Pallet fork assembly, transfer robot and warehousing system

Abstract

The utility model provides a pallet fork assembly, a carrying robot and a warehousing system, relates to the technical field of intelligent warehousing, and is used for solving the technical problems that a telescopic mechanism is prone to shaking and poor in stability during stretching out and drawing back. The pallet fork assembly comprises a base, a mounting plate, the telescopic mechanism, a guide structure, a first driving mechanism and a goods taking mechanism; one end of the telescopic mechanism is pivoted to the mounting plate, the goods taking mechanism is arranged at the end, away from the mounting plate, of the telescopic mechanism, the guide structure comprises a first guide rail and a second guide rail, the second guide rail extends in the first direction, and the first guide rail extends in the second direction and is in sliding connection with the second guide rail; the telescopic mechanism is slidably connected with the first guide rail; the first driving mechanism is used for driving the first guide rail to move along the second guide rail to drive the telescoping mechanism to telescope. The telescopic stability of the telescopic mechanism in the pallet fork assembly and the accuracy of the telescopic route can be improved, and shaking is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of shelves, and in particular to a fork assembly, a handling robot and a warehousing system. Background Art

[0002] With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence level of logistics is also constantly improving. Equipment such as handling robots is one of the equipment to realize intelligent logistics, which can reduce the heavy physical labor of humans.

[0003] In the related art, the handling robot includes a fork assembly, and the fork assembly includes a telescopic mechanism and a picking mechanism. The picking mechanism is arranged at one end of the telescopic mechanism. The telescopic mechanism can be telescopically moved along the picking direction of the material box, so that the picking mechanism pulls the material box on the shelf storage location back to the fork or places the material box on the shelf storage location to realize the picking and placing of the material box.

[0004] However, in the related art, the telescopic mechanism in the fork assembly is prone to shaking when telescoping, and the telescoping accuracy is insufficient and the stability is poor. Utility Model Content

[0005] In view of the above problems, the embodiments of the present application provide a fork assembly, a handling robot and a warehousing system, which can improve the telescopic stability and the accuracy of the telescopic route of the telescopic mechanism in the fork assembly and reduce shaking.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] A first aspect of an embodiment of the present application provides a fork assembly, comprising:

[0008] Base;

[0009] A mounting plate, disposed on the base;

[0010] The telescopic mechanism comprises a first telescopic unit and at least one second telescopic unit pivotally connected in sequence, wherein the first telescopic unit comprises two first telescopic frames, one end of each of the two first telescopic frames being pivotally connected to the mounting plate respectively; and the second telescopic unit comprises two second telescopic frames, the two second telescopic frames being cross-arranged and pivotally connected to each other;

[0011] The guide structure comprises a first guide rail and a second guide rail, wherein the second guide rail is connected to the base, the second guide rail extends along a first direction, the first guide rail extends along a second direction, and the first guide rail is slidably connected to the second guide rail; the second telescopic unit is slidably connected to the first guide rail; wherein the first direction and the second direction are perpendicular to each other;

[0012] a first driving mechanism connected to the first guide rail, the first driving mechanism being configured to drive the first guide rail to move along the second guide rail so that the second telescopic unit slides along the first guide rail to drive the telescopic mechanism to telescope along the first direction;

[0013] The picking mechanism is arranged on a side of the second telescopic unit away from the first telescopic unit.

[0014] Compared with the related art, the fork assembly provided in the embodiment of the present application has at least the following advantages:

[0015] The fork assembly provided in the embodiment of the present application includes: a base, a mounting plate, a telescopic mechanism, a guiding structure, a first driving mechanism and a picking mechanism, the mounting plate is arranged on the base, the telescopic mechanism includes a first telescopic unit and at least one second telescopic unit pivotally connected in sequence, the first telescopic unit includes two first telescopic frames, one end of the two first telescopic frames are respectively pivotally connected to the mounting plate, the second telescopic unit includes two second telescopic frames, the two second telescopic frames are cross-arranged and pivotally connected to each other; the guiding structure includes a first guide rail and a second guide rail, the second guide rail extends along a first direction, the first guide rail extends along a second direction, and the first guide rail and the second guide rail are slidably connected, and the second telescopic unit is slidably connected to the first guide rail; the first driving mechanism is connected to the first guide rail, and the first driving mechanism is configured to drive the first guide rail to move along the second guide rail so that the second telescopic unit slides along the first guide rail to drive the telescopic mechanism to telescope along the first direction; the picking mechanism is arranged on a side of the second telescopic unit away from the first telescopic unit. In the above scheme, by setting up a guide structure, the guide structure can guide the telescopic movement of the telescopic mechanism in the first direction, avoiding the telescopic mechanism from deviating to both sides during telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism during telescoping, reducing shaking, and further improving the reliability of the picking mechanism when picking up the material box.

[0016] A second aspect of an embodiment of the present application provides a transport robot, comprising: a robot body and a fork assembly as provided in the above embodiment, wherein the fork assembly is arranged on the robot body, and the fork assembly can be lifted and moved relative to the robot body.

