Telescopic fork device, material box carrying method and material box carrying robot

Abstract

The embodiment of the invention discloses a telescopic fork device, a material box carrying method and a material box carrying robot. The telescopic fork device comprises a mounting fork plate assembly and a telescopic fork plate assembly which are slidably connected in the first direction. The installation fork plate assembly is provided with a driving chain extending in the first direction through at least two chain wheels, and a driving mechanism fixed to the installation fork plate assembly is in transmission connection with any chain wheel. The telescopic fork plate assembly is provided with a chain rack extending in the first direction, and the chain rack is connected with the driving chain in an engaged mode. Therefore, the driving mechanism can drive the telescopic fork plate assembly to stretch out and draw back in the first direction relative to the mounting fork plate assembly, the structure is simple, and the requirements for machining precision, mounting precision and assembling precision are low; the problems that when a gear set composed of a plurality of meshed gears is used as a horizontal telescopic power transmission medium, the machining precision, the installation precision and the overall assembly precision are high are solved, the competitiveness of the workbin carrying robot is improved, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, and in particular to a telescopic fork device for box handling, a box handling method, and a box handling robot. Background Art

[0002] In the field of automated warehousing, box handling robots are usually used to carry out box handling operations.

[0003] The material box handling robot is equipped with a handling actuator that can be raised and lowered, and the handling actuator is equipped with a telescopic fork device that can be extended horizontally. In this way, the material box handling robot can use the telescopic fork device to carry the material box from the shelf to its own storage location, or carry the material box from its own storage location to the shelf. Therefore, the performance of the telescopic fork device in the material box handling robot is particularly important.

[0004] However, in the related schemes, since the horizontal extension and retraction of the telescopic fork device is usually transmitted by a gear set composed of multiple gears meshing with each other, this easily leads to problems with the processing accuracy, installation accuracy of each gear and the overall assembly accuracy of the telescopic fork device, which in turn makes the cost of the material box handling robot higher and the competitiveness lower. Summary of the Invention

[0005] In response to at least one aspect of the above-mentioned technical problems, an embodiment of the present application provides a telescopic fork device, a material box handling method and a material box handling robot for material box handling, wherein the telescopic fork device is respectively installed with a driving chain and a sprocket on the slidingly connected mounting fork plate assembly and the telescopic fork plate assembly, so that the chain and the sprocket are used as the power transmission medium for the linear motion of the telescopic fork plate assembly when the telescopic fork plate assembly is horizontally extended and retracted relative to the mounting fork plate assembly. The structure is simple, and the requirements for processing accuracy, installation accuracy and assembly accuracy are low. It solves the problem of high processing accuracy, installation accuracy and overall assembly accuracy caused by using a gear set composed of multiple meshing gears as the power transmission medium for horizontal extension and retraction, thereby improving the competitiveness of the material box handling robot and reducing costs.

[0006] An embodiment of the present application provides a telescopic fork device for box transport, the telescopic fork device comprising:

[0007] A mounting fork plate assembly and a telescopic fork plate assembly slidably connected along a first direction, the mounting fork plate assembly and the telescopic fork plate assembly extending along the first direction, the mounting fork plate assembly being used to be fixedly mounted on a transport actuator of a bin transport robot and to rise and fall with the transport actuator;

[0008] a drive chain and a sprocket extending along the first direction, the drive chain being mounted on the mounting fork plate assembly via at least two sprockets, the sprocket being fixedly mounted on the telescopic fork plate assembly, the drive chain being meshedly connected to the sprocket;

[0009] a driving mechanism fixedly mounted on the mounting fork assembly;

[0010] In which, the driving mechanism is connected to any one of the sprocket transmissions, so that the driving mechanism is used to drive the telescopic fork plate assembly to telescope bidirectionally along the first direction relative to the mounting fork plate assembly, so that the telescopic fork device can perform the transportation of the material box by lifting under the drive of the transport actuator.

[0011] In one embodiment, preferably, the mounting fork plate assembly and the telescopic fork plate assembly are arranged vertically;

[0012] The mounting fork plate assembly is provided with an accommodating space for accommodating the driving chain and the sprocket at a first end thereof close to the telescopic fork plate assembly, and the accommodating space extends along the first direction;

[0013] The second end of the mounting fork plate assembly away from the telescopic fork plate assembly is used for being fixedly mounted on a transport actuator of the bin transport robot.

[0014] In one embodiment, preferably, the mounting fork plate assembly includes a pair of mounting vertical plates, the mounting vertical plates are arranged perpendicular to the telescopic fork plate assembly, and the mounting vertical plates extend along the first direction;

[0015] Wherein, the pair of mounting vertical plates are fixedly mounted by at least two connecting and fixing members, and the connecting and fixing members extend along the vertical direction of the mounting vertical plates, so that the accommodating space is formed between the pair of mounting vertical plates.

[0016] In one embodiment, preferably, a pair of the mounting vertical plates are provided with a plurality of follower wheels on opposite sides thereof, the plurality of follower wheels are arranged in a straight line along the first direction, and the rotation axis direction of the follower wheels is arranged perpendicular to the mounting vertical plates;

[0017] Wherein, a pair of first sliding grooves are provided on a side of the telescopic fork plate assembly facing the mounting fork plate assembly, and the first sliding grooves extend along the first direction;

[0018] Furthermore, the openings of a pair of the first slide grooves are arranged opposite to each other, and the pair of the first slide grooves are used to respectively accommodate the follower wheels on opposite sides of a pair of the mounting vertical plates, so that the mounting fork plate assembly and the telescopic fork plate assembly are slidably connected along the first direction.

[0019] In one embodiment, preferably, the telescopic fork plate assembly includes a first transmission chain, a second transmission chain, and a primary telescopic fork plate and a secondary telescopic fork plate slidably connected along the first direction;

[0020] The secondary telescopic fork plate and the mounting fork plate assembly are respectively arranged on both sides of the primary telescopic fork plate, the sprocket is fixedly mounted on a side of the primary telescopic fork plate facing the mounting fork plate assembly, and the first transmission chain and the second transmission chain are respectively arranged on both sides of the mounting fork plate assembly relative to the first direction;

[0021] Wherein, on the side relative to the first direction, the first ends of the mounting fork plate assembly and the secondary telescopic fork plate along the first direction are respectively provided with a first chain fixing position, and the second end of the primary telescopic fork plate along the first direction is installed with a first sprocket;

[0022] Wherein, on the other side relative to the first direction, the mounting fork plate assembly and the second end of the secondary telescopic fork plate along the first direction are respectively provided with a second chain fixing position, and the first end of the primary telescopic fork plate along the first direction is installed with a second sprocket;

[0023] After the first transmission chain is engaged and connected with the first sprocket, its two ends are fixedly installed on a pair of first chain fixing positions respectively. After the second transmission chain is engaged and connected with the second sprocket, its two ends are fixedly installed on a pair of second chain fixing positions respectively, so that under the drive of the driving mechanism, the first-level telescopic fork plate simultaneously drives the second-level telescopic fork plate to extend and retract in the same direction.

[0024] In one embodiment, preferably, the first telescopic fork plate is provided with a pair of first sliding grooves on a side facing the mounting fork plate assembly, the first sliding grooves extending along the first direction, the openings of the pair of first sliding grooves being arranged opposite to each other and being used for sliding installation with the mounting fork plate assembly;

[0025] Wherein, a pair of second sliding grooves are provided on both sides of the pair of first sliding grooves, the second sliding grooves extend along the first direction, and the openings of the pair of second sliding grooves are arranged back to back and are used for sliding installation with the secondary telescopic fork plate.

[0026] In one embodiment, preferably, the first-level telescopic fork plate includes a fork plate base plate and a pair of slide groove cover plates;

[0027] Wherein, a pair of mounting bosses is provided on a side of the fork plate base plate facing the mounting fork plate assembly, the mounting bosses extending along the first direction, and the pair of slide slot cover plates are used to be fixedly mounted on the pair of mounting bosses respectively;

[0028] Furthermore, the chute cover plate is protruding relative to both sides of the mounting boss, so that the first chute and the second chute are formed on two opposite sides of the mounting boss respectively.

[0029] In one embodiment, preferably, the first sliding groove, the second sliding groove and the chain tooth bar are at the same height in the vertical direction of the telescopic fork plate assembly.

