Tray carrying robot simultaneously suitable for matts-shaped supports and Chinese character'chuan '-shaped supports

Abstract

The utility model relates to a tray carrying robot simultaneously suitable for matts and Chinese character'chuan 'supports, and belongs to the technical field of carrying equipment. In order to overcome the defects that an existing transfer robot is low in load and cannot be used for matts-shaped trays, the utility model provides the tray transfer robot which is high in load and can be used for matts-shaped trays. The tray carrying robot comprises a robot chassis and prongs, two prong guiding assemblies are arranged on the robot chassis at intervals, each prong guiding assembly is internally provided with the corresponding prong, the prongs can leave or return to the robot chassis from the corresponding prong guiding assembly, each prong is internally provided with a motor, and each motor is connected with the corresponding prong guiding assembly. The output end of the motor is provided with at least one group of prong undercarriage components capable of jacking up and landing the prongs; the robot can be suitable for a tray shaped like a Chinese character'chuan 'and a tray shaped like a Chinese character'tian'; during carrying, the turning radius is small, the stability is good, and the loading of heavy goods can be realized.

Description

Technical Field

[0001] The utility model relates to a pallet handling robot, specifically a pallet handling robot applicable to both cross pallets and four-way pallets, belonging to the technical field of handling equipment. Background Art

[0002] A pallet handling robot is an unmanned handling device widely used in industrial production, logistics warehousing and other fields. It realizes automatic operation through a built-in navigation system and a control system, and can automatically transport goods according to a preset path, greatly improving production efficiency and reducing the labor intensity of workers.

[0003] Existing pallet handling robots in the market, such as the "Weifeng X20" pallet-type unmanned forklift of Maiteng Robot Co., Ltd., can handle four-way pallets, but have the following disadvantages:

[0004] The pallet-type unmanned forklift adopts an integrated design of fork teeth and the body. When in use, the fork teeth need to enter the bottom of the pallet. Therefore, a fan-shaped scanning obstacle avoidance laser cannot be installed on the fork teeth, resulting in a greater potential safety hazard when the pallet-type unmanned forklift is reversing;

[0005] The fork teeth cannot be independently telescoped, and all control components, batteries, etc. need to be installed at the front of the vehicle, resulting in the vehicle body length being much greater than the length of the pallet being transported, thus causing the turning radius of the pallet-type unmanned forklift to be very large during operation, greatly reducing the utilization rate of the customer's site;

[0006] The fork teeth cannot move independently. Therefore, when handling a pallet, the fork teeth and the support arm below the fork teeth need to enter the insertion hole of the pallet together. Due to the limited space of the pallet insertion hole, a support wheel or a steering wheel with a large load-bearing capacity cannot be installed at the fork tooth end of the pallet-type unmanned forklift. Therefore, the load of the pallet-type unmanned forklift cannot be too high, generally not higher than 2 tons.

[0007] For the pallet handling robot of Guangdong Task Robot Co., Ltd., a support wheel is provided at the bottom of the fork teeth of the pallet handling robot. When the fork teeth are extended to the bottom of the pallet, the entire support wheel is always in contact with the ground. This structure makes the handling robot inapplicable to the handling of four-way pallets; during the process of inserting the fork teeth into the bottom of the pallet to lift the pallet and the goods and then moving the pallet, the support wheel at the bottom of the fork teeth is always in contact with the ground. Due to the limited space of the pallet insertion hole, the support wheel at the bottom of the fork teeth cannot be too large, resulting in a limited load-bearing capacity of the support wheel, and further resulting in a limited maximum load of the pallet handling robot, generally not exceeding 2 tons.

[0008] There is an urgent need for a pallet handling robot that is not only applicable to cross pallets but also to four-way pallets, has a small turning radius and a large load capacity. Summary of the Utility Model

[0009] The purpose of the present utility model is to solve the deficiencies existing in the prior art and provide a mobile handling robot with a large load capacity and capable of being used for a cross-shaped pallet.

[0010] To achieve the above purpose, the present utility model adopts the following technical solutions:

[0011] A pallet handling robot applicable to both cross-shaped pallets and channel pallets includes a robot chassis and fork teeth. The special feature is that: two fork tooth guiding components are arranged at intervals on the robot chassis, and fork teeth are installed in each of the fork tooth guiding components. The fork teeth can leave or return to the robot chassis from the fork tooth guiding components. Motors are installed in each of the fork teeth, and at least one set of fork tooth lifting and lowering frame components capable of lifting and lowering the fork teeth is installed at the output end of the motor.

