescopic plate 4 to extend in the positive direction relative to the secondary telescopic plate 3, and the length and speed at which the tertiary telescopic plate 4 extends relative to the secondary telescopic plate 3 are the same as the length and speed at which the secondary telescopic plate 3 extends relative to the primary telescopic plate 2.

[0093] When the secondary telescopic plate 3 extends in the negative direction relative to the primary telescopic plate 2, the third guide member 541 moves in the negative direction relative to the primary telescopic plate 2. The length of the third transmission member 542 between the third guide member 541 and the first end increases. As a result, the length of the third transmission member 542 between the third guide member 541 and the second end needs to be reduced, so that the third transmission member 542 pulls the tertiary telescopic plate 4 to extend in the negative direction relative to the secondary telescopic plate 3.

[0094] When the forklift 100 extends in the negative direction to the extended state, the length of the fourth transmission member 552 between the fourth guide member 551 and the first end is the smallest. Thus, when the secondary telescopic plate 3 retracts in the positive direction relative to the primary telescopic plate 2, the length of the fourth transmission member 552 between the fourth guide member 551 and the first end increases. Therefore, it is necessary to synchronously reduce the length of the fourth transmission member 552 between the fourth guide member 551 and the second end, so that the fourth transmission member 552 pulls the tertiary telescopic plate 4 to retract in the negative direction relative to the secondary telescopic plate 3 until the forklift 100 returns to the retracted state.

[0095] When the fork 100 extends in the positive direction to the extended state, the length of the third transmission member 542 between the third guide member 541 and the first section is minimized. Thus, when the secondary telescopic plate 3 extends relative to the primary telescopic plate 2 in the negative direction, the length of the third transmission member 542 between the third guide member 541 and the first end increases. Consequently, it is necessary to synchronously reduce the length of the third transmission member 542 between the third guide member 541 and the second end, so that the third transmission member 542 pulls the tertiary telescopic plate 4 to retract relative to the secondary telescopic plate 3 in the negative direction until the fork 100 returns to the retracted state.

[0096] That is, the fourth multiple - range transmission assembly 55 can enable the fork 100 to drive the tertiary telescopic plate 4 to extend synchronously relative to the secondary telescopic plate 3 when the fork 100 extends in the positive direction, and drive the tertiary telescopic plate 4 to retract synchronously relative to the secondary telescopic plate 3 when the fork 100 retracts in the negative direction; the third multiple - range transmission assembly 54 can drive the tertiary telescopic plate 4 to extend synchronously relative to the secondary telescopic plate 3 when the fork 100 extends in the negative direction, and drive the tertiary telescopic plate 4 to retract synchronously relative to the secondary telescopic plate 3 when the fork 100 retracts in the positive direction. Thus, it can conveniently achieve the forward and backward extension of the fork 100 in the second direction.

[0097] As can be seen from the above, by setting the first multiple - range transmission assembly 52, the second multiple - range transmission assembly 53, the third multiple - range transmission assembly 54, and the fourth multiple - range transmission assembly 55, the relative synchronous telescoping of adjacent two telescopic plates can be achieved. Consequently, the telescopic stroke and speed of the tertiary telescopic plate 4 are three times those of the primary telescopic plate 2.

[0098] Such as Figure 2 、 Figure 5 and Figure 8 shown, in this embodiment, to improve the structural compactness, the first multiple - range transmission assembly 52 and the second multiple - range transmission assembly 53 are arranged at intervals in the third direction, and the third multiple - range transmission assembly 54 and the fourth multiple - range transmission assembly 55 are arranged at intervals in the third direction; at the same time, the first multiple - range transmission assembly 52 and the fourth multiple - range transmission assembly 55 are arranged at intervals in the third direction, and the second multiple - range transmission assembly 53 and the first multiple - range transmission assembly 52 are arranged at intervals in the third direction, so as to avoid the problem of increasing the dimensional requirements of the fork 100 in the first direction caused by arranging two guide members side by side in the first direction, ensure the installation space of each guide member, while reducing the thickness of the fork 100 in the first direction and improving the structural compactness of the fork 100.