[0017] A third aspect of an embodiment of the present application provides a warehousing system, including the transport robot provided in the above embodiment.

[0018] The handling robot and the warehousing system provided in the embodiments of the present application have the same beneficial effects as the fork assembly provided in the above embodiments, which will not be described in detail here.

[0019] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the fork assembly, the handling robot and the warehousing system provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of the structure of a fork assembly provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application from another perspective;

[0024] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0025] Figure 5 A schematic diagram of another part of the structure of the fork assembly provided in an embodiment of the present application;

[0026] Figure 6 An exploded schematic diagram of another part of the structure of the fork assembly provided in an embodiment of the present application;

[0027] Figure 7 A schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application from another perspective;

[0028] Figure 8 for Figure 7 A partial enlarged view of point B in the middle;

[0029] Fig. 9 A schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application from another perspective;

[0030] Fig.10 for Fig. 9 A partial enlarged view of point C in the middle;

[0031] Fig.11 A schematic diagram of the structure of a transport robot provided in an embodiment of the present application.

[0032] Reference numerals:

[0033] 100-fork assembly; 110-base; 120-mounting plate; 130-telescopic mechanism;

[0034] 131-first telescopic unit; 1311-first telescopic frame;

[0035] 1311a-first connecting rod; 1311b-first connecting rib;

[0036] 132-second telescopic unit; 1312-second telescopic frame;

[0037] 1312a-second connecting rod; 1312b-second connecting rib; 134-pivot shaft;

[0038] 140-guide structure; 141-first guide rail; 142-second guide rail; 143-slider;

[0039] 150-first driving mechanism; 151-first driving motor; 152-flexible component; 1521-driving wheel;

[0040] 1522-driven wheel; 1523-transmission belt; 153-connecting piece; 1531-connecting body;

[0041] 1532-connecting part; 1533-sliding part;

[0042] 160-fixed plate; 161-second driving mechanism; 1611-second driving motor;

[0043] 1612-lifting unit; 1612a-driving pulley; 1612b-driven pulley; 1612c-conveyor belt;

[0044] 162-support member; 170-cargo pickup mechanism; 180-tray; 191-first bearing; 192-second bearing;

[0045] X-first direction; Y-second direction; Z-third direction;

[0046] 200 - handling robot; 210 - robot body; 211 - chassis; 212 - support frame; 213 - cargo pallet. DETAILED DESCRIPTION

[0047] In the related art, the handling robot includes a fork assembly, which includes a telescopic mechanism and a gripping mechanism. The gripping mechanism is arranged at one end of the telescopic mechanism, and the telescopic mechanism can be telescopically moved along the direction of picking up the material box, so that the gripping mechanism pulls the material box on the shelf back to the fork or puts the material box on the shelf to achieve the picking up and placing of the material box. However, in the related art, the telescopic mechanism in the fork assembly is easy to shake when telescoping, the telescopic accuracy is insufficient, and the stability is poor.

[0048] In order to at least partially solve the above-mentioned problems, the present application provides a fork assembly, a handling robot and a warehousing system. By designing a guide structure in the fork assembly, the guide structure can guide the telescopic movement of the telescopic mechanism in a first direction, avoiding the telescopic mechanism from deviating to both sides during telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism during telescoping, reducing shaking, and further improving the reliability of the picking mechanism when picking up the material box.

[0049] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0050] Please refer to Figures 1 to 5As shown, the embodiment of the present application provides a fork assembly 100, including: a base 110, a mounting plate 120, a telescopic mechanism 130, a guide structure 140, a first drive mechanism 150 and a pickup mechanism 170. The mounting plate 120 is disposed on the base 110, for example, the mounting plate 120 is disposed at an end of one end of the base 110. One end of the telescopic mechanism 130 is pivotally connected to the mounting plate 120, and illustratively, the telescopic mechanism 130 includes a first telescopic unit 131 and at least one second telescopic unit 132 pivotally connected in sequence. The pickup mechanism 170 is disposed at one end of the telescopic mechanism 130 away from the mounting plate 120. The guide structure 140 includes a first guide rail 141 and a second guide rail 142. The second guide rail 142 is, for example, arranged on one side of the telescopic mechanism 130 and connected to the base 110. The second guide rail 142 extends along the first direction, the first guide rail 141 extends along the second direction, and one end of the first guide rail 141 is slidably connected to the second guide rail 142, and the second telescopic unit 132 is slidably connected to the first guide rail 141. The first driving mechanism 150 is connected to the first guide rail 141, and the first driving mechanism 150 is configured to drive the first guide rail 141 to move along the second guide rail 142, so that the second telescopic unit 132 slides along the first guide rail 141 to drive the telescopic mechanism 130 to telescope along the first direction. In this way, the guide structure 140 can guide the telescopic mechanism 130 in the telescopic direction to prevent the telescopic mechanism 130 from deviating to both sides during telescoping, thereby improving the stability of the telescopic mechanism 130 during telescoping and the accuracy of the telescopic route, reducing the shaking of the telescopic mechanism 130 during telescoping, and thereby improving the reliability of the picking mechanism 170 when picking up the material box.

