Automatic pallet fork

Abstract

The invention provides an automatic pallet fork which comprises a fixed fork body and a telescopic fork assembly, and the telescopic fork assembly comprises a first movable fork slidably connected to the fixed fork body and a second movable fork slidably connected to the first movable fork; the transmission mechanism comprises a winding drum, a plurality of guide wheels and a traction rope, the winding drum is fixed to the fixed fork body, the guide wheels are arranged on the upper side of the fixed fork body and the upper side and the lower side of the first movable fork respectively, one end of the traction rope is wound around the winding drum, the traction rope is guided through the guide wheels, and the other end of the traction rope is wound around the fixed fork body. The other end of the traction rope is fixed on the second movable fork; and the driving mechanism is used for driving the winding drum to rotate to wind or unwind the rope. The automatic pallet fork is used for overcoming the defects that in the prior art, a pallet fork is complex in transmission structure and production process, low in efficiency, high in defective rate and the like, and the purposes of simplifying the transmission structure, reducing cost, improving telescopic action precision and the like are achieved.

Description

Technical Field

[0001] This invention relates to the field of forklift technology, and more particularly to an automatic forklift. Background Technology

[0002] In the logistics and warehousing sector, automated forks, as core components for handling palletized goods, are widely used in automated equipment such as stacker cranes and AGVs (Automated Guided Vehicles). The reliability and efficiency of their extension and retraction functions directly affect the overall turnover rate of warehousing operations. The core structure of existing automated forks typically consists of an upper fork, a middle fork, a lower fork, a transmission mechanism, and a guiding device. The lower fork usually serves as a fixed base, while the middle and upper forks can extend and retract relative to the lower fork, thereby completing the pallet picking, placing, and handling actions.

[0003] Currently, the extension and retraction function of automatic forks is mainly achieved through a transmission mechanism combining gears, racks, and chains. The specific transmission is as follows: A sprocket and several gears are installed on a fixed lower fork. The gears and the rack fixed on the middle fork form a meshing kinematic pair. At the same time, the upper fork and lower fork are connected by a chain, forming a kinematic pair with the sprocket on the middle fork. When the transmission system is started, the sprocket on the lower fork drives the gear to rotate. The gear, through meshing with the rack on the middle fork, drives the middle fork to extend and retract relative to the lower fork. The movement of the middle fork synchronously drives the sprocket on it to rotate, which in turn pulls the upper fork relative to the middle fork through the chain. Finally, the coordinated extension and retraction of the upper and middle forks is achieved, completing the overall extension and retraction action of the forks.

[0004] However, the existing forks have the following drawbacks: to ensure transmission accuracy and smooth movement, extremely high precision is required for the machining of gears and racks, necessitating strict control over key parameters such as tooth profile tolerance and pitch deviation. Simultaneously, the shaft holes on the lower fork used to mount multiple gears must maintain extremely high coaxiality and positional accuracy to prevent jamming or uneven wear during gear-rack meshing. These excessively high precision requirements significantly increase the complexity of the manufacturing process, not only raising the investment cost of processing equipment but also significantly reducing production efficiency. In mass production, high defect rates due to precision deviations make it difficult to meet the low-cost, high-reliability mass production requirements of logistics and warehousing equipment for automated forks, necessitating optimization and improvement of their transmission mechanism. Summary of the Invention

[0005] This invention provides an automatic forklift to solve the defects of existing forks, such as complex transmission structure, complex manufacturing process, low efficiency, and high defect rate, thereby simplifying the transmission structure, reducing costs, and improving the accuracy of telescopic movement.

[0006] This invention provides an automatic forklift, comprising: A fixed fork body and a telescopic fork assembly, the telescopic fork assembly including a first movable fork slidably connected to the fixed fork body and a second movable fork slidably connected to the first movable fork; The transmission mechanism includes a drum, multiple guide wheels, and a traction rope. The drum is fixed to the fixed fork body. The guide wheels are respectively provided on the upper side of the fixed fork body, the upper side of the first movable fork, and the lower side. One end of the traction rope is wound around the drum. The traction rope is guided by the multiple guide wheels, and the other end of the traction rope is fixed to the second movable fork. A drive mechanism is used to drive the drum to rotate for winding or unwinding the rope.