[0099] In this embodiment, the first guide member 521, the second guide member 531, the third guide member 541, and the fourth guide member 551 are all roller structures, so as to reduce the friction between each guide member and the transmission member, improve the smoothness of transmission, and reduce the noise generated during transmission. In other embodiments, the first guide member 521, the second guide member 531, the third guide member 541, and / or the fourth guide member 551 may be roller shaft structures or bearing structures, etc.

[0100] In this embodiment, the first transmission member 522, the second transmission member 532, the third transmission member 542, and the fourth transmission member 552 are flat belts, which have high transmission reliability, strong transmission stability, and are convenient to install. In other embodiments, the first transmission member 522, the second transmission member 532, the third transmission member 542, and / or the fourth transmission member 552 may also be flexible strip structures such as steel wire ropes or synchronous belts.

[0101] As Figure 2 , Figure 5 and Figure 11 shown, in order to further improve the structural compactness of the fork 100, in this embodiment, the part of the third transmission member 542 between its first end and the third guide member 541 is located inside the first transmission member 522; and / or, as Figure 8 and Figure 12 shown, the part of the fourth transmission member 552 between its first end and the fourth guide member 551 is located inside the second transmission member 532, thereby being able to further reduce the thickness requirement of the fork 100 in the first direction and improve the structural compactness.

[0102] As Figure 2 and Figure 3 shown, the upper ends of the fixed plate 1 and the three-stage telescopic plate 4 are higher than the upper ends of the first-stage telescopic plate 2 and the second-stage telescopic plate 3, so that an installation space is formed between the upper ends of the fixed plate 1, the three-stage telescopic plate 4, the first-stage telescopic plate 2, and the second-stage telescopic plate 3, and the first double-ratio transmission assembly 52 and the third double-ratio transmission assembly 54 are installed in the installation space. Thereby, while improving the installation convenience of the first double-ratio transmission assembly 52 and the second double-ratio transmission assembly 53, the first double-ratio transmission assembly 52 and the third double-ratio transmission assembly 54 can be protected.

[0103] As Figure 2 , Figure 3 and Figure 6 shown, there is an installation seat 7 on the upper side of the second end of the first-stage telescopic plate 2. The installation seat 7 is the first installation seat 7a, and the first guide member 521 is rotatably installed on the installation seat 7. The first end of the third transmission member 542 is detachably connected to the first installation seat 7a, thereby being able to simplify the connection structure between the first guide member 521 and the third transmission member 542 and the first-stage telescopic plate 2 and improve the connection convenience.

[0104] The first mounting seat 7a includes a fixed seat 71 and an adjusting seat 72. The fixed seat 71 is connected to the first-stage telescopic plate 2. The first guiding member 521 is rotatably mounted between the fixed seat 71 and the first-stage telescopic plate 2. The adjusting seat 72 is slidably connected to the fixed seat 71 to adjust the position of the adjusting seat 72 in the second direction. The adjusting seat 72 is connected to the third transmission member 542. Thus, by adjusting the position of the third transmission member 542 in the second direction, the tension adjustment of the third transmission member 542 is realized.

[0105] Further, the fixed seat 71 includes a main seat portion 711. An extension plate portion 712 extends from the upper side of the main seat portion 711 in a direction away from the adjusting seat 72. The extension plate portion 712 is opposite to and spaced from the upper end of the first-stage telescopic plate 2. A first wheel shaft 523 is connected between the extension plate portion 712 and the upper end of the first-stage telescopic plate 2. The first wheel shaft 523 extends in the third direction. The first guiding member 521 is rotatably sleeved on the first wheel shaft 523. The fixed seat 71 can be, but is not limited to, detachably connected to the first-stage telescopic plate 2 by means of screws or the like.

[0106] The adjusting seat 72 has a U-shaped structure and includes two adjusting side portions 721 that are opposite to and spaced from each other in the first direction and an adjusting bottom portion 722 connected between the two adjusting side portions 721. The main seat portion 711 of the fixed seat 71 is clamped between the two adjusting side portions 721, and the two adjusting side portions 721 can slide relative to the main seat portion 711 in the second direction to adjust the position of the adjusting seat 72 relative to the mounting seat 7 in the second direction. The first end of the third transmission member 542 is connected to the outside of the adjusting side portion 721 away from the fixing plate 1.