[0030] In one embodiment, preferably, the fork plate base plate and the slide groove cover plate are respectively provided with a concave chain groove at a projection position corresponding to the mounting boss, and the chain groove is used to accommodate the first transmission chain or the second transmission chain;

[0031] In addition, a first mounting through hole and a second mounting through hole for mounting the first sprocket and the second sprocket respectively are opened at the end positions of the chain groove.

[0032] In one embodiment, preferably, the telescopic fork device includes a zero position sensor and a zero position triggering member for triggering the zero position sensor;

[0033] The zero position sensor and the zero position trigger are respectively installed on the mounting fork plate assembly and the telescopic fork plate assembly; and the installation position configuration of the zero position trigger and the zero position sensor is as follows:

[0034] When the telescopic fork plate assembly is in a zero position relative to the mounting fork plate assembly, the zero position sensor generates a zero position signal due to the triggering of the zero position trigger member; the zero position indicates that the telescopic fork plate assembly is not extended in both directions relative to the mounting fork plate assembly along the first direction.

[0035] In one embodiment, preferably, the telescopic fork device further comprises a reset sensor, wherein the reset sensor is mounted at one end of the mounting fork plate assembly along the first direction;

[0036] Wherein, the reset sensor and the telescopic fork plate assembly are configured as follows:

[0037] When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly on which the reset sensor is mounted, the reset sensor is triggered due to its proximity to the telescopic fork plate assembly;

[0038] When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly where the reset sensor is not mounted, the reset sensor is not triggered due to being away from the telescopic fork plate assembly.

[0039] The present application also provides a container transport method, which includes:

[0040] With respect to the mounting fork plate assembly and the telescopic fork plate assembly which are driven by the meshing connection between the drive chain and the sprocket, the telescopic fork plate assembly is driven to bidirectionally extend and retract in a first direction relative to the mounting fork plate assembly, so that when the mounting fork plate assembly is fixed to the transport actuator of the material box transport robot and rises and falls with the transport actuator, the telescopic fork plate assembly performs the transport work of the material box by lifting;

[0041] Wherein, the mounting fork plate assembly, the telescopic fork plate assembly, the driving chain and the sprocket extend along the first direction;

[0042] The mounting fork plate assembly is slidably connected to the telescopic fork plate assembly along the first direction;

[0043] The drive chain is mounted on the mounting fork assembly via at least two sprockets, and any one of the sprockets is in transmission connection with a drive mechanism fixed to the mounting fork assembly;

[0044] The sprocket bar is fixedly mounted on the telescopic fork plate assembly.

[0045] In one embodiment, preferably, the step of driving the telescopic fork plate assembly to bidirectionally telescope in the first direction relative to the mounting fork plate assembly specifically includes:

[0046] With respect to the structural form in which the telescopic fork plate assembly is composed of a first telescopic fork plate and a second telescopic fork plate that are slidably connected, and the chain rack is fixed to the first telescopic fork plate, the first telescopic fork plate is driven by a driving mechanism to slide bidirectionally in a first direction relative to the mounting fork plate assembly, and the first transmission chain or the second transmission chain provided on both sides is used to cause the second telescopic fork plate to slide in the same direction while the first telescopic fork plate slides;

[0047] The telescopic fork plate assembly includes a first transmission chain, a second transmission chain, and a primary telescopic fork plate and a secondary telescopic fork plate connected in a sliding manner along the first direction;

[0048] The secondary telescopic fork plate and the mounting fork plate assembly are respectively arranged on both sides of the primary telescopic fork plate, the sprocket is fixedly mounted on a side of the primary telescopic fork plate facing the mounting fork plate assembly, and the first transmission chain and the second transmission chain are respectively arranged on both sides of the mounting fork plate assembly relative to the first direction;

[0049] On the side opposite to the first direction, the mounting fork plate assembly and the first end of the secondary telescopic fork plate along the first direction are respectively provided with a first chain fixing position, and the second end of the primary telescopic fork plate along the first direction is installed with a first sprocket;

[0050] On the other side relative to the first direction, the mounting fork plate assembly and the second end of the secondary telescopic fork plate along the first direction are respectively provided with a second chain fixing position, and the first end of the primary telescopic fork plate along the first direction is installed with a second sprocket;

[0051] After the first transmission chain is engaged and connected with the first sprocket, its two ends are fixedly installed on a pair of first chain fixing positions respectively. After the second transmission chain is engaged and connected with the second sprocket, its two ends are fixedly installed on a pair of second chain fixing positions respectively, so that under the drive of the driving mechanism, the first-level telescopic fork plate simultaneously drives the second-level telescopic fork plate to extend and retract in the same direction.

[0052] In one embodiment, preferably, when it is necessary to reset the telescopic fork assembly to a zero position, the container handling method includes:

[0053] Driving the telescopic fork plate assembly to reset and slide relative to the mounting fork plate assembly;

[0054] The zero position triggering member fixed to the telescopic fork plate assembly triggers the zero position sensor fixed to the mounting fork plate assembly, causing the zero position sensor to generate a zero position signal;

[0055] The telescopic fork plate assembly is reset to the zero position according to the zero position signal; wherein the zero position indicates a position in which the telescopic fork plate assembly is not extended in both directions relative to the mounting fork plate assembly along the first direction.

[0056] In one embodiment, preferably, the step of driving the telescopic fork plate assembly to reset and slide relative to the mounting fork plate assembly specifically includes:

[0057] When a trigger signal of the reset sensor is detected, the telescopic fork plate assembly is driven to slide relative to the mounting fork plate assembly to reset along a direction from the end of the mounting fork plate assembly where the reset sensor is mounted to the other end where the reset sensor is not mounted;

[0058] When no trigger signal of the reset sensor is detected, the telescopic fork plate assembly is driven to slide relative to the mounting fork plate assembly in a direction from the end of the mounting fork plate assembly where the reset sensor is not mounted to the other end where the reset sensor is mounted;

[0059] The reset sensor is mounted on one end of the mounting fork assembly along the first direction, and the reset sensor and the telescopic fork assembly are configured as follows:

[0060] When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly on which the reset sensor is mounted, the reset sensor is triggered due to its proximity to the telescopic fork plate assembly;

[0061] When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly where the reset sensor is not mounted, the reset sensor is not triggered due to being away from the telescopic fork plate assembly.

[0062] An embodiment of the present application further provides a material box handling robot, which includes a walking chassis and a handling execution mechanism provided on the walking chassis, wherein the handling execution mechanism is equipped with the telescopic fork device as described above.

[0063] An embodiment of the present application further provides a container handling robot, which performs the above-mentioned container handling method.

[0064] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0065] An embodiment of the present application provides a telescopic fork device, a method for handling a material box, and a material box handling robot, wherein the telescopic fork device includes a mounting fork plate assembly and a telescopic fork plate assembly that are slidably connected along a first direction; wherein the mounting fork plate assembly is installed with a driving chain extending along the first direction through at least two sprockets, and a driving mechanism fixed to the mounting fork plate assembly is transmission-connected to any sprocket; then, the telescopic fork plate assembly is installed with a sprocket extending along the first direction, and the sprocket is meshed with the driving chain; in this way, the driving mechanism can drive the telescopic fork plate assembly to telescope bidirectionally relative to the mounting fork plate assembly along the first direction through the transmission of the driving chain and the sprocket; furthermore, when the mounting fork plate assembly is fixed to the handling actuator of the material box handling robot, under the drive of the handling actuator, the telescopic fork device can perform the handling of the material box by lifting.

[0066] Compared with the solution of using a gear set composed of multiple meshing gears as the transmission medium, the telescopic fork device of this embodiment relies on the chain and the sprocket as the power transmission medium for the linear movement of the telescopic fork plate assembly when it is horizontally extended and retracted relative to the installed fork plate assembly, which reduces the processing accuracy, installation accuracy and overall assembly accuracy of the telescopic fork device, and has a simple structure and long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0068] Figure 1 Schematic diagram of the structure of the telescopic fork device in the embodiment of the present application.

[0069] Figure 2 for Figure 1 A partial enlarged view of .

[0070] Figure 3 2 is a schematic structural diagram of the telescopic fork device from another perspective in an embodiment of the present application.

[0071] Figure 4 Schematic diagram of the structure of the drive chain and the sprocket engaged with each other in the embodiment of the present application, wherein: Figure 4 One mounting riser is removed, and the chute cover is removed from the mounting boss.

