Fork frame structure for transfer robot

Abstract

The invention relates to the technical field of transfer robots, in particular to a fork frame structure for a transfer robot, which mainly comprises a mounting plate, a fixing plate fixedly mounted on the right side surface of the mounting plate, a connecting plate fixedly mounted at the right end of the fixing plate, a fixing mechanism arranged on the left side of the connecting plate, a clamping mechanism arranged above the connecting plate, and a limiting mechanism. The limiting mechanism is arranged on the left of the mounting plate. When an object is clamped and fixed through a first clamping fork and a second clamping fork, the object extrudes an abutting block, the abutting block pushes a moving plate to move upwards, when the moving plate moves upwards, a first T-shaped groove drives a T-shaped block to move upwards, when the T-shaped block moves upwards, the T-shaped block moves horizontally, and the T-shaped block drives one end of an L-shaped rod to rotate; the other end of the L-shaped rod rotates reversely and drives the clamping plate to clamp and fix the side face of the object, in the object conveying process, the object is not prone to slipping off between the first clamping fork and the second clamping fork, the operation efficiency is improved, and the safety of the whole device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of handling robots, and particularly to a fork structure for a handling robot. Background Art

[0002] As a high-tech in the field of modern automatic control, handling robots have been widely used in the modern mechanical manufacturing production system and have become an indispensable and important part of it. The emergence of this technology has greatly improved production efficiency and product quality, and reduced errors and safety hazards caused by manual operations. Existing handling robots usually use a non-standard mechanical gripper installed at the end flange.

[0003] Chinese Patent Publication No. CN221455946U discloses a fork structure for a handling robot. The device installs the fork on the handling robot through a connecting seat, fills the hollow groove in the rotating ring with lubricating oil, and through the discharging mechanism, the lubricating oil is evenly applied to the connection between the connecting ring and the rotating ring, eliminating the need for manual application by staff, reducing the workload of the staff, and making the fork rotate more smoothly.

[0004] However, when the device clamps and grabs an object through the first clamping plate and the second clamping plate, its design can only achieve the fixation of the upper and lower sides of the object. This single fixation method has certain limitations because the two sides of the object are not effectively supported and fixed. During the conveying process of the object, due to the lack of lateral restraint force, the object is easily slipped between the first clamping plate and the second clamping plate, which not only affects the operation efficiency, but more importantly, reduces the safety of the entire device. Summary of the Invention

[0005] The purpose of the present invention is to provide a fork structure for a handling robot to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A fork structure for a handling robot, comprising: a mounting plate, a fixing plate is fixedly installed on the right side surface of the mounting plate, and a connecting plate is fixedly installed at the right end of the fixing plate;

[0008] A fixing mechanism, the fixing mechanism is arranged on the left side of the connecting plate, the fixing mechanism includes a circular plate located on the left side of the connecting plate, connecting strips are respectively arranged on the upper and lower side surfaces of the circular plate, and a first clamping fork and a second clamping fork are respectively fixedly installed on the side surfaces of the two connecting strips. The fixing mechanism is used for fixing an object;

[0009] The clamping mechanism is arranged above the connecting plate. The clamping mechanism includes a mounting block fixedly installed on the top surface of the first fork. A moving plate is arranged inside the mounting block. An L-shaped rod and a clamping plate are arranged below one side of the moving plate. The clamping mechanism is used to clamp the side surface of an object.

[0010] The limiting mechanism is arranged on the left side of the mounting plate. The limiting mechanism includes a limiting plate located on one side of the moving plate. A second support rod is fixedly installed on the top surface of the limiting plate. The limiting mechanism is used to limit an object.

[0011] Preferably, a groove is formed on the right side of the mounting plate. A motor is fixedly installed on the inner wall of the groove. The output end of the motor is fixedly installed with a rotating shaft. The left end of the rotating shaft passes through the inner wall of the groove through a bearing seat and extends to the left side of the mounting plate. The left end of the rotating shaft is fixedly connected to the right side surface of a circular plate.

[0012] Preferably, two arc-shaped grooves are formed through the side surface of the circular plate. Two cylinders are respectively slidably installed on the inner walls of the two arc-shaped grooves. One end of each of the two cylinders is fixedly installed with a circular block. The side surfaces of the two circular blocks are slidably connected to the side surface of the circular plate. The left ends of the two cylinders are respectively fixedly installed with fixed rods. The far ends of the two fixed rods are respectively fixedly connected to the adjacent side surfaces of two connecting strips. The side surfaces of the two connecting strips are slidably connected to the side surface of the mounting plate.