[0107] To improve the convenience of adjusting the adjusting seat 72, an adjusting threaded hole is formed at one end of the main seat portion 711 facing the adjusting bottom portion 722. The adjusting threaded hole extends in the second direction. An adjusting bolt 73 is passed through the adjusting bottom portion 722, and the adjusting bolt 73 is threadedly screwed into the adjusting threaded hole. Thus, by rotating the adjusting bolt 73, the screwing depth of the adjusting bolt 73 in the adjusting threaded hole can be adjusted, thereby adjusting the distance between the adjusting bottom portion 722 and the mounting seat 7, that is, adjusting the position of the adjusting seat 72 relative to the first-stage telescopic plate 2 in the second direction.

[0108] To fasten the adjusted adjusting seat 72, in this embodiment, a fastening shaft 74 is provided between the two adjusting side portions 721. The fastening shaft 74 extends in the first direction and is respectively connected to the two adjusting side portions 721 at both ends by fastening screws. Thus, through the cooperation of the fastening screws and the fastening shaft 74, the two adjusting side portions 721 can be made to clamp the mounting seat 7. When it is necessary to adjust the position of the adjusting seat 72, loosen two or one of the fastening screws, and the adjusting side portion 721 can slide relative to the mounting seat 7. Preferably, two fastening shafts 74 are provided at intervals in the third direction to improve the connection stability between the adjusting seat 72 and the mounting seat 7.

[0109] It can be understood that other structures can also be adopted to fasten the adjusted adjusting seat 72 and the mounting seat 7. For example, a long slot is provided in one of the adjusting side portion 721 and the first mounting seat 7a, and a fastening round hole is provided in the other. The long slot extends along the second direction, the fastening round hole communicates with the long slot, and the adjusting side portion 721 and the mounting seat 7 are connected through a fastener passing through the long slot and the fastening round hole.

[0110] Such as Figure 2 and Figure 7 As shown, a mounting seat 7 is also provided at the first end of the secondary telescopic plate 3. This mounting seat 7 is the second mounting seat 7b. The third guiding member 541 is rotatably mounted on the second mounting seat 7b through a third wheel shaft 543, and the second end of the first transmission member 522 is mounted on the second mounting seat 7b. The second mounting seat 7b may have the same structure as the first mounting seat 7a, which will not be elaborated in this embodiment. The second mounting seat 7b is preferably detachably connected to the secondary telescopic plate 3.

[0111] Such as Figure 2 , Figure 9 and Figure 13 As shown, to improve the installation convenience of the second guiding member 531, a first mounting hole is provided at the first end of the primary telescopic plate 2. The first mounting hole penetrates through the opposite sides of the primary telescopic plate 2, and a second wheel shaft 533 is connected between the upper and lower hole walls of the first mounting hole. The second guiding member 531 is rotatably sleeved on the second wheel shaft 533. The first mounting hole preferably penetrates through the end face of the first end of the primary telescopic plate 2 to improve the installation and disassembly convenience of the second guiding member 531.

[0112] Such as Figure 10 and Figure 15 As shown, a mounting groove is provided at the second end of the secondary telescopic plate 3. The mounting groove penetrates through the opposite sides of the secondary telescopic plate 3. A fixing member is detachably connected to the lower side of the secondary telescopic plate 3. The fixing member closes the lower slot opening of the mounting groove, and a fourth wheel shaft 553 is connected between the fixing member and the bottom of the mounting groove. The fourth wheel shaft 553 extends along the third direction, and the fourth guiding member 551 is rotatably sleeved on the fourth wheel shaft 553.

[0113] It can be understood that the above installation structure of the second guiding member 531 on the primary telescopic plate 2 and the installation structure of the fourth guiding member 551 on the secondary telescopic plate 3 are only exemplary structures. The installation structure of the second guiding member 531 can also adopt the installation structure form of the fourth guiding member 551, and the installation structure form of the fourth guiding member 551 can also adopt the installation structure form of the second guiding member 531.