[0072] Figure 5 This is a structural schematic diagram of the first-level telescopic fork plate and the second-level telescopic fork plate sliding in the same direction in the embodiment of the present application.

[0073] Figure 6 This is a schematic diagram of the installation structure of the first transmission chain and the second transmission chain in an embodiment of the present application.

[0074] Figure 7 This is a structural schematic diagram of the telescopic fork device described in an embodiment of the present application installed on a box handling robot.

[0075] Figure 8 Schematic diagram of the process of the material box handling method described in the embodiment of the present application.

[0076] Wherein, the reference numerals:

[0077] 100-Box handling robot, 200-Handling actuator, 300-Telescopic fork device,

[0078] 10-Install the fork plate assembly, 11-Install the vertical plate, 12-Connect the fixing parts, 13-Accommodation space, 14-Fix screw holes,

[0079] 20-telescopic fork plate assembly, 21-first telescopic fork plate, 22-second telescopic fork plate, 23-first transmission chain, 24-second transmission chain, 25-first sprocket, 26-second sprocket, 27-first chain fixing position, 28-second chain fixing position,

[0080] 211-fork plate base plate, 212-mounting boss, 213-slide cover plate, 214-first slide, 215-second slide, 216-chain groove, 218-second mounting through hole,

[0081] 30-drive chain, 31-chain pad, 32-straight part,

[0082] 40-sprocket,

[0083] 50-sprocket,

[0084] 60-driving mechanism, 61-reducing gear, 62-driving motor,

[0085] 70-follower wheel,

[0086] 80-slider,

[0087] 91-zero position sensor, 92-zero position trigger, 93-reset sensor.

[0088] X - first direction. DETAILED DESCRIPTION

[0089] In order to better understand the above technical solutions, example embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described herein.

[0090] Generally speaking, the handling actuator of the box handling robot is equipped with a horizontally retractable telescopic fork device. The box handling robot can use the telescopic fork device to carry the box from the shelf to its own storage location, or carry the box from its own storage location to the shelf.

[0091] However, the telescopic fork device on the existing bin handling robot usually relies on a gear set composed of multiple gears meshing with each other as the power transmission medium for horizontal extension and retraction. This puts high demands on the processing accuracy, installation accuracy of each gear and the overall assembly accuracy of the telescopic fork device, making the bin handling robot more expensive and less competitive.

[0092] In view of the above situation, an embodiment of the present application provides a telescopic fork device for box transport. Figure 1 is a structural diagram of the telescopic fork device. Figure 4 This is a schematic diagram of the structure of the drive chain and the sprocket meshing connection, please refer to Figure 1 and Figure 4, a telescopic fork device for handling a material box, the telescopic fork device comprising a mounting fork plate assembly 10 and a telescopic fork plate assembly 20 slidingly connected along a first direction X, a drive chain 30 and a sprocket 50 extending along the first direction X, and a drive mechanism 60 fixedly mounted on the mounting fork plate assembly 10; wherein, the mounting fork plate assembly 10 and the telescopic fork plate assembly 20 extend along the first direction X, and the mounting fork plate assembly is used to be fixedly mounted on a handling actuator of a material box handling robot and to rise and fall with the handling actuator; the drive chain 30 is mounted on the mounting fork plate assembly 10 through at least two sprockets 40, the sprocket 50 is fixedly mounted on the telescopic fork plate assembly 20, and the drive chain 30 is meshed with the sprocket 50; the drive mechanism 60 is transmission-connected to any sprocket 40, and the drive mechanism 60 is used to drive the telescopic fork plate assembly 20 to extend and retract bidirectionally along the first direction X relative to the mounting fork plate assembly 10, so that the telescopic fork device performs the handling of the material box by lifting under the drive of the handling actuator.

[0093] In this embodiment, the first direction is, for example, a horizontal direction, and the mounting fork plate assembly and the telescopic fork plate assembly are flat plates extending along the first direction.

[0094] Wherein, the mounting fork plate assembly and the telescopic fork plate assembly are slidably connected along a first direction.

[0095] It can be understood that, on the one hand, for example, Figure 7 The mounting fork plate assembly can be fixedly mounted on the transport actuator 200 of the bin transport robot 100. In this way, when the transport actuator 200 is raised or lowered, the telescopic fork device 300 as a whole follows or is driven by the transport actuator 200 to be raised or lowered. At the same time, on the other hand, the telescopic fork plate assembly can be horizontally extended and retracted by sliding horizontally relative to the mounting fork plate assembly (e.g., Figure 7 The middle telescopic fork plate assembly can be extended from the left and right sides of the material box handling robot), and the horizontally extended telescopic fork plate assembly can, for example, be extended into the pallet carrying the material box. In this way, it can be understood that the telescopic fork device of this embodiment can perform the handling work of the material box by lifting.

[0096] Wherein, the mounting fork plate assembly is equipped with a driving chain via at least two sprockets.

[0097] The drive chain 30 is, for example, annular and arranged along the first direction X; for example, a sprocket can be installed at each end of the mounting fork assembly along the first direction, and then the annular drive chain is engaged and connected to the sprockets at both ends; of course, see Figure 4According to actual needs, the fork plate assembly can also be installed with multiple sprockets to tension the drive chain. In addition, the fork plate assembly can also be installed with a chain pad 31 to support the drive chain; the fork plate assembly is installed with a drive mechanism, which can be connected to any sprocket transmission. In this way, the drive mechanism can drive the annular drive chain to rotate through the sprocket (i.e., the driving wheel) connected to it.

[0098] Wherein, the telescopic fork plate assembly is fixedly installed with a sprocket bar.

[0099] The sprocket is, for example, in the shape of a plate extending along the first direction, and the sprocket is meshed and connected with the above-mentioned drive chain; it can be understood that under the drive of the driving mechanism, the driving mechanism can drive the telescopic fork plate assembly to telescope bidirectionally along the first direction relative to the installed fork plate assembly through the transmission of the drive chain and the sprocket.

[0100] It can be seen that when realizing the bidirectional extension and retraction of the telescopic fork plate assembly relative to the installation fork plate assembly, this embodiment uses the sprocket and the drive chain as the medium for linear motion power transmission. During the transmission process, the sprocket and the drive chain have low requirements for installation accuracy, assembly accuracy, etc., so the structure is simple, the cost is low, and it has the advantage of low friction resistance, which reduces the cost of the material box handling robot and improves its competitiveness.

[0101] Regarding the above-mentioned driving mechanism, in a preferred embodiment, for example, the driving mechanism 60 includes a driving motor 62 and a reducer 61, wherein the reducer is fixedly mounted on the mounting fork plate assembly, the driving motor is transmission-connected to the input end of the reducer, and then the output end of the reducer is transmission-connected to any sprocket.

[0102] Regarding the above-mentioned mounting fork assembly 10, in one possible implementation manner, the mounting fork assembly 10 and the telescopic fork assembly 20 are arranged vertically; wherein, the first end of the mounting fork assembly 10 close to the telescopic fork assembly 20 is provided with a accommodating space 13 for accommodating the drive chain 30 and the sprocket 40, and the accommodating space 13 extends along the first direction X; the second end of the mounting fork assembly 10 away from the telescopic fork assembly 20 is used to be fixedly installed on the handling actuator of the material box handling robot.

[0103] In this embodiment, the mounting fork plate assembly and the telescopic fork plate assembly are vertically arranged. The telescopic fork plate assembly is, for example, a horizontally arranged flat plate, and the mounting fork plate assembly is, for example, a vertically arranged flat plate.

[0104] Among them, along the vertical direction, an accommodating space is provided at one end of the mounting fork plate assembly close to the telescopic fork plate assembly, and the accommodating space extends along the first direction, so that the sprocket and drive chain mentioned above can be placed in the accommodating space; the other end of the mounting fork plate assembly away from the telescopic fork plate assembly is used for fixed installation with the transport actuator.

[0105] It can be seen that in this embodiment, the mounting fork plate assembly and the telescopic fork plate assembly are arranged vertically. In this way, on the one hand, an accommodating space can be set at one end of the mounting fork plate assembly close to the telescopic fork plate assembly, and the accommodating space can be used to carry the drive chain and sprocket on the mounting fork plate assembly for sliding connection with the telescopic fork plate assembly. Of course, it can be understood that, considering the meshing connection between the drive chain and the sprocket, the accommodating space can also carry the protruding sprocket on the telescopic fork plate assembly, that is, the power transmission medium for linear motion such as the drive chain, sprocket, and sprocket is hidden, thereby ensuring the safe and reliable bidirectional extension and retraction of the telescopic fork plate assembly along the first direction.