[0007] According to the present invention, an automatic fork is provided, wherein the transmission mechanism is provided in two sets, which are respectively arranged on both sides of the central axis of the automatic fork. One set includes a first drum, a plurality of guide wheels and a first traction rope, and the other set includes a second drum, a plurality of guide wheels and a second traction rope. When one of the first drum and the second drum rotates to take in the rope, the other drum rotates to release the rope.

[0008] According to an automatic fork provided by the present invention, the first drum and the second drum are arranged on the same rotating shaft.

[0009] According to an automatic fork provided by the present invention, the first drum and the second drum are disposed at the middle of the fixed fork body along the length direction.

[0010] According to an automatic fork provided by the present invention, the first drum and the second drum are disposed on different rotating shafts.

[0011] According to an automatic fork provided by the present invention, the telescopic fork assembly has a first state of extending relative to the fixed fork body in a first direction; When the telescopic fork assembly extends along the first direction, the second movable fork extends first, and the first movable fork extends later.

[0012] According to an automatic fork provided by the present invention, the telescopic fork assembly has a second state in which it extends relative to the fixed fork body in a second direction, the second direction being opposite to the first direction; When the telescopic fork assembly extends along the second direction, the second movable fork extends first, and the first movable fork extends later.

[0013] According to an automatic fork provided by the present invention, a sliding guide assembly is provided between the fixed fork body and the first movable fork; A sliding guide assembly is provided between the first movable fork and the second movable fork; The sliding guide assembly includes a groove and a slider that slides in cooperation with the groove.

[0014] According to an automatic fork provided by the present invention, the first movable fork includes an inner fork body and two outer fork bodies respectively connected to both sides of the inner fork body, the inner fork body is slidably connected to the fixed fork body, and the second movable fork is slidably connected to the two outer fork bodies.

[0015] According to an automatic fork provided by the present invention, the top surface of the outer fork body is provided with a recessed receiving groove for accommodating the traction rope.