[0114] Such as Figure 10As shown in the figure, to improve the installation convenience of the second transmission member 532, an installation through-hole 111 is formed at the second end of the fixing plate 1. The first end of the second transmission member 532 passes through the installation through-hole 111 and extends out of the outer side of the fixing plate 1, and the first end of the second transmission member 532 is detachably connected to the outer side of the fixing plate 1. Thus, the installation structure of the second transmission member 532 and the fixing plate 1 can be located on the outer side of the fixing plate 1, improving the installation reliability of the second transmission member 532 on the fixing plate 1.

[0115] Further, a guiding shaft 534 is installed in the installation through-hole 111. The guiding shaft 534 extends along the third direction, and the second transmission member 532 is wound around the guiding shaft 534, thereby preventing the second guiding member 531 from being scratched and improving the installation reliability of the second guiding member 531. The guiding shaft 534 is preferably installed on the fixing plate 1 through two fastening threaded members. The fastening threaded members extend along the second direction and one is provided on each of the opposite sides of the second transmission member 532.

[0116] As Figure 2 and Figure 13 shown in the figure, to improve the running smoothness of each telescopic plate, sliding guiding assemblies are provided between the first-stage telescopic plate 2 and the fixing plate 1, and between adjacent two telescopic plates. The sliding guiding assembly includes a slide rail extending along the second direction and a guiding slider slidably engaged with the slide rail. For the sliding guiding assembly located between the fixing plate 1 and the first-stage telescopic plate 2, one of the slide rail and the guiding slider is installed on the fixing plate 1, and the other is installed on the first-stage telescopic plate 2. For the sliding guiding assembly located between adjacent two telescopic plates, the slide rail and the fixed slider are respectively installed on two sliding plates.

[0117] Preferably, all the sliding guiding assemblies are arranged side by side in the first direction, and the first multiple-ratio transmission assembly 52 and the second multiple-ratio transmission assembly 53 are respectively located on the opposite sides of the sliding guiding assembly, and the third multiple-ratio transmission assembly 54 and the fourth multiple-ratio transmission assembly 55 are respectively located on the opposite sides of the corresponding guiding sliding assembly, so as to improve the compactness of the overall structure of the fork 100.

[0118] As Figure 2 、 Figure 14 and Figure 15 shown in the figure, the fork 100 further includes a goods-taking assembly 6. The goods-taking assembly 6 is installed on the third-stage telescopic plate 4 and at least one is provided at each of the two ends of the third-stage telescopic plate 4. The goods-taking assembly 6 includes a fork and a goods-taking driving motor 61. The goods-taking driving motor 61 drives the fork to switch between the goods-taking state and the idle state. When the fork 62 is in the idle state, the fork 62 does not extend out of the side of the third-stage telescopic plate 4 away from the fixing plate 1 to avoid interference between the fork and the goods; when the fork 62 is in the goods-taking state, the fork extends out of the side of the third-stage telescopic plate 4 away from the fixing plate 1 to toggle the goods.

[0119] Specifically, in this embodiment, when the fork is in the goods picking state, the fork 62 is perpendicular to the three-stage telescopic plate 4; when the fork is in the idle state, the fork 62 is arranged along the third direction. An upward folding edge portion 42 is formed by inwards folding the upper side of the three-stage telescopic plate 4, and a downward folding edge portion 41 is formed by inwards folding the lower side of the three-stage telescopic plate 4, so as to prevent the edges of the three-stage telescopic plate 4 from being exposed and avoid the three-stage telescopic plate 4 from scratching the goods.

[0120] To improve the efficiency of goods picking and placing, in this embodiment, picking components 6 are arranged at both ends of the three-stage telescopic plate 4 and at the middle part of the three-stage telescopic plate 4 along the length direction. By arranging three picking components 6, the stroke of the fork 100 can be shortened, thereby reducing the requirement for the length of the fork 100; at the same time, it is also possible to pick and place the goods located deeper in the shelf and adapt to the picking and placing of goods with different lengths.

[0121] In another embodiment, picking components 6 may also be arranged only at both ends of the three-stage telescopic plate 4. In another other embodiment, four or more picking components 6 may be evenly spaced along the length direction of the three-stage telescopic plate 4, and two of the picking components 6 are respectively located at both ends of the three-stage telescopic plate 4.