[0106] On the other hand, the mounting fork assembly is vertically arranged, and a fixing screw hole 14 can be set at its end away from the telescopic fork assembly to facilitate installation on the transport actuator. In addition, the mounting fork assembly extends a certain height in the vertical direction, which also provides installation space for the driving mechanism set thereon, and the driving mechanism can be installed on one side of the mounting fork assembly.

[0107] In a specific embodiment, the mounting fork plate assembly 10 includes a pair of mounting vertical plates 11, which are arranged perpendicular to the telescopic fork plate assembly 20 and extend along the first direction X; wherein, the pair of mounting vertical plates 11 are fixedly mounted by at least two connecting fixing members 12, and the connecting fixing members 12 extend along the perpendicular direction of the mounting vertical plates 11, so that an accommodating space 13 is formed between the pair of mounting vertical plates 11.

[0108] This embodiment provides a specific implementation structure for installing the fork plate assembly.

[0109] Among them, combined Figure 2 and Figure 4 The mounting fork plate assembly, for example, includes a pair of mounting vertical plates, which are arranged in the vertical direction. The pair of mounting vertical plates are fixedly installed by a number of connecting fixings, and the connecting fixings extend in the horizontal direction. In this way, the space between the pair of mounting vertical plates can form the accommodating space mentioned above, that is, the sprocket and the drive chain can be specifically arranged in the space between the pair of mounting vertical plates, which has a simple structure and low cost.

[0110] Regarding the sliding connection between the mounting fork plate assembly 10 and the telescopic fork plate assembly 20, in a specific embodiment, a pair of mounting vertical plates 11 are respectively provided with a plurality of follower wheels 70 on opposite sides thereof, and the plurality of follower wheels 70 are arranged in a straight line along the first direction X, and the rotation axis direction of the follower wheels 70 is arranged perpendicular to the mounting vertical plates 11; wherein, the telescopic fork plate assembly 20 is provided with a pair of first sliding grooves 214 on a side facing the mounting fork plate assembly 10, and the first sliding grooves 214 extend along the first direction X; and, the openings of the pair of first sliding grooves 214 are arranged opposite to each other, and the pair of first sliding grooves 214 are used to respectively accommodate the follower wheels 70 on opposite sides of a pair of mounting vertical plates 11, so that the mounting fork plate assembly 10 and the telescopic fork plate assembly 20 are slidingly connected along the first direction X.

[0111] On the basis of the above pair of vertical plates, Figure 5 or Figure 6 In this embodiment, a plurality of follower wheels can be respectively arranged on opposite sides of a pair of mounting vertical plates, that is, a plurality of follower wheels are arranged on the outer side of each mounting vertical plate, the rotation axis direction of the follower wheels is perpendicular to the mounting vertical plate, and the plurality of follower wheels are arranged in a straight line along the first direction; at the same time, referring to Figure 2 A pair of first sliding grooves can be provided on the side of the telescopic fork plate assembly facing the mounting fork plate assembly, and the openings of the pair of first sliding grooves are arranged opposite to each other. The pair of first sliding grooves respectively accommodate a pair of follower wheels on the opposite sides of the mounting vertical plates. In this way, the mounting fork plate assembly and the telescopic fork plate assembly can achieve a sliding connection along the first direction.

[0112] The follower wheel 70 is, for example, a cam follower bearing, which is mounted on the mounting vertical plate and rotates freely in the first slide groove, so that the sliding connection resistance between the mounting fork plate assembly and the telescopic fork plate assembly is small.

[0113] For example, a slider 80 may be installed between adjacent cam follower bearings to support the linear motion.

[0114] In a specific embodiment, the follower wheel is located at an end of the mounting riser close to the telescopic fork plate assembly.

[0115] Please combine Figure 5 or Figure 6 The follower wheel can be specifically located at the end position of the mounting vertical plate close to the telescopic fork plate assembly, which is convenient for installation.

[0116] Regarding the telescopic fork plate assembly 20, in one possible embodiment, the telescopic fork plate assembly 20 includes a first transmission chain 23, a second transmission chain 24, and a first telescopic fork plate 21 and a second telescopic fork plate 22 that are slidably connected along the first direction X; the second telescopic fork plate 22 and the mounting fork plate assembly 10 are respectively arranged on both sides of the first telescopic fork plate 21, the sprocket 50 is fixedly mounted on a side of the first telescopic fork plate 21 facing the mounting fork plate assembly 10, and the first transmission chain 23 and the second transmission chain 24 are respectively arranged on both sides of the mounting fork plate assembly 10 relative to the first direction X;

[0117] Wherein, on the side relative to the first direction X, the mounting fork plate assembly 10 and the first end of the secondary telescopic fork plate 22 along the first direction X are respectively provided with a first chain fixing position 27, and the second end of the primary telescopic fork plate 21 along the first direction X is provided with a first sprocket 25;

[0118] Wherein, on the other side relative to the first direction X, the mounting fork plate assembly 10 and the second end of the secondary telescopic fork plate 22 along the first direction X are respectively provided with a second chain fixing position 28, and the first end of the primary telescopic fork plate 21 along the first direction X is provided with a second sprocket 26;

[0119] After the first transmission chain 23 is engaged and connected with the first sprocket 25, its two ends are fixedly installed on a pair of first chain fixing positions 27 respectively. After the second transmission chain 24 is engaged and connected with the second sprocket 26, its two ends are fixedly installed on a pair of second chain fixing positions 28 respectively, so that under the drive of the driving mechanism 60, the first telescopic fork plate 21 simultaneously drives the second telescopic fork plate 22 to extend and retract in the same direction.

[0120] That is, see Figures 3 to 6 The telescopic fork plate assembly of this embodiment can be specifically implemented through a two-stage telescopic structure, thereby increasing (or specifically doubling) the length of the telescopic fork plate assembly extending relative to the mounting fork plate assembly.

[0121] Generally speaking, the telescopic fork plate assembly includes a primary telescopic fork plate and a secondary telescopic fork plate that are slidably connected along a first direction. The primary telescopic fork plate is flanked above and below by the secondary telescopic fork plate and the aforementioned mounting fork plate assembly (i.e., a pair of mounting risers). In other words, from top to bottom, this embodiment sequentially arranges the secondary telescopic fork plate, the primary telescopic fork plate, and the pair of mounting risers.

[0122] Among them, the first-level telescopic fork plate is slidably connected to a pair of mounting vertical plates below, and, as mentioned above, the driving mechanism fixedly installed on the mounting fork plate assembly (i.e., a pair of mounting vertical plates) drives the first-level telescopic fork plate to be extended and retracted by engaging the driving chain with the chain teeth; at the same time, the first-level telescopic fork plate is also slidably connected to the second-level telescopic fork plate above, and, in this embodiment, a first transmission chain and a second transmission chain are respectively provided on both sides of the mounting fork plate assembly relative to the first direction, so that the driving mechanism can drive the first-level telescopic fork plate to be extended and retracted (i.e., the first-level telescopic fork plate is extended and retracted relative to the mounting vertical plates), and the driving mechanism can also indirectly drive the second-level telescopic fork plate to be extended and retracted (i.e., the second-level telescopic fork plate is extended and retracted relative to the first-level telescopic fork plate) with the help of the first-level telescopic fork plate.

[0123] Specifically, as mentioned above, see Figure 6 The first transmission chain 23 and the second transmission chain 24 are respectively arranged on both sides of the mounting fork plate assembly relative to the first direction.

[0124] Among them, on the side of the mounting fork plate assembly (i.e., a pair of mounting vertical plates) relative to the first direction (i.e., the side with the drive motor), the lower mounting fork plate assembly and the upper secondary telescopic fork plate are connected along the first end of the first direction ( Figure 6 The right end of the first chain is respectively provided with a first chain fixing position 27, and the second end of the middle first-level telescopic fork plate along the first direction ( Figure 6 The first sprocket 25 is installed at the left end of the first chain, that is, a pair of first chain fixing positions and the first sprocket are respectively arranged at both ends of the first direction; then, after the first transmission chain 23 is engaged with the first sprocket 25, its two ends are respectively fixedly installed at a pair of first chain fixing positions 27.