[0051] It should be noted that the first direction is, for example, the telescopic direction of the telescopic mechanism 130. Figure 1 The second direction is the direction perpendicular to the first direction, such as Figure 1 In the Y direction, the lifting direction of the picking mechanism 170 is along the third direction, for example Figure 1 The Z direction in .

[0052] In some embodiments, the first telescopic unit 131 includes two first telescopic frames 1311, and the ends of one end of the two first telescopic frames 1311 are respectively pivoted to the mounting plate 120, so that the two first telescopic frames 1311 can move toward or away from the mounting plate 120 with the pivot point pivoted to the mounting plate 120 as the rotation center.

[0053] In some embodiments, the ends of the two first telescopic frames 1311 near one end of the mounting plate 120 are pivotally connected to each other and to the mounting plate 120. For example, a hinge is provided on the mounting plate 120, and the ends of the two first telescopic frames 1311 near one end of the mounting plate 120 are pivotally connected to each other and to the hinge on the mounting plate 120. In this way, there is no need to provide a slide rail mechanism on the mounting plate 120, and the two ends of the two first telescopic frames 1311 do not need to be slidably connected to the slide rail mechanism on the mounting plate 120 through, for example, a hinge slider, so that the hinge slider and the slide rail mechanism can be saved. In this way, the telescopic mechanism 130 is installed on the mounting plate 120 to reduce the thickness of the hinge slider and the slide rail mechanism, thereby reducing the length of the telescopic mechanism 130 in the telescopic direction in the initial state. Since the overall length of the fork assembly 100 will affect the width of the lane in the storage space, the space utilization rate of the storage space is improved.

[0054] In addition, the second telescopic unit 132 includes two second telescopic frames 1312, which are cross-arranged and pivotally connected to each other. For example, the middle parts of the two second telescopic frames 1312 are pivotally connected to each other, for example, the two ends of each second telescopic frame 1312 are symmetrical with each other with the pivot point as the symmetry center, and the same end of the two second telescopic frames 1312 is pivotally connected to the adjacent structure, for example, the ends of the two second telescopic frames 1312 close to the first telescopic unit 131 are pivotally connected to the ends of the two corresponding first telescopic frames 1311, so that when the telescopic mechanism 130 is telescopic, under the action of the external driving force, the two second telescopic frames 1312 in the second telescopic unit 132 rotate with the pivot point as the rotation center, so as to rotate in the direction of approaching or moving away from each other, so as to achieve the purpose of telescoping.

[0055] In one embodiment, the telescopic mechanism 130 includes one, two or more second telescopic units 132. As an example and not a limitation, Figure 1 As shown, one end of the second telescopic unit 132 closest to the mounting plate 120 (i.e., the leftmost side) is pivotally connected to one end of the first telescopic unit 131, and the other end is pivotally connected to one end of the adjacent right second telescopic unit 132. One end of the second telescopic unit 132 closest to the pickup mechanism 170 is connected to the pickup mechanism 170, and the other end is pivotally connected to one end of the adjacent left second telescopic unit 132. Both ends of the middle second telescopic unit 132 are pivotally connected to the adjacent second telescopic units 132, respectively.

[0056] It can be understood that the middle parts of the two second telescopic frames 1312 in the same second telescopic unit 132 are pivotally connected to each other, that is, they form a cross scissors-like shape. In this way, the first telescopic unit 131 and at least one second telescopic unit 132 that are pivotally connected to each other in sequence form a telescopic mechanism 130 similar to a scissors-shaped telescopic mechanism, so that as long as one telescopic frame in a telescopic unit is driven to move along the first direction, the entire telescopic mechanism 130 can be telescoped along the first direction, and the telescopic structure is simple and the cost is low.

[0057] For example, Figure 2 As shown in , the ends of the two first telescopic frames 1311 are rotatably connected to each other (for example, pivoted) and pivoted to the hinge on the mounting plate 120, so that the two first telescopic frames 1311 can rotate relative to each other, so that the angle between the two first telescopic frames 1311 varies between 0° and 180°; and the two second telescopic frames 1312 in each second telescopic unit 132 are cross-arranged, for example, the two second telescopic frames 1312 are symmetrically cross-arranged, that is, the intersection position of the two second telescopic frames 1312 is the symmetric center of the two second telescopic frames 1312, that is, the middle parts of the two second telescopic frames 1312 are pivoted to each other, and the ends of the two second telescopic frames 1312 are respectively pivoted to the adjacent structures, so that the telescopic mechanism 130 forms a telescopic mechanism 130 with a scissor fork structure, for example. When the first driving mechanism 150 drives any one of the second telescopic frames 1312 to move along the first direction through the first guide rail 141, the entire telescopic mechanism 130 can be telescopically moved along the first direction, and the driving method and the telescopic structure are simple and low in cost.

[0058] Among them, the length of the first telescopic frame 1311 is, for example, half the length of the second telescopic frame 1312. In this way, the ends of the two first telescopic frames 1311 are pivotally connected to each other and to the mounting plate 120, which can reduce the initial length of the telescopic mechanism 130 and avoid mutual interference between adjacent telescopic frames.