[0122] The fork 62 includes a connected mounting portion and a lever portion. The cross-sectional area of the mounting portion is larger than that of the lever portion. The mounting portion is connected to the picking drive motor 61 to improve the connection convenience and connection stability between the fork and the picking drive motor 61. The picking drive motor 61 is mounted on the back side of the three-stage telescopic plate 4 to prevent the picking drive motor 61 from interfering with the goods and protect the picking drive motor 61. The picking drive motor 61 is a rotary motor, that is, the rotary motor drives the fork 62 to rotate around the axis extending in the second direction to realize the switching between the picking state and the idle state of the fork 62.

[0123] For the picking components 6 located at both ends, the fork 62 is arranged outside the corresponding end of the three-stage telescopic plate 4 to improve the mounting convenience of the picking component 6 on the three-stage telescopic plate 4; for the picking components 6 located in the middle, an avoidance opening is formed on the three-stage telescopic plate 4. The fork 62 is arranged opposite to the avoidance opening, and the fork 62 can extend out of the side of the three-stage telescopic plate 4 away from the fixing plate 1 through the avoidance opening.

[0124] To supply power to the picking drive motor 61, a connecting wire cable is connected to the picking drive motor 61. The connecting wire cable includes a first wire cable and a second wire cable that are connected to each other. The first wire cable extends along the direction of the fourth transmission member 552 and is fixed to the fourth transmission member 552. A drag chain 8 is provided between the fixed plate 1 and the first-stage telescopic plate 2. Both ends of the drag chain 8 are respectively connected to the fixed plate 1 and the first-stage telescopic plate 2. The second wire cable extends along the direction of the drag chain 8 and is fixed to the drag chain 8. One end of the first wire cable is connected to the picking drive motor 61, the second end of the first wire cable is connected to the first end of the second wire cable, and the second end of the second wire cable passes through the fixed plate 1. By fixing the first wire cable to the fourth transmission member 552 and fixing the second wire cable to the drag chain 8, it is possible to lead the connecting wire cable out of the outside of the fixed plate 1 while preventing the connecting wire cable from being entangled or pulled by other structures during the telescopic process of the fork 100, improving the routing safety and reliability of the connecting wire cable, and effectively improving the routing convenience of the picking drive motor 61.

[0125] In this embodiment, the first wire cable is disposed inside the fourth transmission member 552 to prevent the first wire cable from being exposed and rubbing against the second-stage telescopic plate 3, the third-stage telescopic plate 4, etc., further improving the routing safety of the first wire cable. In other embodiments, the first wire cable can also be directly fixed to the outside of the fourth transmission member 552.

[0126] To further improve the routing convenience, in this embodiment, an avoidance through hole 21 is provided at the first end of the first-stage telescopic plate 2. The first end of the fourth transmission member 552 passes through the avoidance through hole 21 and is connected to the side of the first-stage telescopic plate 2 facing the fixed plate 1. Thus, the first end of the fourth transmission member 552 and the drag chain 8 are located on the same side of the first-stage telescopic plate 2, enabling the connection between the second wire cable and the first wire cable to be more conveniently realized, reducing the exposure of the connecting wire cable, and further improving the routing safety and reliability of the connecting wire cable. Preferably, a reversing shaft 554 is connected between the upper and lower side walls of the avoidance through hole 21, and the fourth transmission member 552 is wound around the reversing shaft 554.

[0127] The second end of the first wire cable is detachably connected to the first end of the second wire cable. Thus, during the assembly of the connecting wire cable, the first wire cable and the second wire cable can be installed separately, and then the first wire cable and the second wire cable are connected, improving the installation convenience of the connecting wire cable.

[0128] Furthermore, the connecting wire cable further includes a wiring terminal 9. The wiring terminal 9 is detachably installed on the side of the first-stage telescopic plate 2 facing the fixed plate 1. The second end of the first wire cable and the first end of the second wire cable are both detachably electrically connected to the wiring terminal 9. Thus, the electrical connection between the first wire cable and the second wire cable is realized through the wiring terminal 9, which can effectively separate the installation structures of the first wire cable and the second wire cable, improve the installation convenience of the first wire cable and the second wire cable, and at the same time improve the connection reliability between the first wire cable and the second wire cable.