[0016] The automatic forklift provided by this invention, through a transmission mechanism consisting of a drum, guide wheels, and a traction rope, significantly reduces the number of high-precision meshing components (such as gears and racks) compared to the complex transmission combinations of traditional gears, racks, and chains. This reduces the processing complexity of the fixed fork body and the first movable fork, decreasing investment in processing equipment, improving production efficiency, and lowering the defect rate. Furthermore, the mating structure between the traction rope and the guide wheel is less prone to jamming or uneven wear, requiring only inspection and replacement of the traction rope during later maintenance, significantly reducing maintenance costs. This makes it more suitable for the low-cost, easy-to-maintain mass production needs of the logistics and warehousing sector. The transmission mechanism of this invention has a more compact structural layout, which helps reduce the overall size of the forklift, allowing the automatic forklift to fit into narrower storage aisles or stacker crane column gaps, improving space utilization in high-density warehousing scenarios and expanding the equipment's applicability. When the drive mechanism drives the drum to rotate, the length of the rope winding / unwinding can be precisely controlled by the drum speed and the number of rotations. Combined with the directional constraint of the traction rope by multiple sets of guide wheels, it can ensure that the extension and retraction strokes of the first and second movable forks are precisely controllable. Compared with the stroke deviation caused by wear in the gear and rack meshing of the existing technology, the transmission accuracy of this solution is more stable and can meet the high precision requirements of pallet picking and placing in the logistics and warehousing field. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1(a) is one of the schematic diagrams of the forks in the initial position according to the first embodiment of the present invention; Figure 1(b) is a second schematic diagram of the forks in the initial position under the first embodiment of the present invention; Figure 2(a) is a schematic diagram of the forks in Figure 1(a) with the second movable fork extending to the right; Figure 2(b) is a schematic diagram of the forks in Figure 1(b) with the second movable fork extending to the right; Figure 3(a) is a schematic diagram of the forks in Figure 2(a), in which both the first and second movable forks extend to the right; Figure 3(b) is a schematic diagram of the forks in Figure 2(b), in which both the first and second movable forks extend to the right; Figure 4(a) is a schematic diagram of the forks in Figure 3(a) when the motor changes direction; Figure 4(b) is a schematic diagram of the forks in Figure 3(b) when the motor changes direction; Figure 5(a) is a schematic diagram of the second movable fork of the fork in Figure 4(a) retracting; Figure 5(b) is a schematic diagram of the second movable fork of the fork in Figure 4(b) retracting; Figure 6(a) is a schematic diagram of the forks in Figure 5(a) with both the first and second movable forks retracted. Figure 6(b) is a schematic diagram of the forks in Figure 5(b) with both the first and second movable forks retracted. Figure 7(a) is a schematic diagram of the forks in Figure 6(a) with the second movable fork extending to the left; Figure 7(b) is a schematic diagram of the forks in Figure 6(b) with the second movable fork extending to the left; Figure 8(a) is a schematic diagram of the forks in Figure 7(a), in which both the first and second movable forks extend to the left; Figure 8(b) is a schematic diagram of the forks in Figure 7(b), in which both the first and second movable forks extend to the left; Figure 9(a) is a schematic diagram of the forks in Figure 8(a) when the motor changes direction; Figure 9(b) is a schematic diagram of the forks in Figure 8(b) when the motor changes direction; Figure 10(a) is a schematic diagram of the second movable fork of the fork in Figure 9(a) retracting; Figure 10(b) is a schematic diagram of the second movable fork of the fork in Figure 9(b) retracting; Figure 11(a) is a schematic diagram of the forks in Figure 10(a) with both the first and second movable forks retracted. Figure 11(b) is a schematic diagram of the forks in Figure 10(b) with both the first and second movable forks retracted. Figure 12(a) is one of the schematic diagrams of the forks in the initial position under the second embodiment of the present invention; Figure 12(b) is a second schematic diagram of the forks being in the initial position under the second embodiment of the present invention; Figure 13(a) is a schematic diagram of the forks in Figure 12(a) with the second movable fork extending to the right; Figure 13(b) is a schematic diagram of the forks in Figure 12(b) with the second movable fork extending to the right; Figure 14(a) is a schematic diagram of the forks in Figure 13(a), in which both the first and second movable forks extend to the right; Figure 14(b) is a schematic diagram of the forks in Figure 13(b), in which both the first and second movable forks extend to the right; Figure 15(a) is a schematic diagram of the forks in Figure 14(a) when the motor changes direction; Figure 15(b) is a schematic diagram of the forks in Figure 14(b) when the motor changes direction; Figure 16(a) is a schematic diagram of the second movable fork of the fork in Figure 15(a) retracting; Figure 16(b) is a schematic diagram of the second movable fork of the fork in Figure 15(b) retracting; Figure 17(a) is a schematic diagram of the forks in Figure 16(a) with both the first and second movable forks retracted. Figure 17(b) is a schematic diagram of the forks in Figure 16(b) with both the first and second movable forks retracted. Figure 18 This is a cross-sectional schematic diagram of the assembly structure of the fixed fork, the first movable fork, and the second movable fork provided by the present invention.

[0019] Figure label: 10. Fixed fork body; 11. First movable fork; 12. Second movable fork; 13. Guide wheel; 14. First drum; 15. First traction rope; 16. Second drum; 17. Second traction rope; 18. Slide groove; 19. Slider; 111. Inner fork body; 112. Outer fork body; 113. Receiving groove. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] In the description of this invention, it should be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0024] As shown in Figure 1(a) to Figure 18 As shown, the present invention provides an automatic forklift, comprising: A fixed fork body 10 and a telescopic fork assembly, the telescopic fork assembly including a first movable fork 11 slidably connected to the fixed fork body 10 and a second movable fork 12 slidably connected to the first movable fork 11; The transmission mechanism includes a drum, multiple guide wheels 13, and a traction rope. The drum is fixed to the fixed fork body 10. The guide wheels 13 are respectively provided on the upper side of the fixed fork body 10, the upper side of the first movable fork 11, and the lower side. One end of the traction rope is wound around the drum and guided by the multiple guide wheels 13. The other end of the traction rope is fixed to the second movable fork 12. A drive mechanism is used to drive the drum to rotate for winding or unwinding the rope.