[0125] Among them, on the other side of the mounting fork plate assembly (i.e. a pair of mounting vertical plates) relative to the first direction (i.e. the side where the drive motor is not provided), similar to and opposite to the setting of the above-mentioned side, the lower mounting fork plate assembly and the upper secondary telescopic fork plate are respectively provided with second chain fixing positions along the second end of the first direction, and the middle primary telescopic fork plate is installed with a second sprocket along the first end of the first direction, that is, a pair of second chain fixing positions and the second sprocket are respectively arranged at both ends of the first direction, and the above-mentioned first chain fixing position and the second chain fixing position are respectively arranged at different ends along the first direction, and the above-mentioned first sprocket and the second sprocket are respectively arranged at different ends along the first direction; then, after the second transmission chain is meshed and connected with the second sprocket, its two ends are respectively fixedly installed on a pair of second chain fixing positions.

[0126] It can be understood that, on the basis of the above structure, for example, when the driving mechanism installed on the mounting vertical plate drives the first end of the first telescopic fork plate to extend a certain stroke relative to the mounting vertical plate, the second sprocket provided at the first end of the first telescopic fork plate will simultaneously drive the secondary telescopic fork plate to extend the same stroke in the same direction relative to the primary telescopic fork plate. In this way, the stroke of the secondary telescopic fork plate extending relative to the mounting vertical plate can be doubled, and it can be understood that during the extension process, the extension speed of the secondary telescopic fork plate relative to the primary telescopic fork plate will also be doubled.

[0127] Similarly, for example, when the driving mechanism installed on the mounting vertical plate drives the second end of the first telescopic fork plate to extend a certain stroke relative to the mounting vertical plate, the first sprocket provided at the second end of the first telescopic fork plate will also simultaneously drive the secondary telescopic fork plate to extend the same stroke in the same direction relative to the first telescopic fork plate. In this way, the extension stroke of the secondary telescopic fork plate relative to the mounting vertical plate can be doubled, and it can be understood that during the extension process, the extension speed of the secondary telescopic fork plate relative to the primary telescopic fork plate will also be doubled.

[0128] Regarding the above-mentioned first-level telescopic fork plate 21, in one possible implementation manner, on the side facing the mounting fork plate assembly 10, the first-level telescopic fork plate 21 is provided with a pair of first slide grooves 214, the first slide grooves 214 extend along the first direction X, and the openings of the pair of first slide grooves 214 are arranged opposite to each other and are used for sliding installation with the mounting fork plate assembly 10; wherein, a pair of second slide grooves 215 are provided on both sides of the pair of first slide grooves 214, the second slide grooves 215 extend along the first direction X, and the openings of the pair of second slide grooves 215 are arranged back to back and are used for sliding installation with the second-level telescopic fork plate 22.

[0129] That is, considering that the first-level telescopic fork plate needs to be slidably connected to the second-level telescopic fork plate above and the mounting vertical plate below at the same time, this embodiment arranges the two sliding connection structures (i.e., the sliding connection structure between the first-level telescopic fork plate and the second-level telescopic fork plate and the sliding connection structure between the first-level telescopic fork plate and the mounting vertical plate) on the same surface of the first-level telescopic fork plate, i.e., the side facing the mounting fork plate assembly. This structure is simple, can reduce the volume occupied by the telescopic fork plate assembly, and facilitates the driving of the two sliding operations (the sliding of the second-level telescopic fork plate relative to the first-level telescopic fork plate, and the sliding of the first-level telescopic fork plate relative to the mounting vertical plate).

[0130] Specifically, please combine Figure 2 、 Figure 3, this embodiment is provided with a pair of first slide grooves and a pair of second slide grooves on one side of the first telescopic fork plate facing the mounting vertical plate (i.e., the mounting fork plate assembly); wherein the openings of the pair of second slide grooves on both sides are arranged back to back, and there is a pair of first slide grooves between the pair of second slide grooves, the openings of the pair of first slide grooves are arranged opposite to each other, and the spacing between the pair of first slide grooves is adapted to the spacing between the pair of mounting vertical plates; then, combined with the structure in which a plurality of follower wheels are respectively provided on the opposite sides of the above-mentioned pair of mounting vertical plates, and the plurality of follower wheels are arranged in a straight line along the first direction, in this way, the pair of first slide grooves in the middle can be used for sliding installation with the pair of mounting vertical plates below, and at the same time, the pair of second slide grooves on both sides can be used for sliding installation with the secondary telescopic fork plate above.

[0131] In addition, regarding the sliding installation of the secondary telescopic fork plate and the second sliding groove, similar to the installation of the vertical plate, for example, a plurality of follower wheels can be respectively provided on both sides of the secondary telescopic fork plate, and the plurality of follower wheels are arranged in a straight line along the first direction.

[0132] Regarding the setting of the above-mentioned first slide groove 214 and the second slide groove 215, in a specific embodiment, the first-level telescopic fork plate 21 includes a fork plate base plate 211 and a pair of slide groove cover plates 213; wherein, the fork plate base plate 211 is provided with a pair of mounting bosses 212 on the side facing the mounting fork plate assembly 10, and the mounting bosses 212 extend along the first direction X, and the pair of slide groove cover plates 213 are used to be fixedly installed on the pair of mounting bosses 212 respectively; and, the slide groove cover plates 213 are protrudingly arranged on both sides of the mounting bosses 212, so that the first slide groove 214 and the second slide groove 215 are formed on the opposite sides of the mounting bosses 212 respectively.

[0133] See Figures 2 to 4 The fork plate base plate can be, for example, in the shape of a flat plate, and then, a pair of mounting bosses are provided on the side of the fork plate base plate facing the mounting fork plate assembly (i.e., a pair of mounting vertical plates), and the spacing between the pair of mounting bosses should be greater than the spacing between the pair of mounting vertical plates; then, a slide groove cover plate can be fixedly installed on the lower end portion of each mounting boss; wherein, the slide groove cover plate is protruding relative to the two sides of the mounting boss, so that it can be understood that the two sides of each mounting boss can respectively form the first slide groove on the inner side and the second slide groove on the outer side, and then, the first-level telescopic fork plate can simultaneously form a pair of first slide grooves and a pair of second slide grooves, with a simple structure and low cost.

[0134] In another specific embodiment, the first slide groove 214, the second slide groove 215 and the sprocket 50 are at the same height in the vertical direction of the telescopic fork assembly 20; that is, along the vertical direction, the first slide groove, the second slide groove and the sprocket, and the straight portion on the upper side of the drive chain should be maintained at the same height to facilitate driving and sliding.

[0135] Regarding the arrangement of the fork plate base plate 211 and the slide groove cover plate 213, in a specific embodiment, the fork plate base plate 211 and the slide groove cover plate 213 are respectively provided with a concave chain groove 216 at the projection position of the corresponding mounting boss 212, and the chain groove 216 is used to accommodate the first transmission chain 23 or the second transmission chain 24; and, the first mounting through hole and the second mounting through hole 218 are respectively provided at the end position of the chain groove 216 for installing the first sprocket 25 and the second sprocket 26.

[0136] That is, please combine Figure 4 and Figure 6 For the driving of the secondary telescopic fork plate, this embodiment can specifically arrange the first transmission chain and the second transmission chain that drive the secondary telescopic fork plate in the projection area of ​​a pair of mounting bosses respectively. At this time, since the outer side of the mounting boss is the second slide groove that is slidably connected to the secondary telescopic fork plate, the driving part (the first transmission chain, the second transmission chain) and the sliding part (a pair of second slide grooves) are arranged closely to facilitate driving.

[0137] Specifically, in this embodiment, a first mounting through hole ( Figure 6 (not shown), and then a second mounting through hole is set at the other end of the other mounting boss. The first mounting through hole and the second mounting through hole should both pass through the fork plate base plate and the slide groove cover plate. The first mounting through hole is used to fix the first sprocket and allow the first transmission chain to pass through. The second mounting through hole is used to fix the second sprocket and allow the second transmission chain to pass through.

[0138] In addition, considering the compactness of the overall structure, this embodiment can also set a concave chain groove at the projection position of the fork plate base plate and the slide groove cover plate corresponding to the mounting boss respectively, so that the chain groove can be used to accommodate the first transmission chain or the second transmission chain.