[0013] Preferably, there are two first forks and two second forks. Two fixing blocks are fixedly installed on the left side surface of the mounting plate. Two limiting columns are fixedly installed on the adjacent side surfaces of the two fixing blocks. Two through holes are respectively formed through the top surfaces of the two connecting strips. The outer walls of the limiting columns are respectively slidably connected to the inner walls of the multiple through holes.

[0014] Preferably, a cavity is formed inside the mounting block. The inner wall of the cavity is slidably connected to the side surface of the moving plate. A resisting block is fixedly installed on the bottom surface of the moving plate. The lower end of the resisting block slidably penetrates through the lower inner wall of the cavity and the top surface of the first fork and extends to the lower side of the first fork. A plurality of first elastic members are fixedly installed on the top surface of the moving plate. The upper ends of the plurality of first elastic members are fixedly connected to the upper inner wall of the cavity.

[0015] Preferably, a through groove is formed through the inner wall of the cavity. A first T-shaped groove is formed on the bottom surface of the moving plate. A T-shaped block is slidably installed on the inner wall of the first T-shaped groove. One end of the L-shaped rod is hinged to the inner wall of the T-shaped block.

[0016] Preferably, the other end of the L-shaped rod is hinged to the side surface of the clamping plate. A hinge block is fixedly installed on the side surface of the first fork. The inner wall of the hinge block is hinged to the middle side surface of the L-shaped rod. The side surface of the L-shaped rod is slidably connected to the inner wall of the through groove.

[0017] Preferably, an oil cavity is provided in the inner wall of the upper end of the cavity. The oil cavity is arranged in a "U" shape. An oil filling port is provided in the inner wall of the upper end of the oil cavity. A first piston is slidably installed on the inner wall of one end of the oil cavity. A first support rod is fixedly installed on the bottom surface of the first piston. The lower end of the first support rod is fixedly connected to the top surface of the moving plate.

[0018] Preferably, a second piston is slidably installed on the inner wall of the other end of the oil cavity. The bottom surface of the second piston is fixedly connected to the upper end of the second support rod. Two T-shaped grooves II are provided on the side surface of the installation block.

[0019] Preferably, one end of the limiting plate is arranged in a "T" shape. One end of the limiting plate is slidably connected to the inner wall of the T-shaped groove II. A second elastic member is fixedly installed on the bottom surface of one end of the limiting plate. The lower end of the second elastic member is fixedly connected to the inner wall of the lower end of the T-shaped groove II.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] When the present invention clamps and fixes an object through the first clamping fork and the second clamping fork, the object presses against the abutting block, and the abutting block pushes the moving plate to move upward. When the moving plate moves upward, it drives the T-shaped block to move upward through the T-shaped groove I. When the T-shaped block moves upward, it moves horizontally. One end of the T-shaped block drives the L-shaped rod to rotate, and the other end of the L-shaped rod rotates in the opposite direction and drives the clamping plate to clamp and fix the side surface of the object, so that both sides of the object are effectively supported and fixed. During the conveying process of the object, the object is not easy to slip between the first clamping fork and the second clamping fork, which not only improves the operation efficiency but also improves the safety of the entire device.

[0022] When the present invention clamps and fixes an object through the first clamping fork and the second clamping fork, the object presses against the abutting block, and the abutting block pushes the moving plate to move upward. The moving plate drives the first support rod and the first piston to move upward. The first piston pushes the hydraulic oil in the oil cavity to move, and pushes the second piston and the second support rod to move. The second support rod drives the limiting plate to move downward to block and limit the side surface of the object, ensuring that the object is not easy to slip from the side during the conveying process and further improving the safety of the device.