[0059] In order to improve the guiding stability of the telescopic mechanism 130, in the embodiment of the present application, the guiding structure 140 may include two second guide rails 142, and the two second guide rails 142 are respectively arranged on opposite sides of the telescopic mechanism 130, so that the two ends of the first guide rail 141 are respectively slidably connected to the two second guide rails 142, and the same end of the second telescopic unit 132 is respectively slidably connected to the first guide rail 141. For example, the same end of the two second telescopic frames 1312 in the second telescopic unit 132 (for example, one end close to or far away from the mounting plate 120) is respectively slidably connected to the first guide rail 141. In this way, when the first driving mechanism 150 drives the first guide rail 141 to move, the two ends of the first guide rail 141 slide along the two second guide rails 142 respectively, and the telescopic mechanism 130 slides along the first guide rail 141 to achieve telescopic movement. In this way, the accuracy of the route of the telescopic movement of the telescopic mechanism 130 in the first direction driven by the first guide rail 141 can be further improved.

[0060] The picking mechanism 170 is disposed on a side of the second telescopic unit 132 away from the first telescopic unit 131, for example, Figure 1 In the figure, the picking mechanism 170 is arranged on one side of the second telescopic unit 132 on the far right, so that the picking mechanism 170 can move with the telescopic movement of the telescopic mechanism 130, thereby taking the material box from the corresponding storage position of the shelf or placing the material box on the fork assembly 100 on the corresponding storage position.

[0061] In some embodiments, the pickup mechanism 170 is a structure such as a hook, a suction cup or a clamp. Figure 1 In the figure, the picking mechanism 170 is a hook claw, and the material box can be provided with structures such as hook rings or grooves that match the hook claw, as long as they can be hooked with the hook claw. In this way, when the telescopic mechanism drives the hook claw to move, the material box on the storage location can be taken out.

[0062] In other embodiments, the picking mechanism 170 may be a suction cup to obtain the material box by forming a negative pressure adsorption force between the suction cup and the material box; or, the picking mechanism 170 may be a clamping member, for example, the clamping member includes two clamping arms, the two clamping arms are arranged opposite to each other and can be opened and closed, and when the material box needs to be obtained, the two clamping arms are located on opposite sides of the material box to clamp the material box to obtain the material box. Of course, the picking mechanism 170 may also be other structures that can obtain the material box, and no specific limitation is made here.

[0063] In some embodiments, please refer to Figure 1As shown, the fork assembly further includes a fixed plate 160, which is disposed at one end of the telescopic mechanism 130 away from the mounting plate 120 and is pivotally connected to the telescopic mechanism 130. The picking mechanism 170 can be movably disposed on a side of the fixed plate 160 away from the telescopic mechanism 130, so that the picking mechanism 170 can be lifted and moved relative to the fixed plate 160. In this way, when the picking mechanism 170, such as a hook claw, hooks the material box, it can first be lifted and moved, so that the hook claw moves to a position corresponding to the opening of the hook ring or groove on the material box, and then lifted and lowered in the opposite direction so that the hook claw hooks into the hook ring or groove, so that the hook claw hooks the material box to the fork when the telescopic mechanism 130 retracts.

[0064] In one embodiment, the hook of the picking mechanism 170 may be bent upwards. In some other embodiments, the hook of the picking mechanism 170 may be bent downwards.

[0065] It can be seen that in the fork assembly 100 provided in the embodiment of the present application, on the one hand, the first driving mechanism 150 drives the first guide rail 141 to move along the second guide rail 142, so that the telescopic mechanism 130 can slide relative to the first guide rail 141 and the second guide rail 142, thereby driving the telescopic mechanism 130 to telescope, simplifying the overall structure of driving the telescopic mechanism 130 to telescope, and reducing the cost; on the other hand, one end of the two first telescopic frames 1311 is rotatably connected to each other and pivotally connected to the mounting plate 120, so that the length of the telescopic mechanism 130 in the initial state in the telescopic direction can be reduced, thereby reducing the total length of the fork assembly 100, avoiding the influence of the fork length on the lane width in the storage space, and thus improving the utilization rate of the storage space; on the other hand, by setting the guide structure 140, the guide structure 140 can guide the telescopic movement of the telescopic mechanism 130 in the first direction, avoiding the telescopic mechanism 130 from deviating to both sides when telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism 130 when telescoping, and thus improving the reliability of the picking mechanism 170 when hooking the material box.

[0066] In some embodiments, please refer to Figures 4 to 6 As shown, the first telescopic unit 131 and the second telescopic unit 132 are pivotally connected to each other via a pivot shaft 134. Exemplarily, two first telescopic frames 1311 in the first telescopic unit 131 are pivotally connected to adjacent second telescopic frames 1312 via a pivot shaft 134 at one end away from the mounting plate 120; when there are at least two second telescopic units 132, two adjacent second telescopic units 132 are also pivotally connected to each other via a pivot shaft 134.