[0139] In one possible embodiment, the telescopic fork device includes a zero position sensor 91 and a zero position trigger 92 for triggering the zero position sensor 91; wherein the zero position sensor 91 and the zero position trigger 92 are respectively mounted on the mounting fork plate assembly 10 and the telescopic fork plate assembly 20; and the mounting positions of the zero position trigger 92 and the zero position sensor 91 are configured as follows:

[0140] When the telescopic fork plate assembly 20 is in the zero position relative to the mounting fork plate assembly 10, the zero position sensor 91 generates a zero position signal due to the triggering of the zero position trigger member 92; the zero position indicates that the telescopic fork plate assembly 20 is not extended in both directions along the first direction X relative to the mounting fork plate assembly 10.

[0141] It can be understood that since the telescopic fork plate assembly is telescopic relative to the mounting fork plate assembly, the zero position or initial position of the telescopic fork plate assembly can be determined by the zero position trigger and the zero position sensor. The zero position or initial position is the position where both ends of the telescopic fork plate assembly are not extended relative to the mounting fork plate assembly along the first direction (e.g., Figure 1 or Figure 3 shown).

[0142] Among them, can understand, specifically combine Figure 3 The zero position sensor can be, for example, a slot-type photoelectric sensor, and the zero position trigger can be, for example, a light shielding member. The zero position sensor can be installed on the mounting fork plate assembly. At this time, the zero position trigger is fixedly installed on the telescopic fork plate assembly, and when the telescopic fork plate assembly is in the zero position, the zero position trigger should just trigger the zero position sensor to generate a zero position signal, so that the zero position of the telescopic fork device can be known or determined.

[0143] Of course, according to actual needs, the zero position sensor can also be installed on the telescopic fork plate assembly. In this case, the zero position trigger is fixedly installed on the mounting fork plate assembly.

[0144] In a specific embodiment, the telescopic fork device further includes a reset sensor 93, which is mounted on one end of the mounting fork plate assembly 10 along the first direction X; wherein the reset sensor 93 and the telescopic fork plate assembly 20 are configured as follows:

[0145] When the telescopic fork plate assembly 20 extends from the end of the mounting fork plate assembly 10 on which the reset sensor 93 is mounted, the reset sensor 93 is triggered due to its proximity to the telescopic fork plate assembly 20;

[0146] When the telescopic fork plate assembly 20 extends from the end of the mounting fork plate assembly 10 where the reset sensor 93 is not mounted, the reset sensor 93 is not triggered because it is away from the telescopic fork plate assembly 20 .

[0147] It can be understood that, since the telescopic fork plate assembly is bidirectionally telescopic relative to the mounting fork plate assembly, in the power-off state, the telescopic state of the telescopic fork plate assembly may be at any position from the positive limit stroke to the negative line stroke, that is, it is not possible to determine in which direction the telescopic fork plate assembly is extended relative to the mounting fork plate assembly (e.g. Figure 4 or Figure 6 As shown), the rotation direction of the driving mechanism during reset cannot be determined.

[0148] Based on the above situation, this embodiment also installs a reset sensor on the mounting fork plate assembly. The reset sensor is, for example, a proximity sensor that can sense the telescopic fork plate assembly. For example, the telescopic fork plate assembly is not made of metal, and the reset sensor is a proximity sensor that can sense metal. The reset sensor is arranged at one end of the mounting fork plate assembly along the first direction.

[0149] In this way, when the telescopic fork plate assembly is extended from the end of the mounting fork plate assembly on which the reset sensor is installed, the reset sensor can be triggered due to its proximity to the telescopic fork plate assembly; when the telescopic fork plate assembly is extended from the end of the mounting fork plate assembly on which the reset sensor is not installed, the reset sensor can be not triggered due to its distance from the telescopic fork plate assembly; thereby, the extending direction of the telescopic fork plate assembly relative to the mounting fork plate assembly can be judged based on whether the reset sensor is triggered, and the rotation direction of the driving mechanism during reset can be determined.

[0150] Based on the telescopic fork device disclosed above, another embodiment of the present application further discloses a container handling method, which is applied to the telescopic fork device described above. The container handling method includes:

[0151] S1. With respect to the mounting fork plate assembly and the telescopic fork plate assembly, which are driven by the meshing connection between the drive chain and the sprocket, the telescopic fork plate assembly is driven to bidirectionally extend and retract relative to the mounting fork plate assembly in a first direction, so that when the mounting fork plate assembly is fixed to the transport actuator of the material box handling robot and rises and falls with the transport actuator, the telescopic fork plate assembly performs the material box handling work by lifting;

[0152] Among them, the mounting fork plate assembly, the telescopic fork plate assembly, the drive chain and the sprocket extend along the first direction; the mounting fork plate assembly and the telescopic fork plate assembly are slidingly connected along the first direction; the drive chain is installed on the mounting fork plate assembly through at least two sprockets, and any sprocket is transmission-connected to the drive mechanism fixed to the mounting fork plate assembly; the sprocket is fixedly installed on the telescopic fork plate assembly.

[0153] That is, the material box handling method of this embodiment is applied to the mounting fork plate assembly and the telescopic fork plate assembly that are transmission-connected by means of the engagement of the drive chain and the sprocket bar.

[0154] This embodiment drives the telescopic fork plate assembly to bidirectionally extend and retract along a first direction relative to the mounting fork plate assembly, so that it can be understood that when the mounting fork plate assembly is fixed to the transport actuator of the material box transporting robot, the bidirectionally extendable telescopic fork plate assembly can perform the material box transport work by lifting under the drive of the transport actuator to rise and fall.

[0155] In one possible implementation, in step S1, driving the telescopic fork plate assembly to bidirectionally telescope in a first direction relative to the mounting fork plate assembly specifically includes:

[0156] S101. With respect to a structure in which a telescopic fork plate assembly is composed of a first telescopic fork plate and a second telescopic fork plate that are slidably connected, and a sprocket is fixed to the first telescopic fork plate, a drive mechanism is used to drive the first telescopic fork plate to slide bidirectionally in a first direction relative to the mounting fork plate assembly. Furthermore, utilizing a first transmission chain or a second transmission chain provided on both sides, the first telescopic fork plate simultaneously drives the second telescopic fork plate to slide in the same direction as it slides.

[0157] The telescopic fork plate assembly includes a first transmission chain, a second transmission chain, and a first-level telescopic fork plate and a second-level telescopic fork plate connected in a sliding manner along a first direction;

[0158] The secondary telescopic fork plate and the mounting fork plate assembly are respectively arranged on both sides of the primary telescopic fork plate, the sprocket is fixedly installed on the side of the primary telescopic fork plate facing the mounting fork plate assembly, and the first transmission chain and the second transmission chain are respectively arranged on both sides of the mounting fork plate assembly relative to the first direction;

[0159] On one side relative to the first direction, the mounting fork plate assembly and the first end of the secondary telescopic fork plate along the first direction are respectively provided with a first chain fixing position, and the second end of the primary telescopic fork plate along the first direction is provided with a first sprocket;

[0160] On the other side relative to the first direction, the mounting fork plate assembly and the second end of the secondary telescopic fork plate along the first direction are respectively provided with a second chain fixing position, and the first end of the primary telescopic fork plate along the first direction is provided with a second sprocket;

[0161] After the first transmission chain is engaged and connected with the first sprocket, its two ends are fixedly installed on a pair of first chain fixing positions respectively. After the second transmission chain is engaged and connected with the second sprocket, its two ends are fixedly installed on a pair of second chain fixing positions respectively, so that under the drive of the driving mechanism, the first telescopic fork plate simultaneously drives the second telescopic fork plate to extend and retract in the same direction.

[0162] That is, in the material box handling method of this embodiment, when the telescopic fork plate assembly is specifically composed of a first-level telescopic fork plate and a second-level telescopic fork plate that are slidably connected, and the first-level telescopic fork plate is located between the mounting fork plate assembly and the second-level telescopic fork plate assembly, this embodiment can directly drive the first-level telescopic fork plate to slide by a driving mechanism provided on the mounting fork plate assembly, and, with the help of transmission chains on both sides, while the first-level telescopic fork plate is driven, it drives the second-level telescopic fork plate to slide in the same direction. In this way, it can be understood that the sliding speed and telescopic stroke of the second-level telescopic fork plate are twice that of the first-level telescopic fork plate.