[0025] Specifically, the telescopic fork assembly can extend or retract relative to the fixed fork body 10. When the telescopic fork assembly extends outward, both the first movable fork 11 and the second movable fork 12 can extend outward relative to the fixed fork body 10, giving the automatic fork an extended state for easy operation of the target object. When the telescopic fork assembly retracts, the fixed fork body 10, the first movable fork 11, and the second movable fork 12 are finally stacked longitudinally back to their initial state. At this time, the axial length of the automatic fork is at its minimum, facilitating storage and management. To expand the application scenarios of the fork and improve its performance, the telescopic fork assembly can have a bidirectional telescopic function, that is, the telescopic fork assembly can extend and retract left and right relative to the fixed fork body 10 to operate on target objects in different directions.

[0026] The distribution of multiple guide wheels 13 can be set according to actual needs. By setting an appropriate number of guide wheels 13, the transmission effect of the traction rope can be guaranteed. Taking Figure 1(a) as an example, a guide wheel 13 is provided on the upper side of the fixed fork 10 to guide the traction rope to turn towards the first movable fork 11. A guide wheel 13 is provided on the lower side of the first movable fork 11 to further guide the traction rope to turn towards the upper side of the first movable fork 11. Two guide wheels 13 are respectively provided at both ends of the upper side of the first movable fork 11. After the traction rope passes through the guide wheel 13 on the upper side of the first movable fork 11, one end is fixed to the second movable fork 12. The drive mechanism includes, for example, a motor to drive the drum to rotate. When the motor rotates forward, it drives the drum to take in or release the rope. When the motor rotates in reverse, it drives the drum to take in or release the rope. The guide wheels 13 can be fixed pulleys, which have low processing precision requirements, no complex linkage parts, are easy to maintain, and have low production and maintenance costs. The traction rope can be steel wire rope, fiber rope, nylon rope, etc., selected according to actual needs.

[0027] In a preferred embodiment of the present invention, the transmission mechanism is provided in two sets, which are respectively arranged on both sides of the central axis of the automatic fork. One set includes a first drum 14, a plurality of guide wheels 13 and a first traction rope 15, and the other set includes a second drum 16, a plurality of guide wheels 13 and a second traction rope 17. When one of the first drum 14 and the second drum 16 rotates to wind up the rope, the other rotates to wind down the rope.

[0028] By setting up two sets of transmission mechanisms, when the telescopic fork assembly extends or retracts, one of the first drum 14 and the second drum 16 rotates to retract the rope while the other rotates to release it. This ensures stable and reliable transmission while fulfilling the extension / retraction function. The two transmission mechanisms synchronize their retraction and release actions, achieving balanced force distribution and preventing fork skewing and localized wear on the guide wheel 13. This ensures that the force on both sides of the fork remains balanced, avoiding fork bending and localized overload breakage of the traction rope caused by long-term uneven loading, significantly improving the structural stability and service life of the forks. The coordinated retraction and release mode of the two mechanisms forms a complete closed-loop power transmission system, guaranteeing reliable extension / retraction and allowing the telescopic fork assembly to extend and retract freely without jamming.

[0029] In one embodiment, the first roll 14 and the second roll 16 are disposed on the same shaft.