[0067] In some embodiments, please refer to Figure 3As shown, the two first telescopic frames 1311 each include two first connecting rods 1311a, and the two first connecting rods 1311a are spaced apart and arranged opposite to each other along the second direction; the two second telescopic frames 1312 include two second connecting rods 1312a, and the two second connecting rods 1312a are spaced apart and arranged opposite to each other along the second direction; wherein, the same end of the two first connecting rods 1311a can be connected by a pivot shaft 134, that is, the two first connecting rods 1311a are respectively rotatably connected to the pivot shaft 134; in addition, the same end of the two second connecting rods 1312a (that is, both are ends close to or far away from the mounting plate 120) can also be pivoted to each other by the pivot shaft 134, and in addition, the two first connecting rods 1311a and the two adjacent second connecting rods 1312a are pivoted by a pivot shaft 134, so that the first telescopic frame 1311 and the adjacent second telescopic frame 1312 can rotate relative to each other.

[0068] In addition, when the telescopic mechanism 130 includes at least two second telescopic units 132, the two second connecting rods 1312a in the second telescopic frame 1312 are pivotally connected to the two second connecting rods 1312a in the adjacent second telescopic frame 1312 through the same pivot shaft 134, so that the two adjacent second telescopic units 132 can rotate relative to each other, thereby achieving the purpose of telescoping.

[0069] In some embodiments, a first connecting rib 1311b is further provided between the two first connecting rods 1311a in one of the two first telescopic frames 1311, so as to connect the two first connecting rods 1311a together through the first connecting rib 1311b, wherein the first connecting rib 1311b and the corresponding two first connecting rods 1311a can be connected by bonding, welding, riveting, threading, etc.; and the first connecting rib 1311b can be one, two or more, for example, Figure 2 In the embodiment, there are two first connecting ribs 1311b, and the two first connecting ribs 1311b are respectively arranged at positions close to both ends of the two first connecting rods 1311a, so as to improve the overall strength of the first telescopic frame 1311 through the first connecting ribs 1311b.

[0070] In other embodiments, the two first connecting rods 1311a provided with the first connecting rib 1311b can be formed into an integral structure with the first connecting rib 1311b by casting or injection molding, that is, the two first connecting rods 1311a and the first connecting rib 1311b provided between the two first connecting rods 1311a are formed into an integral structure. In this way, the installation process between the first connecting rib 1311b and the first connecting rod 1311a can be reduced, thereby reducing the installation cost.

[0071] The other of the two first telescopic frames 1311 includes two mutually independent first connecting rods 1311 a, so as to facilitate the installation between the two first telescopic frames 1311 and the disassembly, assembly and replacement of the first telescopic unit 131 .

[0072] In addition, in some embodiments, in the two second telescopic frames 1312 in each second telescopic unit 132, the two second connecting rods 1312a in one second telescopic frame 1312 are an integrated structure, and the two second connecting rods 1312a in the other second telescopic frame 1312 are independent structures. This facilitates disassembly, assembly and replacement of the two second telescopic frames 1312.

[0073] In one example, a second connecting rib 1312b is provided between two second connecting rods 1312a in a second telescopic frame 1312, so that the two second connecting rods 1312a are connected into an integral structure through the second connecting rib 1312b, wherein the two ends of the second connecting rib 1312b can be detachably connected or fixedly connected to the corresponding second connecting rod 1312a, for example, the two ends of the second connecting rib 1312b are respectively bonded, welded, riveted, threaded, etc. to the corresponding second connecting rod 1312a, so that the two second connecting rods 1312a are connected through the second connecting rib 1312b to form an integral structure.

[0074] Alternatively, the second connecting rib 1312b may be formed into an integral structure with its corresponding two second connecting rods 1312a by casting or injection molding, thus reducing the installation process and the process cost.

[0075] The second connecting ribs 1312b between the two second connecting rods 1312a may be one, two or more. Figure 2 In the embodiment, two second connecting ribs 1312 b are arranged between the two second connecting rods 1312 a, and the two second connecting ribs 1312 b are arranged between the two second connecting rods 1312 a at intervals to improve the strength of the second telescopic frame 1312 .

[0076] In order to improve the smoothness of rotation when the first link 1311a and the second link 1312a are pivotally connected to their corresponding pivot shafts 134 and to increase their strength, in the embodiment of the present application, please refer to Figure 6As shown, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and at least one of the corresponding first link 1311a and the second link 1312a, that is, when the first link 1311a and the second link 1312a are pivoted through the pivot shaft 134, for example, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and the corresponding first link 1311a; or, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and the corresponding second link 1312a; or, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and the corresponding first link 1311a and the second link 1312a.

[0077] Exemplarily, when at least one of a first link 1311a and a second link 1312a is connected to the corresponding pivot shaft 134 through the first bearing 191 and the second bearing 192, respectively, the first bearing 191 and the second bearing 192 are sequentially sleeved on the pivot shaft 134. For example, the first bearing 191 is located below the second bearing 192, or the first bearing 191 is located above the second bearing 192. The specific setting can be adaptively performed according to actual needs, wherein the first bearing 191 is used to bear axial force, and the second bearing 192 is used to bear radial force.