[0163] In one possible implementation, when the telescopic fork assembly needs to be reset to a zero position, the container handling method includes:

[0164] S2, driving the telescopic fork plate assembly to reset and slide relative to the mounting fork plate assembly;

[0165] S3, using the zero position triggering member fixed to the telescopic fork plate assembly to trigger the zero position sensor fixed to the mounting fork plate assembly so that the zero position sensor generates a zero position signal;

[0166] S4. Determine that the telescopic fork plate assembly is reset to the zero position according to the zero position signal; wherein the zero position indicates a position in which the telescopic fork plate assembly is not extended in both directions relative to the mounting fork plate assembly along the first direction.

[0167] That is, for example, when the box handling robot is powered on after being powered off, the telescopic fork assembly needs to be reset to the zero position.

[0168] In the process of resetting the telescopic fork plate assembly of this embodiment, the telescopic fork plate assembly can first be driven by the driving mechanism to slide relative to the mounting fork plate assembly for reset; then, during the reset sliding process, when the zero position signal of the zero position sensor is detected, it can be determined that the telescopic fork plate assembly has reset and slid to the zero position, and at this time, the driving mechanism can be controlled to stop driving.

[0169] Considering that the telescopic fork plate assembly can slide in both directions relative to the mounting fork plate assembly, when driving the telescopic fork plate assembly to slide back to the zero position, the direction of the reset slide should be determined first; therefore, in one possible implementation, step S2 specifically includes:

[0170] S201, when a trigger signal of the reset sensor is detected, driving the telescopic fork plate assembly to slide relative to the mounting fork plate assembly in a direction from one end of the mounting fork plate assembly where the reset sensor is mounted to the other end where the reset sensor is not mounted;

[0171] S201, when no trigger signal of the reset sensor is detected, driving the telescopic fork plate assembly to slide relative to the mounting fork plate assembly in a direction from an end of the mounting fork plate assembly where the reset sensor is not mounted to an end where the reset sensor is mounted;

[0172] The reset sensor is installed at one end of the mounting fork plate assembly along the first direction, and the reset sensor and the telescopic fork plate assembly are configured as follows:

[0173] When the telescopic fork plate assembly extends from the end of the fork plate assembly where the reset sensor is installed, the reset sensor is triggered due to its proximity to the telescopic fork plate assembly;

[0174] When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly where the reset sensor is not mounted, the reset sensor is not triggered due to being away from the telescopic fork plate assembly.

[0175] That is, in this embodiment, the sliding direction of the telescopic fork plate assembly when it performs reset sliding toward the zero position can be determined specifically with the help of the reset sensor.

[0176] Specifically, the reset sensor is installed at one end of the mounting fork plate assembly, and when the telescopic fork plate assembly extends from the end on which the reset sensor is installed relative to the mounting fork plate assembly, the reset sensor is in a triggered state because the reset sensor is close to the telescopic fork plate assembly, or because the telescopic fork plate assembly covers the reset sensor.

[0177] When the telescopic fork plate assembly extends from the end where the reset sensor is not installed relative to the installation fork plate assembly, the reset sensor is in an untriggered state because the reset sensor is far away from the telescopic fork plate assembly, or because the telescopic fork plate assembly does not cover the reset sensor.

[0178] In this way, it can be understood that after power is turned off and on again, this embodiment can determine the direction in which the telescopic fork plate assembly is extended relative to the mounting fork plate assembly by detecting the trigger state of the reset sensor. Then, this embodiment only needs to slide the telescopic fork plate assembly in the direction opposite to the extension direction.

[0179] Based on the telescopic fork device provided in the above embodiments, the present application also provides a box handling robot 100, which includes a walking chassis and a handling actuator 200 provided on the walking chassis, wherein the handling actuator 200 is equipped with the above-mentioned telescopic fork device 300.

[0180] Specifically, it can be combined with Figure 7 , Figure 7 A possible container transport robot is shown. The transport actuator 200 of the container transport robot 100 can be raised and lowered. The telescopic fork device 300 is fixed to the transport actuator 200 and moves up and down along with the transport actuator 200 .

[0181] Among them, the above-mentioned first direction can be specifically the left and right direction of the material box handling robot. In this way, it can be understood that the telescopic fork plate assembly of the telescopic fork device 300 slides in both directions relative to the mounting fork plate assembly, so that the material box can be transported from the left and right sides of the material box handling robot 100.

[0182] Of course, in other embodiments, the transport actuator 200 can also be rotated horizontally 90 degrees relative to the material box transport robot 100. In this way, it can be understood that the telescopic fork plate assembly of the telescopic fork device 300 slides in both directions relative to the mounting fork plate assembly, so that the material box can be transported from the front of the material box transport robot 100.

[0183] Based on the material box handling methods provided in the above embodiments, the present application also provides a material box handling robot, which performs the above material box handling methods.

[0184] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0185] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0186] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0187] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0188] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be within the scope of the present invention.

Claims

1. A telescopic fork device for handling a material box, characterized in that: The telescopic fork device comprises: A mounting fork plate assembly and a telescopic fork plate assembly slidably connected along a first direction, the mounting fork plate assembly and the telescopic fork plate assembly extending along the first direction, the mounting fork plate assembly being used to be fixedly mounted on a transport actuator of a bin transport robot and to rise and fall with the transport actuator; a drive chain and a sprocket extending along the first direction, the drive chain being mounted on the mounting fork plate assembly via at least two sprockets, the sprocket being fixedly mounted on the telescopic fork plate assembly, the drive chain being meshedly connected to the sprocket; a drive mechanism fixedly mounted on the mounting fork assembly; In which, the driving mechanism is connected to any one of the sprocket transmissions, and the driving mechanism is used to drive the telescopic fork plate assembly to telescope bidirectionally along the first direction relative to the mounting fork plate assembly, so that the telescopic fork device can perform the transportation of the material box by lifting under the drive of the transportation actuator.

2. The telescopic fork device according to claim 1, characterized in that The mounting fork plate assembly and the telescopic fork plate assembly are arranged vertically; The mounting fork plate assembly is provided with an accommodating space for accommodating the driving chain and the sprocket at a first end thereof close to the telescopic fork plate assembly, and the accommodating space extends along the first direction; The second end of the mounting fork assembly away from the telescopic fork assembly is used for being fixedly mounted on a transport actuator of the bin transport robot.

3. The telescopic fork device according to claim 2, characterized in that The mounting fork plate assembly includes a pair of mounting vertical plates, the mounting vertical plates are arranged perpendicular to the telescopic fork plate assembly, and the mounting vertical plates extend along the first direction; Wherein, the pair of mounting vertical plates are fixedly mounted by at least two connecting and fixing members, and the connecting and fixing members extend along the vertical direction of the mounting vertical plates, so that the accommodating space is formed between the pair of mounting vertical plates.

4. The telescopic fork device according to claim 3, characterized in that A pair of mounting vertical plates are provided with a plurality of follower wheels on opposite sides thereof, the plurality of follower wheels are arranged in a straight line along the first direction, and the rotation axis direction of the follower wheels is perpendicular to the mounting vertical plates; Wherein, a pair of first sliding grooves are provided on a side of the telescopic fork plate assembly facing the mounting fork plate assembly, and the first sliding grooves extend along the first direction; Furthermore, the openings of a pair of the first slide grooves are arranged opposite to each other, and the pair of the first slide grooves are used to respectively accommodate the follower wheels on opposite sides of a pair of the mounting vertical plates, so that the mounting fork plate assembly and the telescopic fork plate assembly are slidably connected along the first direction.

5. The telescopic fork device according to claim 1, characterized in that The telescopic fork plate assembly includes a first transmission chain, a second transmission chain, and a primary telescopic fork plate and a secondary telescopic fork plate slidably connected along the first direction; The secondary telescopic fork plate and the mounting fork plate assembly are respectively arranged on both sides of the primary telescopic fork plate, the sprocket is fixedly mounted on a side of the primary telescopic fork plate facing the mounting fork plate assembly, and the first transmission chain and the second transmission chain are respectively arranged on both sides of the mounting fork plate assembly relative to the first direction; Wherein, on the side relative to the first direction, the first ends of the mounting fork plate assembly and the secondary telescopic fork plate along the first direction are respectively provided with a first chain fixing position, and the second end of the primary telescopic fork plate along the first direction is installed with a first sprocket; Wherein, on the other side relative to the first direction, the mounting fork plate assembly and the second end of the secondary telescopic fork plate along the first direction are respectively provided with a second chain fixing position, and the first end of the primary telescopic fork plate along the first direction is installed with a second sprocket; After the first transmission chain is engaged and connected with the first sprocket, its two ends are fixedly installed on a pair of first chain fixing positions respectively. After the second transmission chain is engaged and connected with the second sprocket, its two ends are fixedly installed on a pair of second chain fixing positions respectively, so that under the drive of the driving mechanism, the first-level telescopic fork plate simultaneously drives the second-level telescopic fork plate to extend and retract in the same direction.