[0030] As shown in Figures 1(a) and 1(b), by placing the first drum 14 and the second drum 16 on the same rotating shaft, the first traction rope 15 and the second traction rope 17 can be wound and unwound synchronously. This avoids problems such as uneven tension of the traction ropes and unilateral force on the fork body caused by asynchronous drum rotation speeds, further enhancing the stability of the telescopic fork assembly along linear motion. In this embodiment, the first drum 14 and the second drum 16 can be driven by the same drive mechanism, which simplifies the drive structure and reduces costs.

[0031] Furthermore, the first drum 14 and the second drum 16 are located at the middle of the fixed fork body 10 along its length. As shown in Figures 1(a) and 1(b), by optimizing the positions of the first drum 14 and the second drum 16, the distances between the first drum 14 and the guide wheel 13 on the fixed fork body 10, and between the second drum 16 and the guide wheel 13 on the fixed fork body 10, can be made moderate. This avoids the traction rope from the drum to the guide wheel 13 being too long, reduces the elastic deformation of the traction rope, and allows the power of the drive mechanism to be transmitted to the telescopic fork assembly more quickly, improving the response speed of the fork extension and retraction action. In this embodiment, the positions of the two guide wheels 13 located on both sides of the fixed fork body 10 are staggered, for example, they are respectively located near the two ends of the fixed fork body 10.

[0032] In another embodiment, the first drum 14 and the second drum 16 are mounted on different shafts. As shown in Figures 12(a) and 12(b), the first drum 14 is positioned near one end of the fixed fork body 10, and the second drum 16 is positioned near the other end of the fixed fork body 10. The distance from the guide wheel 13 on the fixed fork body 10 corresponding to each drum to the drum is short. The shorter rope path reduces the elastic deformation of the traction rope, allowing the power of the drive mechanism to be transmitted to the telescopic fork assembly more quickly, thus improving the response speed of the fork extension and retraction. In this embodiment, the first drum 14 and the second drum 16 can be driven by the same drive mechanism or by two separate drive mechanisms, allowing for flexible selection.

[0033] Based on the above embodiments, the telescopic fork assembly has a first state in which it extends along a first direction relative to the fixed fork body 10; when the telescopic fork assembly extends along the first direction, the second movable fork 12 extends first, and the first movable fork 11 extends later. The first direction is, for example, the right side of the fixed fork body 10, that is, the telescopic fork assembly can extend to the right relative to the fixed fork body 10, specifically, the second movable fork 12 extends first, and then the first movable fork 11 continues to extend together with the second movable fork 12.

[0034] Furthermore, the telescopic fork assembly has a second state in which it extends relative to the fixed fork body 10 along a second direction, the second direction being opposite to the first direction. When the telescopic fork assembly extends along the second direction, the second movable fork 12 extends first, followed by the first movable fork 11. The second direction is, for example, the left side of the fixed fork body 10, meaning the telescopic fork assembly can extend to the left relative to the fixed fork body 10. Specifically, the second movable fork 12 extends first, and then the first movable fork 11 continues to extend along with the second movable fork 12. The telescopic fork assembly of the present invention has telescopic characteristics in two directions, allowing it to flexibly adapt to different pallet placement scenarios, supporting dual-sided operation, and enhancing operational flexibility.

[0035] The extension and retraction process of the automatic forks is described below, taking a fork structure in which the first drum 14 and the second drum 16 are mounted on the same pivot as an example. The drive mechanism includes a motor, and the first drum 14 and the second drum 16 are driven by the same motor.

[0036] The process of the telescopic fork assembly extending to the right is as follows: As shown in Figures 1(a) and 1(b), when the forks are in the initial position and the control motor rotates forward, the first drum 14 performs the rope winding operation, and the second drum 16 performs the rope unwinding operation. With the rope winding and unwinding operations, as shown in Figures 2(a) and 2(b), the second movable fork 12 first extends to the right until it reaches its farthest point; then, the rope winding and unwinding continues, as shown in Figures 3(a) and 3(b), the first movable fork 11 and the second movable fork 12 extend to the right together until they reach their final positions. When it is necessary to retract the telescopic fork assembly, as shown in Figures 4(a) and 4(b), the control motor reverses, at which point the first drum 14 performs the rope unwinding operation, and the second drum 16 performs the rope winding operation. As the rope is retracted and extended, as shown in Figures 5(a) and 5(b), the second movable fork 12 first moves to the left and retracts, and then continues to retract and extend the rope. As shown in Figures 6(a) and 6(b), the first movable fork 11 and the second movable fork 12 move to the left together and retract until they return to the initial position.