[0078] Preferably, the first bearing 191 and the second bearing 192 may be provided only between the connecting rods of the first connecting rod 1311a and the second connecting rod 1312a close to the outer side of the telescopic mechanism 130 and the corresponding pivot shaft 134. Figure 6 In the embodiment, the second connecting rod 1312a is located outside the first connecting rod 1311a, so that the first bearing 191 and the second bearing 192 are only provided between the second connecting rod 1312a and its corresponding pivot shaft 134, so that the cost can be reduced while ensuring the smoothness of the extension and retraction.

[0079] In some embodiments, the first bearing 191 is a deep groove ball bearing, and the second bearing 192 is a needle bearing or a ball bearing; taking the second bearing 192 as a needle bearing as an example, the needle bearing includes a bearing outer ring and a needle roller assembly arranged on the circumference of the bearing outer ring, and the needle roller assembly is located between the bearing outer ring and the pivot shaft 134, that is, the needle bearing only has an outer ring and a needle roller assembly, and is not provided with an inner ring, and is used in conjunction with a deep groove ball bearing, the deep groove ball bearing and the needle bearing are sequentially sleeved on the pivot shaft 134, and the corresponding first connecting rod 1311a or the second connecting rod 1312a is then sleeved on the outside of the needle bearing and the deep groove ball bearing. Since the needle bearing can withstand a large radial force, the deep groove ball bearing mainly withstands axial force. The needle bearing without an inner ring can have a larger rated load while ensuring a smaller radial dimension, thereby not increasing the radial dimension of the corresponding first connecting rod 1311a or the second connecting rod 1312a, and enabling the pivot point to withstand a larger radial load, thereby improving the reliability of the telescopic mechanism 130 when pushing and pulling the material box.

[0080] In addition, no sleeves are used between the deep groove ball bearing and the needle roller bearing and the pivot shaft 134 respectively. This is because there is rolling friction between the needle roller bearing or the deep groove ball bearing and the pivot shaft 134, while there is sliding friction between the sleeve and the pivot shaft 134. Moreover, the material commonly used for the bearing has better wear resistance than the material of the sleeve. Therefore, by not using a sleeve, the friction resistance at the pivot joint can be reduced.

[0081] It should be noted that the first connecting rod 1311a and the second connecting rod 1312a may be provided with a first bearing 191 and a second bearing 192 at the pivotal points of their corresponding pivot shafts 134, respectively. The specific adaptive design may be performed according to actual needs and is not limited here.

[0082] Of course, when there are at least two second telescopic units 132, two adjacent second telescopic units 132 are also pivoted via the pivot shaft 134, and a first bearing 191 and a second bearing 192 are provided between the pivot shaft 134 and the second connecting rod 1312a in at least one of the two second telescopic units 132. Preferably, the first bearing 191 and the second bearing 192 may be provided only between the second connecting rod 1312a close to the outer side of the telescopic mechanism 130 among two adjacent second connecting rods 1312a and the corresponding pivot shaft 134 in the telescopic direction of the telescopic mechanism 130, so that the cost can be reduced while ensuring the smoothness of telescopic movement.

[0083] In addition, the second telescopic unit 132 and the fixing plate 160 are also pivotally connected via the pivot shaft 134 , and a first bearing 191 and a second bearing 192 may be disposed between at least one of the second telescopic unit 132 and the fixing plate 160 and the corresponding pivot shaft 134 .

[0084] That is, the structure of the pivot shaft 134 (and the bearing) between two adjacent second telescopic units 132 and between the second telescopic unit 132 and the fixing plate 160 is the same as the pivot shaft 134 (and the bearing) described above, and will not be repeated here.

[0085] In some embodiments, please refer to Figure 3 and Figure 4 As shown, the guide structure 140 further includes a slider 143, and the sliders 143 are, for example, one or two. When there is one slider 143, the slider 143 is connected to a pivot shaft 134 corresponding to one end of the second telescopic unit 132. When there are two sliders 143, the two sliders 143 are respectively connected to two pivot shafts 134 corresponding to the same end of the second telescopic unit 132 (i.e., both are close to or away from the mounting plate 120), that is, one slider 143 is arranged on one pivot shaft 134, and the two sliders 143 are respectively connected to the first guide rail 141 in a sliding manner. In this way, when the first driving mechanism 150 drives the first guide rail 141 to move along the first direction, the first guide rail 141 drives the pivot shaft 134 connected thereto to move along the first direction through the slider 143, and the slider 143 slides on the corresponding first guide rail 141, so that the telescopic mechanism 130 is telescoped.

[0086] For example, in Figure 4 In the embodiment, a slide groove matching the first guide rail 141 is provided on one side of the slide block 143 facing the first guide rail 141 , and the first guide rail 141 is located in the slide groove, so that the slide block 143 can slide along the first guide rail 141 .