[0012] Preferably, the fork tooth lifting and lowering frame component includes a forward and reverse bidirectional lead screw installed at the output end of the motor. Two nuts with opposite movement directions are sleeved on the forward and reverse bidirectional lead screw. Sliders are installed on both sides of each nut, and the sliders are matched with the linear rails installed on both sides of the fork teeth. A landing gear support arm is fixedly installed below each nut, and the lower ends of the two landing gear support arms are hinged together.

[0013] Preferably, the lower ends of the landing gear support arms are hinged together through a rotating shaft, and a landing gear ground support plate is installed on the rotating shaft. The contact mode between the landing gear ground support plate and the ground is surface contact, and the contact area is much larger than the contact area when the wheels contact the ground in the traditional technology, thereby greatly increasing the load-bearing capacity of the fork teeth.

[0014] Preferably, when one set of fork tooth lifting and lowering frame components is installed in each of the fork teeth, the fork tooth lifting and lowering frame components of the two fork teeth are distributed diagonally, which can ensure uniform force on the two fork teeth and good stability of the entire pallet handling robot.

[0015] Preferably, when two or more sets of fork tooth lifting and lowering frame components are installed in each of the fork teeth, a coupling is installed between the forward and reverse bidirectional lead screws of the adjacent fork tooth lifting and lowering frame components.

[0016] Preferably, a fork tooth telescopic driving component for driving the fork teeth to extend and retract is installed on the robot chassis. The fork tooth telescopic driving component is located between the two fork teeth. The fork tooth telescopic driving component includes a fork tooth telescopic driving motor installed on the robot chassis. A fork tooth telescopic lead screw is installed at the output end of the fork tooth telescopic driving motor. A telescopic nut is installed on the fork tooth telescopic lead screw. The telescopic nut is installed on a connecting plate, and fork tooth lifting and guiding components are fixedly installed at both ends of the connecting plate.

[0017] Preferably, the fork lift guiding assembly includes a landing gear mounting plate installed on the connecting plate. Fork lift guiding frames are installed on both sides of the landing gear mounting plate. Fork lift connecting plates are installed on both sides of the fork lift guiding frames. The other ends of the fork lift connecting plates are installed on the forks. Fork lift telescopic connecting plates are installed on one side of the fork lift connecting plates close to the fork telescopic guiding assembly. The fork lift telescopic connecting plates are installed on the fork telescopic guiding assembly;

[0018] Preferably, the fork lift guiding assembly further includes a guiding column installed at the other end of the fork telescopic guiding assembly. A lifting guiding groove B is formed in the guiding column. A lifting guiding wheel B is installed in the lifting guiding groove B;

[0019] Lifting guiding grooves A are provided on the fork lift guiding frames. Lifting guiding wheels A are installed on one side of the fork lift connecting plates facing the fork lift guiding frames. The lifting guiding wheels A are installed in the lifting guiding grooves A;

[0020] Preferably, the fork telescopic guiding assembly is installed on the fork lift guiding assembly and includes two fork guiding plates arranged at intervals. Fork guiding tracks are formed in each of the fork guiding plates. Guide columns are installed on the outer sides of one ends of each of the fork guiding plates. A fork guiding plate connecting seat is installed between the two guide columns. The fork guiding plate connecting seat connects the two guide columns. Lifting guiding wheels B are installed on the fork guiding plates;

[0021] Preferably, fork lift telescopic guiding wheels are installed on one side of the fork lift telescopic connecting plates facing the fork telescopic guiding assembly. The fork lift telescopic guiding wheels are installed in the fork guiding tracks;

[0022] Preferably, driving wheels for driving the whole robot to walk are installed at one end of the robot chassis and on both sides of the fork telescopic guiding assembly. The driving wheels are differential wheels or steering wheels.