[0037] The process of the telescopic fork assembly extending to the left is as follows: As shown in Figures 6(a) and 6(b), when the forks are in the initial position and the control motor reverses, the first drum 14 performs the rope release operation, and the second drum 16 performs the rope retraction operation. With the rope release and retraction operations, as shown in Figures 7(a) and 7(b), the second movable fork 12 first extends to the left until it reaches its farthest point; then, the rope release and retraction continue, as shown in Figures 8(a) and 8(b), the first movable fork 11 and the second movable fork 12 extend to the left together until they reach their final positions. When it is necessary to retract the telescopic fork assembly, as shown in Figures 9(a) and 9(b), the control motor rotates forward, at which time the first drum 14 performs the rope retraction operation, and the second drum 16 performs the rope release operation. As the rope is retracted and extended, as shown in Figures 10(a) and 10(b), the second movable fork 12 first moves to the right and retracts, and then continues to retract and extend the rope, as shown in Figures 11(a) and 11(b), the first movable fork 11 and the second movable fork 12 move to the right together and retract until they return to the initial position.

[0038] In the above embodiments, the first drum 14 and the second drum 16 rotate synchronously in the same direction. It is understood that in other embodiments, the first drum 14 and the second drum 16 can also rotate synchronously in different directions, still satisfying the telescopic function of the telescopic fork assembly. By adjusting the winding direction of the first traction rope 15 on the first drum 14 and / or the winding direction of the second traction rope 17 on the second drum 16, the first drum 14 and the second drum 16 can rotate synchronously in different directions. Taking the fork structure of Figures 12(a) to 17(b) as an example, in this embodiment, when the first drum 14 and the second drum 16 are mounted on different shafts, they can be driven by different motors.

[0039] The process of the telescopic fork assembly extending to the right is as follows: As shown in Figures 12(a) and 12(b), with the forks in the initial position, the motor driving the first drum 14 rotates forward, and the first drum 14 performs the rope winding operation. The motor driving the second drum 16 rotates in reverse, and the second drum 16 performs the rope unwinding operation. With the rope winding and unwinding operations, as shown in Figures 13(a) and 13(b), the second movable fork 12 first extends to the right until it reaches its farthest point; then, the rope winding and unwinding continues, as shown in Figures 14(a) and 14(b), the first movable fork 11 and the second movable fork 12 extend to the right together until they reach their final positions. When it is necessary to retract the telescopic fork assembly, as shown in Figures 15(a) and 15(b), the motor driving the first drum 14 rotates in reverse, and the first drum 14 performs the rope unwinding operation. The motor driving the second drum 16 rotates forward, and the second drum 16 performs the rope winding operation. As the rope is extended and retracted, as shown in Figures 16(a) and 16(b), the second movable fork 12 first moves to the left and retracts. Then, as shown in Figures 17(a) and 17(b), the first movable fork 11 and the second movable fork 12 move to the left together and retract until they return to their initial positions. The principle of the telescopic fork assembly extending and retracting to the left is similar and will not be described in detail here.

[0040] In the existing technology, several rolling bearings are set between the lower fork and the middle fork, and between the middle fork and the upper fork to support the fork body and achieve relative movement. The bearing installation accuracy requirements are high, and the wear is large. Long-term use can easily lead to a decrease in bearing accuracy or even failure. Regular maintenance is required, and the maintenance steps are complicated, resulting in increased maintenance costs.

[0041] In embodiments of the present invention, kinematic pairs are also provided between components, such as a sliding guide assembly between the fixed fork 10 and the first movable fork 11, and a sliding guide assembly between the first movable fork 11 and the second movable fork 12.