[0023] By starting the motor, the rotating shaft and the circular plate are driven to rotate. When the circular plate rotates, the cylinder is driven to move through the arc-shaped groove. The cylinder drives the fixed rod and the connecting strip to move. The two connecting strips approach each other, and the two connecting strips drive the first clamping fork and the second clamping fork to approach each other to clamp and fix the object, ensuring the stability of the object conveying. Description of the Drawings

[0024] Figure 1 is a three-dimensional structure diagram of the present invention;

[0025] Figure 2 is a left-side three-dimensional structure diagram of the present invention;

[0026] Figure 3It is a schematic cross-sectional view of the three-dimensional structure of the mounting plate of the present invention;

[0027] Figure 4 It is an exploded view of the three-dimensional structure of the circular plate of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the mounting block of the present invention;

[0029] Figure 6 It is a cross-sectional schematic diagram of the three-dimensional structure of the mounting block of the present invention;

[0030] Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle;

[0031] Figure 8 It is a side cross-sectional view of the three-dimensional structure of the mounting block of the present invention;

[0032] Figure 9 It is a schematic cross-sectional view of a three-dimensional structure of a clamping fork of the present invention.

[0033] In the figure:

[0034] 1. Mounting plate; 101. Fixing plate; 102. Connecting plate;

[0035] 2. Fixing mechanism; 201. trough body; 202. motor; 203. rotating shaft; 204. round plate; 205. arc groove; 206. cylinder; 207. round block; 208. fixing rod; 209. connecting strip; 210. fixing block; 211. limiting column; 212. clamping fork 1; 213. clamping fork 2;

[0036] 3. Clamping mechanism; 301. Mounting block; 302. Cavity; 303. Moving plate; 304. Stop block; 305. Elastic member 1; 306. T-slot 1; 307. T-block; 308. L-shaped rod; 309. Through slot; 310. Articulated block; 311. Clamping plate;

[0037] 4. Limiting mechanism; 401. Oil chamber; 402. Oil filling port; 403. Piston 1; 404. Support rod 1; 405. Piston 2; 406. Support rod 2; 407. Limiting plate; 408. T-slot 2; 409. Elastic member 2. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0040] As Figures 1-9 shown, this application provides a fork structure for a handling robot, including a mounting plate 1. A fixing plate 101 is fixedly installed on the right side surface of the mounting plate 1, and a connecting plate 102 is fixedly installed at the right end of the fixing plate 101.

[0041] A fixing mechanism 2 is arranged on the left side of the connecting plate 102. The fixing mechanism 2 includes a circular plate 204 located on the left side of the connecting plate 102. Connecting strips 209 are respectively arranged on the upper and lower side surfaces of the circular plate 204. A first clamping fork 212 and a second clamping fork 213 are respectively fixedly installed on the side surfaces of the two connecting strips 209. The fixing mechanism 2 is used for fixing an object.

[0042] Specifically, as Figures 1-4 shown, a groove 201 is opened on the right side of the mounting plate 1. A motor 202 is fixedly installed on the inner wall of the groove 201. The output end of the motor 202 is fixedly installed with a rotating shaft 203. The left end of the rotating shaft 203 passes through the inner wall of the groove 201 through a bearing seat and extends to the left side of the mounting plate 1. The left end of the rotating shaft 203 is fixedly connected to the right side surface of the circular plate 204.

[0043] In this embodiment: By setting the motor 202, the rotating shaft 203 is driven to rotate, and the rotating shaft 203 drives the circular plate 204 to rotate.

[0044] Specifically, as Figures 1-4 shown, two arc-shaped grooves 205 are opened through the side surface of the circular plate 204. Cylinders 206 are respectively slidably installed on the inner walls of the two arc-shaped grooves 205. One ends of the two cylinders 206 are respectively fixedly installed with round blocks 207. The side surfaces of the two round blocks 207 are slidably connected to the side surface of the circular plate 204. The left ends of the two cylinders 206 are respectively fixedly installed with fixing rods 208. The far ends of the two fixing rods 208 are respectively fixedly connected to the adjacent side surfaces of the two connecting strips 209. The side surfaces of the two connecting strips 209 are slidably connected to the side surface of the mounting plate 1.

[0045] In this embodiment: By setting the circular plate 204 to rotate, the arc-shaped grooves 205 on the circular plate 204 drive the cylinders 206 to move. When the cylinders 206 move, they drive the fixing rods 208 to move, and the fixing rods 208 drive the connecting strips 209 to move. Moreover, the side surfaces of the connecting strips 209 are slidably connected to the side surface of the mounting plate 1, thereby limiting the connecting strips 209 and ensuring that the connecting strips 209 move more stably.