6. The telescopic fork device according to claim 5, characterized in that On a side facing the mounting fork plate assembly, the first telescopic fork plate is provided with a pair of first sliding grooves, the first sliding grooves extending along the first direction, the openings of the pair of first sliding grooves being arranged opposite to each other and being used for sliding installation with the mounting fork plate assembly; Wherein, a pair of second sliding grooves are provided on both sides of the pair of first sliding grooves, the second sliding grooves extend along the first direction, and the openings of the pair of second sliding grooves are arranged back to back and are used for sliding installation with the secondary telescopic fork plate.

7. The telescopic fork device according to claim 6, characterized in that The first-level telescopic fork plate includes a fork plate base plate and a pair of slide cover plates; Wherein, a pair of mounting bosses is provided on a side of the fork plate base plate facing the mounting fork plate assembly, the mounting bosses extending along the first direction, and the pair of slide slot cover plates are used to be fixedly mounted on the pair of mounting bosses respectively; Furthermore, the chute cover plate is protruding relative to both sides of the mounting boss, so that the first chute and the second chute are formed on two opposite sides of the mounting boss respectively.

8. The telescopic fork device according to claim 7, characterized in that The first sliding groove, the second sliding groove and the chain tooth bar are at the same height in the vertical direction of the telescopic fork plate assembly.

9. The telescopic fork device according to claim 7, characterized in that The fork plate base plate and the slide groove cover plate are respectively provided with a concave chain groove at a projection position corresponding to the mounting boss, and the chain groove is used to accommodate the first transmission chain or the second transmission chain; In addition, a first mounting through hole and a second mounting through hole for mounting the first sprocket and the second sprocket respectively are opened at the end positions of the chain groove.

10. The telescopic fork device according to claim 1, characterized in that The telescopic fork device includes a zero position sensor and a zero position triggering member for triggering the zero position sensor; The zero position sensor and the zero position trigger are respectively installed on the mounting fork plate assembly and the telescopic fork plate assembly; and the installation position configuration of the zero position trigger and the zero position sensor is as follows: When the telescopic fork plate assembly is in a zero position relative to the mounting fork plate assembly, the zero position sensor generates a zero position signal due to the triggering of the zero position trigger member; the zero position indicates that the telescopic fork plate assembly is not extended in both directions relative to the mounting fork plate assembly along the first direction.

11. The telescopic fork device according to claim 10, characterized in that The telescopic fork device further includes a reset sensor, which is mounted on one end of the mounting fork plate assembly along the first direction; Wherein, the reset sensor and the telescopic fork plate assembly are configured as follows: When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly on which the reset sensor is mounted, the reset sensor is triggered due to its proximity to the telescopic fork plate assembly; When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly where the reset sensor is not mounted, the reset sensor is not triggered due to being away from the telescopic fork plate assembly.

12. A material box handling method, characterized in that: The material box handling method comprises: With respect to the mounting fork plate assembly and the telescopic fork plate assembly which are driven by the meshing connection between the drive chain and the sprocket, the telescopic fork plate assembly is driven to bidirectionally extend and retract in a first direction relative to the mounting fork plate assembly, so that when the mounting fork plate assembly is fixed to the transport actuator of the material box transport robot and rises and falls with the transport actuator, the telescopic fork plate assembly performs the transport work of the material box by lifting; Wherein, the mounting fork plate assembly, the telescopic fork plate assembly, the driving chain and the sprocket extend along the first direction; The mounting fork plate assembly is slidably connected to the telescopic fork plate assembly along the first direction; The drive chain is mounted on the mounting fork assembly via at least two sprockets, and any one of the sprockets is in transmission connection with a drive mechanism fixed to the mounting fork assembly; The sprocket bar is fixedly mounted on the telescopic fork plate assembly.

13. The container transport method according to claim 12, characterized in that: The step of driving the telescopic fork plate assembly to bidirectionally telescope in a first direction relative to the mounting fork plate assembly specifically includes: With respect to the structural form in which the telescopic fork plate assembly is composed of a first telescopic fork plate and a second telescopic fork plate that are slidably connected, and the chain rack is fixed to the first telescopic fork plate, the first telescopic fork plate is driven by a driving mechanism to slide bidirectionally in a first direction relative to the mounting fork plate assembly, and the first transmission chain or the second transmission chain provided on both sides is used to cause the second telescopic fork plate to slide in the same direction while the first telescopic fork plate slides; The telescopic fork plate assembly includes a first transmission chain, a second transmission chain, and a primary telescopic fork plate and a secondary telescopic fork plate connected in a sliding manner along the first direction; The secondary telescopic fork plate and the mounting fork plate assembly are respectively arranged on both sides of the primary telescopic fork plate, the sprocket is fixedly mounted on a side of the primary telescopic fork plate facing the mounting fork plate assembly, and the first transmission chain and the second transmission chain are respectively arranged on both sides of the mounting fork plate assembly relative to the first direction; On the side opposite to the first direction, the mounting fork plate assembly and the first end of the secondary telescopic fork plate along the first direction are respectively provided with a first chain fixing position, and the second end of the primary telescopic fork plate along the first direction is installed with a first sprocket; On the other side relative to the first direction, the mounting fork plate assembly and the second end of the secondary telescopic fork plate along the first direction are respectively provided with a second chain fixing position, and the first end of the primary telescopic fork plate along the first direction is installed with a second sprocket; After the first transmission chain is engaged and connected with the first sprocket, its two ends are fixedly installed on a pair of first chain fixing positions respectively. After the second transmission chain is engaged and connected with the second sprocket, its two ends are fixedly installed on a pair of second chain fixing positions respectively, so that under the drive of the driving mechanism, the first-level telescopic fork plate simultaneously drives the second-level telescopic fork plate to extend and retract in the same direction.

14. The container transport method according to claim 12, wherein: When the telescopic fork assembly needs to be reset to the zero position, the container handling method includes: Driving the telescopic fork plate assembly to reset and slide relative to the mounting fork plate assembly; The zero position triggering member fixed to the telescopic fork plate assembly triggers the zero position sensor fixed to the mounting fork plate assembly, causing the zero position sensor to generate a zero position signal; The telescopic fork plate assembly is reset to the zero position according to the zero position signal; wherein the zero position indicates a position in which the telescopic fork plate assembly is not extended in both directions relative to the mounting fork plate assembly along the first direction.

15. The container transport method according to claim 14, characterized in that: The step of driving the telescopic fork plate assembly to reset and slide relative to the mounting fork plate assembly specifically includes: When a trigger signal of the reset sensor is detected, the telescopic fork plate assembly is driven to slide relative to the mounting fork plate assembly to reset along a direction from the end of the mounting fork plate assembly where the reset sensor is mounted to the other end where the reset sensor is not mounted; When no trigger signal of the reset sensor is detected, the telescopic fork plate assembly is driven to slide relative to the mounting fork plate assembly in a direction from the end of the mounting fork plate assembly where the reset sensor is not mounted to the other end where the reset sensor is mounted; The reset sensor is mounted on one end of the mounting fork assembly along the first direction, and the reset sensor and the telescopic fork assembly are configured as follows: When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly on which the reset sensor is mounted, the reset sensor is triggered due to its proximity to the telescopic fork plate assembly; When the telescopic fork plate assembly extends from the end of the mounting fork plate assembly where the reset sensor is not mounted, the reset sensor is not triggered due to being away from the telescopic fork plate assembly.

16. A box handling robot, characterized in that: The container transport robot includes a traveling chassis and a transport execution mechanism provided on the traveling chassis, wherein the transport execution mechanism is equipped with a telescopic fork device according to any one of claims 1 to 11.

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