[0023] The pallet handling robot of the present utility model is provided with a fork landing gear assembly and a fork telescopic guiding assembly. The fork landing gear assembly can be independently telescoped. When telescoping, the forks are suspended above the ground. After the forks are suspended and extended to the bottom of the pallet, the landing gear supports the ground. Therefore, this pallet handling robot is applicable not only to pallets with a "川" shape but also to goods handling in scenarios of pallets with a "田" shape;

[0024] The forks of this pallet handling robot can be independently telescoped. When transporting goods, the whole pallet and the goods are located directly above the vehicle body. Components such as driving wheels and batteries are located inside the vehicle body. Therefore, the vehicle body does not require a large-sized front end, making the turning radius of this pallet handling robot small enough to be half of the diagonal of the pallet to be carried, greatly reducing the requirement for the width of the passageway at the customer site and improving the utilization rate of the customer site;

[0025] The process of picking up goods by this pallet handling robot is that the fork tines are independently suspended from the ground and extended to the bottom of the pallet, then the landing gear is lowered to support the ground and lifts up the pallet, then the body moves to the bottom of the pallet, and then the landing gear is retracted to make the pallet fall onto the body. This structure determines that there is no need to set support wheels on the fork tines, only steel support plates are needed, which greatly improves the load-bearing capacity when picking up goods, and the load capacity can reach 3 tons. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 : A schematic structural diagram of Example 1;

[0027] Figure 2 : Figure 1 Schematic diagram of the structure with the fork tines extended and raised;

[0028] Figure 3 : Figure 2 Schematic diagram of the internal structure;

[0029] Figure 4 : Figure 3 Exploded diagram of

[0030] Figure 5 : Figure 3 A schematic diagram of the structure of the middle fork tine telescopic guide assembly, the fork tine telescopic drive assembly, and the fork tine lifting guide assembly;

[0031] Figure 6 : Figure 5 Exploded view of the middle fork tine telescopic guide assembly and the fork tine lifting guide assembly;

[0032] Figure 7 : Figure 3 Schematic diagram from another angle;

[0033] Figure 8 : Structural schematic diagram of the fork landing gear assembly;

[0034] Fig. 9 : Schematic diagram of the fork teeth retracted state;

[0035] Fig.10 : Use state diagram;

[0036] Fig.11 : Fig.10 Schematic diagram from another angle;

[0037] Fig.12 : The structural diagram of Example 2.

[0038] In the figure: 1. Robot chassis, 2. Fork teeth, 3. Fork tooth telescopic guiding assembly, 31. Fork tooth guiding plate, 32. Fork tooth guiding track, 33. Fork tooth guiding plate connecting seat, 34. Fork tooth telescopic guiding wheel, 4. Motor, 5. Fork tooth landing gear assembly, 51. Forward and reverse two-way lead screw, 52. Landing nut, 53. Slide block, 54. Linear guide, 55. Landing gear support arm, 56. Rotating shaft, 57. Landing gear ground support plate, 58. Coupling, 6. Fork tooth telescopic driving assembly, 61. Fork tooth telescopic driving motor, 62. Fork tooth telescopic lead screw, 63. Telescopic nut, 64. Connecting plate, 7. Fork tooth lifting guiding assembly, 71. Landing gear mounting plate, 72. Fork tooth lifting guiding frame, 73. Fork tooth lifting connecting plate, 74. Fork tooth telescopic connecting plate, 75. Lifting guiding groove A, 76. Guiding column, 77. Lifting guiding groove B, 78. Lifting guiding wheel A, 79. Lifting guiding wheel B, 8. Driving wheel. Detailed implementation mode

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0040] Embodiment 1. As Figure 1-4 shown, a pallet handling robot applicable to both Tianzi pallets and Chuanzi pallets includes a robot chassis 1 and fork teeth 2. Two fork tooth telescopic guiding assemblies 3 are arranged at intervals on the robot chassis 1. Each fork tooth telescopic guiding assembly 3 is provided with a fork tooth 2. The fork tooth 2 can leave or return to the robot chassis 1 from the fork tooth telescopic guiding assembly 3. Each fork tooth 2 is provided with a motor 4, and at least one set of fork tooth landing gear assemblies 5 capable of lifting and lowering the fork tooth 2 and the fork tooth telescopic guiding assembly 3 is installed at the output end of the motor 4;