[0042] In a preferred embodiment, the sliding guide assembly includes a groove 18 and a slider 19 that slides in conjunction with the groove 18. The slider 19's engagement with the groove 18 increases the contact area, facilitating the even distribution of load pressure across the contact surface between the groove 18 and the slider 19, reducing localized stress, decreasing wear, and extending the structural lifespan. The slider 19 and groove 18 have a simple structure, require lower precision, and are easy to manufacture and install. Furthermore, the surface contact sliding engagement between the slider 19 and groove 18 provides more stable support through a larger contact area, preventing bouncing or wobbling during movement. Further, the groove 18 can be designed as a U-shaped or dovetail-shaped anti-detachment structure to limit the vertical displacement of the slider 19, further preventing vertical displacement of the fork body under load and ensuring smooth left-right movement of the telescopic fork assembly. This is particularly suitable for heavy-duty pallet handling and high-frequency telescopic operations, improving the overall reliability of the fork's operation.

[0043] In the existing technology, the center fork adopts an integrated structure, which requires the machining of more than ten recessed contact surfaces. Each contact surface is distributed on the same component, requiring frequent adjustment of tooling positioning during machining. This results in numerous overlapping and interference processes, making the machining process complex and increasing the difficulty of machining.

[0044] In a preferred embodiment of the present invention, the first movable fork 11 includes an inner fork body 111 and two outer fork bodies 112 respectively connected to both sides of the inner fork body 111. The inner fork body 111 is slidably connected to the fixed fork body 10, and the second movable fork 12 is slidably connected to the two outer fork bodies 112.

[0045] like Figure 18 As shown, the first movable fork 11 of the present invention is integrated through three components. The inner fork body 111 and the outer fork body 112 each have simple structures and are easy to manufacture. The two outer fork bodies 112 are symmetrically arranged and adopt the same structure. Only the contact surfaces on the inner fork body 111 and the outer fork body 112 need to be designed respectively, which significantly reduces the manufacturing difficulty. The three components can be fixedly connected by screws, which is simple to assemble. When the components are worn, only the worn parts need to be replaced, which is simple to operate and avoids the increased cost caused by replacing the whole component.

[0046] like Figure 18 As shown, the inner fork 111 has a U-shaped cross-section, and the fixed fork 10 is embedded inside the U-shaped opening. A combination structure of a groove 18 and a slider 19 is provided between the fixed fork 10 and the inner fork 111. The positions of the groove 18 and the slider 19 are adjusted according to actual needs; for example, the side wall of the fixed fork 10 has a groove 18, and the side wall of the inner fork 111 has a slider 19. A combination structure of a groove 18 and a slider 19 is also provided between the second movable fork 12 and the two outer forks 112. The positions of the groove 18 and the slider 19 are adjusted according to actual needs; for example, the side wall of the outer fork 112 has a groove 18, and the side wall of the second movable fork 12 has a slider 19.

[0047] Furthermore, the top surface of the outer fork 112 is provided with a recessed receiving groove 113 for accommodating the traction rope. This groove constrains the trajectory of the traction rope, preventing rope deviation and interference, and preventing accidental compression of the traction rope when the second movable fork 12 slides, thus avoiding local breakage or deformation of the traction rope. This design optimizes the spatial layout and adapts to the compact structure of the fork body. It is understood that the shape of the receiving groove 113 can be designed to match the outer contour of the traction rope to ensure the contact area between the two, reduce the sliding friction of the traction rope within the groove, ensure stable tension of the traction rope, and improve transmission efficiency. The two outer forks 112 are respectively provided with receiving grooves 113 at corresponding positions to accommodate the first traction rope 15 and the second traction rope 17.