[0087] In some embodiments, please refer to Figure 3 As shown, the first driving mechanism 150 includes a first driving motor 151 and a flexible component 152. The flexible component 152 is, for example, located on one side of the telescopic mechanism 130 and is arranged on the base 110. In this way, the first driving motor 151 is connected to the flexible component 152, and the flexible component 152 is connected to the first guide rail 141. The first driving motor 151 transmits power to the first guide rail 141 through the flexible component 152, so that the first guide rail 141 can be telescopically moved along the first direction.

[0088] In some embodiments, the first driving mechanism 150 may include two flexible components 152, which are respectively located on opposite sides of the telescopic mechanism 130 and are arranged on the base 110. The two flexible components 152 are respectively connected to the first driving motor 151. In this way, the first driving motor 151 can simultaneously drive the first guide rail 141 to move along the first direction through two groups of flexible components 152, thereby improving the movement reliability of the first guide rail 141, and then improving the telescopic reliability of the telescopic mechanism.

[0089] For example, please refer to Figure 7 As shown, each flexible component 152 includes, for example, a driving wheel 1521, a driven wheel 1522, and a transmission belt 1523. The driving wheel 1521 and the driven wheel 1522 are spaced apart in the first direction, respectively, and the transmission belt 1523 is sleeved on the driving wheel 1521 and the driven wheel 1522, so that when the first driving motor 151 drives the driving wheel 1521 to rotate, the driving wheel 1521 can drive the transmission belt 1523 to move, and the transmission belt 1523 drives the driven wheel 1522 to rotate around its own axis. The forward and reverse rotation of the first driving motor 151 can make the movement direction of the flexible component 152 opposite, thereby making the movement direction of the transmission belt 1523 opposite, and the first guide rail 141 is connected to the transmission belt 1523, so as to achieve the movement purpose of the telescopic mechanism 130 to extend or contract.

[0090] For example, in Figure 3 In the figure, the first driving motor 151 is located at the middle position of the base 110 near one end of the mounting plate 120. The first driving motor 151 transmits its power to two sets of flexible components 152 located on opposite sides of the first driving motor 151 through the output shafts at both ends to provide power to the flexible components 152, so that the flexible components 152 drive the telescopic mechanism 130 to move telescopically along the first direction. In this way, only one driving motor is needed to realize the telescopic mechanism 130, and the structure is simple and the cost is low.

[0091] Among them, the first drive motor 151 is, for example, a 400W servo motor. When the first drive motor 151 is running, the first drive motor 151 drives the pivot shaft 134 at one end of one of the second telescopic units 132 to move along the first direction through the transmission belt 1523 in the flexible components 152 on both sides. During the movement, the angle between the two telescopic frames in each telescopic unit continues to increase or decrease, and the pivot shafts 134 on both sides will passively move toward the middle or to both ends, so that the telescopic mechanism 130 slides along the second guide rails 142 on both sides through the two ends of the first guide rail 141, thereby realizing the telescopic mechanism 130.

[0092] In some embodiments, please refer to Figure 4 and Figure 7 As shown, the first guide rail 141 includes a guide rod, a guide shaft, a structure with a guide protrusion or a guide groove, etc. extending in the second direction. The pivot shaft 134 at the same end of a second telescopic unit 132 is slidably connected through a slider 143 matching the first guide rail 141. For example, Figure 4In the embodiment, the first guide rail 141 is a guide rod, and a guide protrusion extending in the second direction is provided on the side of the guide rod facing the slider 143. The slider 143 has a slide groove matching the guide protrusion, and the guide protrusion is located in the slide groove, so that when the first guide rail 141 moves in the first direction under the action of the driving force, the slider 143 slides along the first guide rail 141. In addition, the second guide rail 142 includes a guide rod extending in the first direction, a guide shaft, or a structure having a guide protrusion or a guide groove, etc., and the structure of one end of the first guide rail 141 matches the second guide rail 142, so that the first guide rail 141 is slidably connected with the second guide rail 142. For example, the second guide rail 142 is a guide rod, and one end of the first guide rail 141 has a guide groove matching the guide rod. In this way, the guide rod is located in the guide groove, so that the first guide rail 141 can slide along the second guide rail 142 under the action of the external driving force.

[0093] In some embodiments, please refer to Figure 3 , Figure 4 and Fig. 9 as well as Fig.10 As shown, it also includes a connecting member 153, which is connected to the first guide rail 141 and fixedly connected to the transmission belt 1523, wherein the connecting member 153 is, for example, a connecting block or a connecting plate, which is fixedly connected to the first guide rail 141 through the connecting member 153, and is fixedly connected to the transmission belt 1523 through threaded connecting members such as bolts, so that when the transmission belt 1523 moves, it can drive the first guide rail 141 to move along the second guide rail 142, thereby making the telescopic mechanism 130 telescopic.

[0094] In some embodiments, please refer to Fig.10 As shown, the connecting member 153 is slidably connected to the second guide rail 142, that is, the first guide rail 141 is fixedly connected to the transmission belt 1523 through the connecting member 153, and is slidably connected to the second guide rail 142 through the connecting member 153, so that when the transmission belt 1523 moves, it drives the first guide rail 141 to move along the second guide rail 142 through the connecting member 153.