[0041] Among them, as Figure 8 shown, the fork tooth landing gear assembly 5 includes a forward and reverse two-way lead screw 51 installed at the output end of the motor. There are two forward and reverse two-way lead screws 51. A coupling 58 is installed between the two forward and reverse two-way lead screws 51. Two landing nuts 52 with opposite movement directions are sleeved on the forward and reverse two-way lead screw 51. Slide blocks 53 are installed on both sides of the landing nut 52. The slide blocks 53 cooperate with the linear guides 54 installed on both sides of the fork tooth 2. A landing gear support arm 55 is fixedly installed below each landing nut 52. The lower ends of the two landing gear support arms 55 are hinged together;

[0042] The lower end of the landing gear support arm 55 is hinged together through a rotating shaft 56, and a landing gear ground support plate 57 is installed on the rotating shaft 56. The contact mode between the landing gear ground support plate 57 and the ground is surface contact, and the contact surface area is much larger than the contact area when the wheel contacts the ground in the traditional technology, thereby greatly increasing the load-bearing capacity of the fork teeth;

[0043] In this embodiment, the fork tine 2 is a cuboid without a bottom plate;

[0044] Wherein, a fork tine telescopic driving assembly 6 for driving the fork tine 2 to telescope is installed on the robot chassis 1, and the fork tine telescopic driving assembly 6 is located between the two fork tines 2. The fork tine telescopic driving assembly 6 includes a fork tine telescopic driving motor 61 installed on the robot chassis 1, and a fork tine telescopic screw rod 62 is installed at the output end of the fork tine telescopic driving motor 61, and a telescopic nut 63 is installed on the fork tine telescopic screw rod 62, and the telescopic nut 63 is installed on the connecting plate 64, and both ends of the connecting plate 64 are fixedly installed with fork tine lifting guide assemblies 7;

[0045] In this embodiment, the lifting nut 52 and the telescopic nut 63 are both ball nuts;

[0046] The fork tine lifting guide assembly 7 comprises a landing gear mounting plate 71 mounted on the connecting plate 64, fork tine lifting guide frames 72 are mounted on both sides of the landing gear mounting plate 71, fork tine lifting connecting plates 73 are mounted on both sides of the fork tine lifting guide frames 72, the other end of the fork tine lifting connecting plate 73 is mounted on the fork tine, a fork tine telescopic connecting plate 74 is mounted on the side of the fork tine lifting connecting plate 73 close to the fork tine telescopic guide assembly 3, and the fork tine telescopic connecting plate 74 is mounted on the fork tine telescopic guide assembly 3;

[0047] The fork tine lifting guide frame 72 in this embodiment is a rectangular frame;

[0048] The fork tine lifting guide assembly 7 further includes a guide column 76 installed at the other end of the fork tine telescopic guide assembly 3, and a lifting guide groove B77 is formed on the guide column 76, and a lifting guide wheel B79 is installed in the lifting guide groove B77;

[0049] The fork tine lifting guide frame 72 is provided with a lifting guide groove A75, and a lifting guide wheel A78 is installed on the side of the fork tine lifting connecting plate 73 facing the fork tine lifting guide frame 72, and the lifting guide wheel A78 is installed in the lifting guide groove A75;

[0050] The fork tine telescopic guide assembly 3 is installed on the fork tine lifting guide assembly 7, including two fork tine guide plates 31 arranged at intervals, each of the fork tine guide plates 31 is provided with a fork tine guide track 32, a guide column 76 is installed on the outer side of one end of each fork tine guide plate 31, a fork tine guide plate connecting seat 33 is installed between the two guide columns 76, the fork tine guide plate connecting seat 33 connects the two guide columns 76, and a lifting guide wheel B79 is installed on the fork tine guide plate 31;

[0051] The fork telescopic guide wheel 34 is installed on the side of the fork telescopic connecting plate 74 facing the fork telescopic guide assembly 3, and the fork telescopic guide wheel 34 is installed in the fork guide track 32. Figure 5-6 .

[0052] Among them, driving wheels 8 for driving the entire robot to walk are installed on one end of the robot chassis 1 close to the fork telescopic driving motor 61 and on both sides of the fork telescopic guide assembly 3. The driving wheels 8 are differential wheels or steering wheels.