[0129] To ensure the stability of the setting of the drag chain 8, in this embodiment, a drag chain support bar 10 is further installed at the lower end of the first-stage telescopic plate 2. The drag chain support bar 10 extends along the second direction, and the lower part of the drag chain 8 is supported on the drag chain support bar 10 to ensure that the drag chain 8 does not sag, thereby avoiding interference between the drag chain 8 and the main drive assembly 51.

[0130] In this embodiment, each picking drive motor 61 has a connecting wire, and the connecting wires of two adjacent picking drive motors 61 are electrically connected. The connecting wire of the picking drive motor 61 close to the second end of the fourth transmission member 552 is connected to the first end of the first cable. Thus, all the picking drive motors 61 can share a connecting cable, reducing the number of connecting cables, improving the routing convenience of the connecting cables, and effectively simplifying the connection structure between the connecting cables and each picking drive motor 61.

[0131] Embodiment II

[0132] This embodiment provides a goods picking and placing device, which can be applied to an automated stereoscopic warehouse storage system or a goods-to-person sorting system to realize the picking, placing and transportation of goods on the shelf.

[0133] As Figure 16 shown, the goods picking and placing device includes a moving body 200 and a pair of forks 100. The forks 100 adopt the structure of the forks 100 in Embodiment I, and two forks 100 are arranged opposite to and spaced apart from each other along the first direction. The moving body 200 forms a goods temporary storage space between the two forks 100. The goods picking and placing device can realize the transfer of goods between the shelf and the goods temporary storage space through the telescopic movement of the forks 100 along the second direction.

[0134] For the goods picking and placing device provided by the embodiment of the present invention, due to the adoption of the above-mentioned forks 100, while ensuring the telescopic stroke of the forks 100, the size of the goods picking and placing device along the second direction can be reduced, or on the basis that the size of the goods picking and placing device along the second direction remains unchanged, the picking capacity of the goods picking and placing device can be increased, and the picking and placing efficiency of the goods picking and placing device for goods can be improved.

[0135] In this embodiment, the goods picking and placing device is a shuttle car. The moving body 200 has two electrical compartments 201 arranged opposite to and spaced apart from each other along the first direction. The forks 100 are arranged between the two electrical compartments 201, and the three-stage telescopic plate 4 of the forks 100 is located on the side of the fixing plate 1 away from the adjacent electrical compartment 201.

[0136] In other embodiments, the goods picking and placing device can also be a handling robot. The moving body 200 includes a moving chassis and a temporary storage rack arranged on the moving chassis. The forks 100 are arranged on the temporary storage rack. The moving chassis can realize autonomous movement on the ground.

[0137] The structures of the goods picking and placing device other than the fork 100 can be set with reference to the prior art. The type and other structures of the goods picking and placing device are not limited in this embodiment.

[0138] This embodiment also provides a warehousing and logistics system, which includes the above-mentioned goods picking and placing device, and can realize the picking and placing of goods on the shelves through the goods picking and placing device, improve the logistics efficiency, and reduce the lane width required for the operation of the goods picking and placing device, so that the spacing between two adjacent rows of shelves can be reduced, the shelf density in the warehouse can be increased, thereby improving the storage density of the warehouse and reducing the logistics cost.

[0139] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A fork, characterized in that: The invention comprises a telescopic linkage mechanism (5) and a fixed plate (1), a primary telescopic plate (2), a secondary telescopic plate (3) and a tertiary telescopic plate (4) arranged in sequence along a first direction, wherein the telescopic linkage mechanism (5) can drive the primary telescopic plate (2) to telescope in a second direction relative to the fixed plate (1), and drive the secondary telescopic plate (3) to telescope in the same direction relative to the primary telescopic plate (2), and drive the tertiary telescopic plate (4) to telescope in the same direction relative to the secondary telescopic plate (3).