[0046] Specifically, as Figures 1-4 shown, there are two fork one 212s and two fork two 213s. Two fixing blocks 210 are fixedly installed on the left side surface of the mounting plate 1. Two limiting columns 211 are fixedly installed near the side surfaces of the two fixing blocks 210. Two through holes are respectively formed through the top surfaces of the two connecting bars 209. The inner walls of the multiple through holes are respectively slidably connected to the outer walls of the two limiting columns 211.

[0047] In this embodiment: By providing the limiting columns 211, the two connecting bars 209 can be limited. The two connecting bars 209 drive the fork one 212 and the fork two 213 to clamp and fix the object, ensuring the stability of the object movement.

[0048] The clamping mechanism 3 is arranged above the connecting plate 102. The clamping mechanism 3 includes a mounting block 301 fixedly installed on the top surface of the fork one 212. A moving plate 303 is arranged inside the mounting block 301. An L-shaped rod 308 and a clamping plate 311 are arranged below one side of the moving plate 303. The clamping mechanism 3 is used to clamp the side surface of the object;

[0049] Specifically, as Figures 1-7 shown, a cavity 302 is formed inside the mounting block 301. The inner wall of the cavity 302 is slidably connected to the side surface of the moving plate 303. A resisting block 304 is fixedly installed on the bottom surface of the moving plate 303. The lower end of the resisting block 304 slidably penetrates through the lower inner wall of the cavity 302 and the top surface of the fork one 212 and extends to the lower part of the fork one 212. A plurality of first elastic members 305 are fixedly installed on the top surface of the moving plate 303. The upper ends of the plurality of first elastic members 305 are fixedly connected to the upper inner wall of the cavity 302.

[0050] In this embodiment: By providing the first elastic members 305 to apply an elastic force to the moving plate 303, it is ensured that the moving plate 303 has a thrust always downward. The provided resisting block 304 can push the moving plate 303 to move.

[0051] Specifically, as Figures 1-7 shown, a through groove 309 is formed through the inner wall of the cavity 302. A first T-shaped groove 306 is formed on the bottom surface of the moving plate 303. A T-shaped block 307 is slidably installed inside the first T-shaped groove 306. One end of the L-shaped rod 308 is hinged to the inner wall of the T-shaped block 307.

[0052] In this embodiment: By providing the first T-shaped groove 306, the T-shaped block 307 is limited. At the same time, it is ensured that the T-shaped block 307 can slide stably. The T-shaped block 307 drives one end of the L-shaped rod 308 to rotate.

[0053] Specifically, as Figures 1-7As shown, the other end of the L-shaped rod 308 is hinged to the side surface of the clamping plate 311. A hinge block 310 is fixedly installed on the side surface of the first clamping fork 212. The inner wall of the hinge block 310 is hinged to the middle side surface of the L-shaped rod 308. The side surface of the L-shaped rod 308 is slidably connected to the inner wall of the through groove 309.

[0054] In this embodiment: when the L-shaped rod 308 rotates, it drives the clamping plate 311 to clamp and fix the object, further supports and fixes the side surface of the object, and improves the safety of object transfer.

[0055] The limiting mechanism 4 is arranged on the left side of the mounting plate 1. The limiting mechanism 4 includes a limiting plate 407 on one side of the moving plate 303. A second support rod 406 is fixedly installed on the top surface of the limiting plate 407. The limiting mechanism 4 is used to limit the object.

[0056] Specifically, as Figures 1-9 shown, an oil cavity 401 is opened on the upper inner wall of the cavity 302. The oil cavity 401 is arranged in a "U" shape. An oil filling port 402 is arranged through the upper inner wall of the oil cavity 401. A first piston 403 is slidably installed on one inner wall of the oil cavity 401. A first support rod 404 is fixedly installed on the bottom surface of the first piston 403. The lower end of the first support rod 404 is fixedly connected to the top surface of the moving plate 303. Hydraulic oil is arranged inside the oil cavity 401.

[0057] In this embodiment: when the moving plate 303 moves, it drives the first support rod 404 and the first piston 403 to move, so as to push the hydraulic oil inside the oil cavity 401 to move.

[0058] Specifically, as Figures 1-9 shown, a second piston 405 is slidably installed on the other inner wall of the oil cavity 401. The bottom surface of the second piston 405 is fixedly connected to the upper end of the second support rod 406. Two second T-shaped grooves 408 are opened on the side surface of the mounting block 301.