[0048] The automatic forklift provided by this invention, through a transmission mechanism consisting of a drum, guide wheel 13, and traction rope, significantly reduces the number of high-precision meshing components (such as gears and racks) compared to the complex transmission combinations of traditional gears, racks, and chains. This reduces the processing complexity of the fixed fork body 10 and the first movable fork 11, decreasing investment in processing equipment, improving production efficiency, and lowering the defect rate. Furthermore, the mating structure between the traction rope and guide wheel 13 is less prone to jamming or uneven wear, requiring only inspection and replacement of the traction rope during later maintenance, significantly reducing maintenance costs. This makes it more suitable for the low-cost, easy-to-maintain mass production needs of the logistics and warehousing sector. The transmission mechanism of this invention has a more compact structural layout, which helps reduce the overall size of the forklift, allowing the automatic forklift to fit into narrower storage aisles or stacker crane column gaps, improving space utilization in high-density warehousing scenarios and expanding the equipment's applicability. When the drive mechanism drives the drum to rotate, the length of the rope winding / unwinding can be precisely controlled by the drum speed and the number of rotations. Combined with the directional constraint of the traction rope by multiple sets of guide wheels 13, the extension and retraction strokes of the first movable fork 11 and the second movable fork 12 can be accurately controlled. Compared with the stroke deviation caused by wear in the gear and rack meshing of the prior art, the transmission accuracy of this solution is more stable and can meet the high precision requirements of pallet picking and placing in the logistics and warehousing field.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic fork characterized in that, The automatic fork comprises: a fixed fork body and a telescopic fork assembly, the telescopic fork assembly comprising a first movable fork slidingly connected to the fixed fork body and a second movable fork slidingly connected to the first movable fork; a transmission mechanism, the transmission mechanism comprising a winding drum, a plurality of guide wheels and a traction rope, the winding drum being fixed to the fixed fork body, the upper side of the fixed fork body, the upper side and the lower side of the first movable fork being respectively provided with the guide wheels, one end of the traction rope being wound around the winding drum, the traction rope being guided through the plurality of guide wheels, the other end of the traction rope being fixed to the second movable fork; a driving mechanism for driving the winding drum to rotate to wind or unwind the traction rope.

2. The automatic fork according to claim 1, wherein: the transmission mechanism is provided with two sets, one set comprising a first winding drum, a plurality of guide wheels and a first traction rope, and the other set comprising a second winding drum, a plurality of guide wheels and a second traction rope, the two sets being respectively arranged on the two sides of the middle axis of the automatic fork; when one of the first winding drum and the second winding drum rotates to wind the traction rope, the other one rotates to unwind the traction rope.

3. The automatic fork according to claim 2, wherein: the first winding drum and the second winding drum are arranged on the same rotating shaft.

4. The automatic fork according to claim 3, wherein: the first winding drum and the second winding drum are arranged at the middle part of the fixed fork body along the length direction.

5. The automatic fork according to claim 2, wherein: the first winding drum and the second winding drum are arranged on different rotating shafts.

6. The automatic fork according to any one of claims 1-5, wherein: the telescopic fork assembly has a first state of extending in a first direction relative to the fixed fork body; when the telescopic fork assembly extends in the first direction, the second movable fork extends first and the first movable fork extends later.

7. The automatic fork according to claim 6, wherein: the telescopic fork assembly has a second state of extending in a second direction relative to the fixed fork body, the second direction being opposite to the first direction; when the telescopic fork assembly extends in the second direction, the second movable fork extends first and the first movable fork extends later.

8. The automatic fork according to claim 1, wherein: a sliding guide assembly is arranged between the fixed fork body and the first movable fork; a sliding guide assembly is arranged between the first movable fork and the second movable fork; the sliding guide assembly comprises a sliding groove and a sliding block slidingly matched with the sliding groove.

9. The automatic fork according to claim 1, wherein: the first movable fork comprises an inner fork body and two outer fork bodies respectively connected to the two sides of the inner fork body, the inner fork body being slidingly connected to the fixed fork body, and the second movable fork being slidingly connected to the two outer fork bodies.

10. The automatic fork according to claim 9, wherein: the top surface of the outer fork body is provided with a concave accommodating groove for accommodating the traction rope.

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