2. The fork according to claim 1, characterized in that: The telescopic linkage mechanism (5) comprises: A main transmission assembly (51) is used for transmission connection with the telescopic drive motor, so that the telescopic drive motor drives the primary telescopic plate (2) to telescope relative to the fixed plate (1); A primary linkage component is transmission-connected between the fixed plate (1), the primary telescopic plate (2) and the secondary telescopic plate (3), so that when the primary telescopic plate (2) is telescoped relative to the fixed plate (1), the secondary telescopic plate (3) is driven to be telescoped in the same direction relative to the primary telescopic plate (2); A secondary linkage component is transmission-connected between the primary telescopic plate (2), the secondary telescopic plate (3) and the tertiary telescopic plate (4), so that when the secondary telescopic plate (3) is telescoped relative to the primary telescopic plate (2), the tertiary telescopic plate (4) is driven to be telescoped in the same direction relative to the secondary telescopic plate (3).

3. The fork according to claim 2, characterized in that: The second direction has a positive direction and a negative direction which are arranged oppositely, the first-stage linkage assembly comprises a first double-range transmission assembly (52) and a second double-range transmission assembly (53), the first double-range transmission assembly (52) being used for pulling the second-stage telescopic plate (3) to telescope in the same direction relative to the first-stage telescopic plate (2) when the first-stage telescopic plate (2) is extended in the positive direction or retracted in the negative direction relative to the fixed plate (1), and the second double-range transmission assembly (53) being used for pulling the second-stage telescopic plate (3) to telescope in the same direction relative to the first-stage telescopic plate (2) when the first-stage telescopic plate (2) is retracted in the positive direction or extended in the negative direction relative to the fixed plate (1); And / or, the second direction has a positive direction and a negative direction which are arranged oppositely, the secondary linkage assembly comprises a third-range transmission assembly (54) and a fourth-range transmission assembly (55), the third-range transmission assembly (54) being used for pulling the third-stage telescopic plate (4) to telescope in the same direction relative to the secondary telescopic plate (3) when the secondary telescopic plate (3) retracts in the positive direction or extends in the negative direction relative to the primary telescopic plate (2), and the fourth-range transmission assembly (55) being used for pulling the third-stage telescopic plate (4) to telescope in the same direction relative to the secondary telescopic plate (3) when the secondary telescopic plate (3) extends in the positive direction or retracts in the negative direction relative to the primary telescopic plate (2).

4. The fork according to claim 3, characterized in that: When the fork is in a retracted state, the first end of the fixed plate (1), the first end of the first telescopic plate (2), the first end of the second telescopic plate (3) and the first end of the third telescopic plate (4) are correspondingly arranged in the first direction; The first multiple-range transmission assembly (52) comprises a first guide member (521) and a first transmission member (522), wherein the first guide member (521) is rotatably mounted on the second end of the first telescopic plate (2), and the first transmission member (522) is wound around the first guide member (521) and has two ends respectively connected to the first end of the fixed plate (1) and the first end of the second telescopic plate (3); and / or The second double-range transmission assembly (53) comprises a second guide member (531) and a second transmission member (532), wherein the second guide member (531) is rotatably mounted on the first end of the first telescopic plate (2), and the second transmission member (532) is wound around the second guide member (531) and has two ends respectively connected to the second end of the fixed plate (1) and the second end of the first telescopic plate (2); and / or The third multi-range transmission assembly (54) comprises a third guide member (541) and a third transmission member (542), wherein the third guide member (541) is rotatably mounted on the first end of the second-stage telescopic plate (3), and the third transmission member (542) is wound around the third guide member (541) and has two ends respectively connected to the second end of the first-stage telescopic plate (2) and the second end of the third-stage telescopic plate (4); and / or The fourth-range transmission assembly (55) comprises a fourth guide member (551) and a fourth transmission member (552), wherein the fourth guide member (551) is rotatably mounted on the second end of the secondary telescopic plate (3), and the fourth guide member (551) is wound around the fourth guide member (551) and has two ends respectively connected to the first end of the primary telescopic plate (2) and the first end of the tertiary telescopic plate (4).

5. The fork according to claim 4, characterized in that: The first times-range transmission component (52) and the third times-range transmission component (54) are spaced apart in a third direction, and the second times-range transmission component (53) and the fourth times-range transmission component (55) are spaced apart in the third direction, and the third direction is perpendicular to both the first direction and the second direction.