[0059] In this embodiment: when the hydraulic oil inside the oil cavity 401 moves, it pushes the second piston 405 and the second support rod 406 to move, so as to adjust the position of the second support rod 406.

[0060] Specifically, as Figures 1-9 shown, one end of the limiting plate 407 is arranged in a "T" shape. One end of the limiting plate 407 is slidably connected to the inner wall of the second T-shaped groove 408. A second elastic member 409 is fixedly installed on the bottom surface of one end of the limiting plate 407. The lower end of the second elastic member 409 is fixedly connected to the lower inner wall of the second T-shaped groove 408.

[0061] In this embodiment: through the arranged second T-shaped groove 408, the limiting plate 407 is limited to ensure the stability of the movement of the limiting plate 407. The arranged second elastic member 409 applies an elastic force to the limiting plate 407, so as to ensure that the limiting plate 407 can return to its original position.

[0062] Specifically, this solution is as follows: Connect the connecting plate 102 to the robotic arm, turn on the motor 202 to drive the rotation of the rotating shaft 203 and the circular plate 204. When the circular plate 204 rotates, it drives the cylinder 206 to move through the arc-shaped groove 205. The cylinder 206 drives the fixed rod 208 and the connecting bar 209 to move. The two connecting bars 209 approach each other, and the two connecting bars 209 drive the fork one 212 and the fork two 213 to approach each other to clamp and fix the object, ensuring the stability of object transportation. When the fork one 212 and the fork two 213 clamp and fix the object, the object presses against the abutting block 304. The abutting block 304 pushes the moving plate 303 upward. When the moving plate 303 moves upward, it drives the T-shaped block 307 to move upward through the first T-shaped groove 306. When the T-shaped block 307 moves upward, it moves horizontally. The T-shaped block 307 drives one end of the L-shaped rod 308 to rotate, and the other end of the L-shaped rod 308 rotates in the opposite direction and drives the clamping plate 311 to clamp and fix the side of the object, enabling effective support and fixation on both sides of the object. During the transportation of the object, the object is not likely to slip between the fork one 212 and the fork two 213. This not only improves the operation efficiency but also enhances the safety of the entire device. When the abutting block 304 pushes the moving plate 303 upward, the moving plate 303 drives the first support rod 404 and the first piston 403 to move upward. The first piston 403 pushes the hydraulic oil in the oil chamber 401 to move and drives the second piston 405 and the second support rod 406 to move. The second support rod 406 drives the limiting plate 407 to move downward to block and limit the side of the object, ensuring that the object is not likely to slip from the side during transportation and further enhancing the safety of the device.

[0063] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is merely exemplary; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order. There are many other variations in different aspects of the present invention as described above, and they are not provided in detail for the sake of brevity.

[0064] The present invention aims to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fork structure for a handling robot, comprising: A mounting plate (1), a fixing plate (101) is fixedly mounted on the right side of the mounting plate (1), and a connecting plate (102) is fixedly mounted on the right end of the fixing plate (101), characterized in that: A fixing mechanism (2), the fixing mechanism (2) being arranged on the left side of the connecting plate (102), the fixing mechanism (2) comprising a circular plate (204) located on the left side of the connecting plate (102), the upper and lower sides of the circular plate (204) being respectively provided with connecting strips (209), the sides of the two connecting strips (209) being respectively fixedly mounted with a first clamping fork (212) and a second clamping fork (213), the fixing mechanism (2) being used to fix an object; A clamping mechanism (3), the clamping mechanism (3) being arranged above the connecting plate (102), the clamping mechanism (3) comprising a mounting block (301) fixedly mounted on the top surface of the clamping fork (212), a movable plate (303) being arranged inside the mounting block (301), an L-shaped rod (308) and a clamping plate (311) being arranged below one side of the movable plate (303), the clamping mechanism (3) being used to clamp the side surface of an object; A limiting mechanism (4), the limiting mechanism (4) is arranged on the left side of the mounting plate (1), the limiting mechanism (4) comprises a limiting plate (407) located on one side of the movable plate (303), a supporting rod 2 (406) is fixedly mounted on the top surface of the limiting plate (407), and the limiting mechanism (4) is used to limit the object.