[0053] The working principle of the utility model is: Figure 9-10, after the robot moves to the corresponding position, the fork telescopic drive motor 61 in the fork telescopic drive assembly 6 is started. The fork telescopic drive motor 61 drives the fork telescopic lead screw 62 to rotate. The rotation of the fork telescopic lead screw 62 drives the telescopic nut 63 to move forward. The telescopic nut 63 drives the connecting plate 64 to move forward. The connecting plate 64 drives the landing gear mounting plate 71 in the fork lifting guide assembly 7 to move forward. The landing gear mounting plate 71 drives the fork lifting guide frame 72 to move forward. The fork lifting guide frame 72 drives the fork lifting connecting plate 73 to move forward. The fork lifting connecting plate 73 drives the fork 2 to move forward. Since the fork lifting connecting plate 73 is installed on the fork telescopic connecting plate 74, and the fork telescopic connecting plate 74 is installed on the fork telescopic guide assembly 3, the fork telescopic guide wheel 34 moves forward in the fork guide track 32, that is, the fork 2 moves forward along the fork telescopic guide assembly 3, and the extension of the fork 2 is completed. At this time, the fork 2 is independently suspended above the ground and extends to the bottom of the tray. After the fork 2 extends, the motor 4 rotates, driving the forward and reverse lead screw 51 to rotate. The forward and reverse lead screw 51 drives the two landing nuts 52 to move towards each other. The landing gear ground support plate 57 installed below the landing nut 52 and hinged to the landing gear support arm 55 moves downward. After the landing gear ground support plate 57 touches the ground, the entire fork 2 moves upward. The fork 2 drives the fork lifting connecting plate 73 to move upward in the fork lifting guide frame 72, driving the fork telescopic connecting plate 74 to also move upward in the fork lifting guide frame 72. The fork telescopic connecting plate 74 drives the fork telescopic guide assembly 3 to move upward along the guide column 76, completing the upward movement of the fork 2 and the fork telescopic guide assembly 3, that is, the fork 2 drives the goods on it to be lifted. Then the fork telescopic drive motor 61 drives the fork telescopic rod 62 to reverse, and at the same time the entire vehicle body moves to directly below the tray. The motor 4 rotates in the reverse direction, driving the forward and reverse lead screw 51 to rotate in the reverse direction. The forward and reverse lead screw 51 drives the two landing nuts 52 to move away from each other. The landing gear support arm 55 installed below the landing nut 52 moves upward, and the entire fork 2 and the goods on the fork 2 move downward, ensuring that the tray falls onto the vehicle body to complete the loading of the tray.

[0054] Embodiment 2. A tray handling robot that is applicable to both the cross-shaped tray and the three-way tray in this embodiment is basically similar in structure to that of Embodiment 1. The difference lies in that: a set of fork landing gear assemblies 5 are installed in each of the forks in this embodiment. The fork landing gear assemblies 5 of the two forks 2 are diagonally distributed. If the fork landing gear assembly 5 of the left fork is in the front, then the fork landing gear assembly 5 of the right fork is in the back. If the fork landing gear assembly 5 of the left fork is in the back, then the fork landing gear assembly 5 of the right fork is in the front. This can ensure that the two forks are evenly stressed and the stability of the entire tray handling robot is good, as Fig.12 shown.

[0055] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pallet handling robot applicable to both cross pallets and grid pallets, comprising a robot chassis (1) and fork teeth (2), characterized in that: Two fork tine telescopic guide assemblies (3) are arranged at intervals on the robot chassis (1), each of the fork tine telescopic guide assemblies (3) is equipped with a fork tine (2), and the fork tine (2) can leave or return to the robot chassis (1) from the fork tine telescopic guide assembly (3), and each of the fork tine (2) is equipped with a motor (4), and the output end of the motor (4) is equipped with at least one set of fork tine landing gear assemblies (5) capable of lifting and lowering the fork tine (2) and the fork tine telescopic guide assembly (3).

2. The pallet handling robot applicable to both the grid pallet and the channel pallet according to claim 1, characterized in that: The fork tine landing gear assembly (5) comprises a forward and reverse bidirectional lead screw (51) mounted on the output end of the motor (4); two landing nuts (52) with opposite movement directions are sleeved on the forward and reverse bidirectional lead screw (51); sliders (53) are mounted on both sides of the landing nuts (52); the sliders (53) cooperate with linear rails (54) mounted on both sides of the fork tine (2); a landing gear support arm (55) is fixedly mounted below each of the landing nuts (52); and the lower ends of the two landing gear support arms (55) are hinged together.