6. The fork according to claim 4, characterized in that: The upper end of the fixed plate (1) and the upper end of the third-stage telescopic plate (4) both extend upwards beyond the upper end of the first-stage telescopic plate (2) and the upper end of the second-stage telescopic plate (3); the first guide member (521) is rotatably mounted on the upper end of the first-stage telescopic plate (2); and the third guide member (541) is rotatably mounted on the upper end of the second-stage telescopic plate (3).

7. The fork according to claim 4, characterized in that: The portion of the third transmission member (542) between the first end thereof and the third guide member (541) is located on the inner side of the first transmission member (522); And / or, a portion of the fourth transmission member (552) between its first end and the fourth guide member (551) is located on the inner side of the second transmission member (532).

8. The fork according to claim 7, characterized in that: The upper side of the second end of the primary telescopic plate (2) is detachably connected to a first mounting seat (7a); the first guide member (521) is rotatably mounted on the first mounting seat (7a); and the first end of the third transmission member (542) is detachably connected to the first mounting seat (7a); And / or, the upper side of the first end of the secondary telescopic plate (3) is detachably connected to a second mounting seat (7b), the third guide member (541) is rotatably mounted on the second mounting seat (7b), and the second end of the first transmission member (522) is detachably connected to the second mounting seat (7b).

9. The fork according to claim 8, characterized in that: The first mounting seat (7a) comprises a fixed seat (71) and an adjusting seat (72), the fixed seat (71) is connected to the primary telescopic plate (2), the first guide member (521) is rotatably mounted between the fixed seat (71) and the primary telescopic plate (2), the adjusting seat (72) is slidably connected to the fixed seat (71) to adjust the position of the adjusting seat (72) in the second direction, and the adjusting seat (72) is connected to the third transmission member (542); And / or, the second mounting seat (7b) comprises a fixed seat (71) and an adjusting seat (72), the fixed seat (71) is connected to the secondary telescopic plate (3), the third guide member (541) is rotatably mounted between the fixed seat (71) and the secondary telescopic plate (3), the adjusting seat (72) is slidably connected to the fixed seat (71) to adjust the position of the adjusting seat (72) in the second direction, and the adjusting seat (72) is connected to the first transmission member (522).

10. The fork according to any one of claims 4 to 9, characterized in that: At least two ends of the three-stage telescopic plate (4) are provided with a pickup assembly (6), the pickup assembly (6) comprising a shift fork (62) and a pickup drive motor (61), the pickup drive motor (61) driving the shift fork (62) to switch between a pickup state and an idle state.

11. The fork according to claim 10, characterized in that: The fourth transmission member (552) is provided with a first cable along its extension direction, and a first end of the first cable is electrically connected to the pickup drive motor (61); A drag chain (8) is connected between the primary telescopic plate (2) and the fixed plate (1), and a second cable is arranged on the drag chain (8), a first end of the second cable is electrically connected to a second end of the first cable, and the second end of the second cable passes through the fixed plate (1).

12. The fork according to claim 11, characterized in that: The first end of the primary telescopic plate (2) is provided with an avoidance through hole (21), and the first end of the fourth transmission member (552) passes through the avoidance through hole (21) and is connected to a side of the primary telescopic plate (2) facing the fixed plate (1); And / or, a wiring terminal (9) is connected to a side of the primary telescopic plate (2) facing the fixed plate (1), the second end of the first cable is detachably electrically connected to the wiring terminal (9), and the first end of the second cable is detachably electrically connected to the wiring terminal (9).

13. The fork according to claim 11, characterized in that: The first cable is passed through the interior of the fourth transmission member (552).

14. The fork according to claim 11, characterized in that: The picking-up components (6) are arranged in plurality at intervals along the length direction of the three-stage telescopic plate (4), and each of the picking-up drive motors (61) has a connecting wire. The connecting wires of two adjacent picking-up drive motors (61) are connected, and the connecting wire of the picking-up drive motor (61) near the second end of the fourth transmission member (552) is connected to the first end of the first cable.

15. A cargo picking and placing device, characterized in that: The fork comprises the fork according to any one of claims 1 to 14, wherein two forks are arranged opposite to each other and at intervals along the first direction.

16. A warehousing logistics system, characterized in that: It comprises the cargo picking and placing device as claimed in claim 15.

Images