2. A fork structure for a handling robot according to claim 1, characterized in that: A slot body (201) is provided on the right side of the mounting plate (1); a motor (202) is fixedly mounted on the inner wall of the slot body (201); a rotating shaft (203) is fixedly mounted on the output end of the motor (202); the left end of the rotating shaft (203) rotates through the inner wall of the slot body (201) through a bearing seat and extends to the left side of the mounting plate (1); and the left end of the rotating shaft (203) is fixedly connected to the right side surface of the circular plate (204).

3. A fork structure for a handling robot according to claim 2, characterized in that: Two arc-shaped grooves (205) are formed through the side of the circular plate (204), and cylinders (206) are slidably mounted on the inner walls of the two arc-shaped grooves (205). Round blocks (207) are fixedly mounted on one end of the two cylinders (206), and the sides of the two round blocks (207) are slidably connected to the side of the circular plate (204). Fixed rods (208) are fixedly mounted on the left ends of the two cylinders (206), and the distal ends of the two fixed rods (208) are fixedly connected to the proximal sides of two connecting strips (209), and the sides of the two connecting strips (209) are slidably connected to the side of the mounting plate (1).

4. A fork structure for a handling robot according to claim 3, characterized in that: The first clamping fork (212) and the second clamping fork (213) are both provided with two, the left side of the mounting plate (1) is fixedly mounted with two fixing blocks (210), the two fixing blocks (210) are fixedly mounted with two limiting columns (211) near the side, and the top surfaces of the two connecting strips (209) are respectively provided with two through holes, and the inner walls of the multiple through holes are respectively slidably connected with the outer walls of the two limiting columns (211).

5. The fork structure for a handling robot according to claim 1, characterized in that: A cavity (302) is provided inside the mounting block (301), and the inner wall of the cavity (302) is slidably connected to the side of the movable plate (303); a stop block (304) is fixedly installed on the bottom surface of the movable plate (303); the lower end of the stop block (304) slides through the inner wall of the lower end of the cavity (302) and the top surface of the clamping fork (212) to extend below the clamping fork (212); a plurality of elastic members (305) are fixedly installed on the top surface of the movable plate (303); the upper ends of the plurality of elastic members (305) are fixedly connected to the inner wall of the upper end of the cavity (302).

6. A fork structure for a handling robot according to claim 5, characterized in that: The inner wall of the cavity (302) is provided with a through groove (309), the bottom surface of the movable plate (303) is provided with a T-shaped groove (306), the inner wall of the T-shaped groove (306) is slidably mounted with a T-shaped block (307), and the inner wall of the T-shaped block (307) is hinged to one end of the L-shaped rod (308).

7. A fork structure for a handling robot according to claim 6, characterized in that: The other end of the L-shaped rod (308) is hinged to the side of the clamping plate (311), and a hinge block (310) is fixedly installed on the side of the clamping fork (212). The inner wall of the hinge block (310) is hinged to the middle side of the L-shaped rod (308), and the side of the L-shaped rod (308) is slidably connected to the inner wall of the through groove (309).

8. The fork structure for a handling robot according to claim 5, characterized in that: An oil chamber (401) is provided on the inner wall of the upper end of the cavity (302). The oil chamber (401) is arranged in a "U" shape. A refueling port (402) is provided through the inner wall of the upper end of the oil chamber (401). A piston (403) is slidably mounted on the inner wall of one end of the oil chamber (401). A support rod (404) is fixedly mounted on the bottom surface of the piston (403). The lower end of the support rod (404) is fixedly connected to the top surface of the movable plate (303).

9. A fork structure for a handling robot according to claim 8, characterized in that: A second piston (405) is slidably mounted on the inner wall of the other end of the oil chamber (401), the bottom surface of the second piston (405) is fixedly connected to the upper end of the second support rod (406), and two second T-shaped grooves (408) are provided on the side of the mounting block (301).

10. A fork structure for a handling robot according to claim 9, characterized in that: One end of the limit plate (407) is set in a "T" shape, and one end of the limit plate (407) is slidably connected to the inner wall of the second T-shaped slot (408). An elastic member (409) is fixedly installed on the bottom surface of one end of the limit plate (407), and the lower end of the elastic member (409) is fixedly connected to the inner wall of the lower end of the second T-shaped slot (408).

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