3. The pallet handling robot applicable to both the grid pallet and the multi-block pallet according to claim 2, characterized in that: The lower ends of the landing gear support arms (55) are hinged together via a rotating shaft (56), and a landing gear ground support plate (57) is mounted on the rotating shaft (56).

4. A pallet handling robot that is applicable to both the grid pallet and the channel pallet according to claim 1 or 2 or 3, characterized in that: When a set of fork landing gear assemblies (5) is installed in each of the fork tines (2), the fork landing gear assemblies (5) of the two fork tines are distributed diagonally.

5. A pallet handling robot that is applicable to both a grid pallet and a multi-grid pallet according to claim 1 or 2 or 3, characterized in that: When two or more sets of the fork tine landing gear assemblies (5) are installed in each fork tine (2), a coupling (58) is installed between the forward and reverse bidirectional screw rods (51) of adjacent fork tine landing gear assemblies (5).

6. A pallet handling robot that is applicable to both the grid pallet and the multi-grid pallet according to claim 1 or 2 or 3, characterized in that: A fork tine telescopic drive assembly (6) for driving the fork tine (2) to telescope is installed on the robot chassis (1); the fork tine telescopic drive assembly (6) is located between the two fork tines (2); the fork tine telescopic drive assembly (6) comprises a fork tine telescopic drive motor (61) installed on the robot chassis (1); a fork tine telescopic screw rod (62) is installed at the output end of the fork tine telescopic drive motor (61); a telescopic nut (63) is installed on the fork tine telescopic screw rod (62); the telescopic nut (63) is installed on a connecting plate (64); and fork tine lifting guide assemblies (7) are fixedly installed at both ends of the connecting plate (64).

7. A pallet handling robot that is applicable to both the cross-shaped pallet and the grid-shaped pallet according to claim 6, characterized in that: The fork tine lifting guide assembly (7) comprises a landing gear mounting plate (71) mounted on a connecting plate (64); fork tine lifting guide frames (72) are mounted on both sides of the landing gear mounting plate (71); fork tine lifting connecting plates (73) are mounted on both sides of the fork tine lifting guide frames (72); the other end of the fork tine lifting connecting plate (73) is mounted on the fork tine (2); a fork tine telescopic connecting plate (74) is mounted on the side of the fork tine lifting connecting plate (73) close to the fork tine telescopic guide assembly (3); and the fork tine telescopic connecting plate (74) is mounted on the fork tine telescopic guide assembly (3).

8. A pallet handling robot that is applicable to both the cross-shaped pallet and the grid-shaped pallet according to claim 7, characterized in that: The fork tine lifting guide assembly (7) further comprises a guide column (76) mounted on the other end of the fork tine telescopic guide assembly (3), the guide column (76) being provided with a lifting guide groove B (77), and a lifting guide wheel B (79) being mounted in the lifting guide groove B (77); The fork tine lifting guide frame (72) is provided with a lifting guide groove A (75), and a lifting guide wheel A (78) is installed on the side of the fork tine lifting connecting plate (73) facing the fork tine lifting guide frame (72), and the lifting guide wheel A (78) is installed in the lifting guide groove A (75).

9. A pallet handling robot that is applicable to both the cross-shaped pallet and the grid-shaped pallet according to claim 8, characterized in that: The fork tine telescopic guide assembly (3) is installed on the fork tine lifting guide assembly (7), comprising two fork tine guide plates (31) arranged at intervals, each of the fork tine guide plates (31) is provided with a fork tine guide track (32), a guide column (76) is installed on the outer side of one end of each fork tine guide plate (31), a fork tine guide plate connecting seat (33) is installed between the two guide columns (76), the fork tine guide plate connecting seat (33) connects the two guide columns (76), a lifting guide wheel B (79) is installed on the fork tine guide plate (31), a fork tine telescopic guide wheel (34) is installed on the side of the fork tine telescopic connecting plate (74) facing the fork tine telescopic guide assembly (3), and the fork tine telescopic guide wheel (34) is installed in the fork tine guide track (32).

10. A tray handling robot that is applicable to both a cross-shaped tray and a grid-shaped tray according to claim 1 or 2, characterized in that: Driving wheels (8) for driving the entire robot to walk are installed at one end of the robot chassis (1) and on both sides of the fork telescopic guide assembly (3); the driving wheels (8) are differential wheels or steering wheels.

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