[0095] In some embodiments, please refer to Fig.10 As shown, the connecting member 153 includes a connecting body 1531 and a connecting portion 1532 and a sliding portion 1533 arranged on the connecting body 1531. The connecting body 1531 is connected to the first guide rail 141, the connecting portion 1532 is fixedly connected to the transmission belt 1523 through a threaded connecting member, and the sliding portion 1533 is provided with a sliding groove matching the second guide rail 142 on the side facing the second guide rail 142, and the sliding portion 1533 is slidably connected to the second guide rail 142 through the sliding groove.

[0096] In some embodiments, please refer to Figure 4As shown, the connecting member 153 is slidingly connected to the second guide rail 142. Exemplarily, the second guide rail 142 is a guide rod, and a guide groove matching the guide rod is provided on the side of the connecting member 153 facing the second guide rail 142. In this way, the connecting member 153 is slidingly connected to the second guide rail 142 via the guide groove, thereby improving the reliability of the sliding connection between the first guide rail 141 and the second guide rail 142.

[0097] In some embodiments, the connector 153 and the first guide rail 141 can be detachably connected by means of snap connection, threaded connection, etc., so that the connector 153 can be disassembled for maintenance or better, thereby improving the interchangeability of parts in the fork assembly 100.

[0098] In some embodiments, please refer to Figure 7 and Figure 8 As shown, the second driving mechanism 161 is also included. The second driving mechanism 161 is arranged on the side of the fixed plate 160 away from the telescopic mechanism 130. The second driving mechanism 161 is configured to drive the picking mechanism 170 to move up and down relative to the fixed plate 160. The picking mechanism 170 is, for example, a picking mechanism 170 that is bent upward; the picking mechanism 170 can move up and down relative to the fixed plate 160 along the third direction, so that when the telescopic mechanism 130 drives the picking mechanism 170 to extend to the position of the corresponding material box to be picked up, the picking mechanism 170 is driven downward by the second driving mechanism 161, so that the picking mechanism 170 moves to the notch of the groove corresponding to the picking mechanism 170 on the material box, and then the picking mechanism 170 is driven upward by the second driving mechanism 161, so that the picking mechanism 170 is hooked into the groove of the material box, and then the first driving mechanism 150 drives the telescopic mechanism 130 to retract to pull the material box onto the fork; wherein the third direction is perpendicular to the first direction and the second direction respectively.

[0099] In some embodiments, the second driving mechanism 161 includes a second driving motor 1611 and a lifting unit 1612, the lifting unit 1612 is connected to the second driving motor 1611, the picking mechanism 170 is connected to the lifting unit 1612, the second driving motor 1611 is configured to provide power to the lifting unit 1612, and the lifting unit 1612 is configured to drive the picking mechanism 170 to move up and down relative to the fixed plate 160; for example, please refer to Figure 8As shown, the lifting unit 1612, for example, includes a driving pulley 1612a, a driven pulley 1612b and a conveyor belt 1612c. The driving pulley 1612a and the driven pulley 1612b are spaced apart along a third direction (for example, along the Z direction) on a side of the fixed plate 160 away from the telescopic mechanism 130. The conveyor belt 1612c is sleeved on the driving pulley 1612a and the driven pulley 1612b, and the output shaft of the second drive motor 1611 is connected to the driving pulley 1612a to drive the driving pulley 1612a to rotate, thereby driving the conveyor belt 1612c to move up and down through the driving pulley 1612a, and the picking mechanism 170 is connected to the conveyor belt 1612c so that the picking mechanism 170 can move up and down.

[0100] In addition, the telescopic mechanism 130 begins to extend from the initial contracted state, and the extended length may be, for example, about 1.1 meters. After the telescopic mechanism 130 is extended, the end of the telescopic mechanism 130 (i.e., the end close to the pickup mechanism 170) may sag slightly.

[0101] In order to make the height of the end of the telescopic mechanism 130 consistent with the height of the head end of the telescopic mechanism 130 (for example, the end close to the mounting plate 120), in the embodiment of the present application, please refer to Figure 7 and Figure 8 As shown, the fork assembly 100 also includes a support member 162, and the support member 162 is arranged at the bottom of the fixed plate 160, so that the support member 162 can abut against the bearing surface corresponding to the material box to be picked up, so as to provide a supporting force to the end of the telescopic mechanism 130 close to the fixed plate 160 through the support member 162, so as to avoid the phenomenon that the end of the telescopic mechanism 130 droops, and can avoid the poor hooking effect of the picking mechanism 170 and the groove on the material box due to the drooping of the end of the telescopic mechanism 130, thereby improving the reliability and accuracy of the fork assembly 100 when hooking the material box.

[0102] In some embodiments, the support member 162 can be a swivel support member, and the swivel axis of the swivel support member extends along the second direction. The fixed plate 160 is provided with connecting parts on both opposite sides near the bottom. The two ends of the swivel support member 162 are respectively rotatably connected to the connecting parts opposite thereto so that the swivel support member can rotate around its own axis. For example, the support member 162 is a roller or a wheel. In this way, when the telescopic mechanism 130 drives the fixed plate 160 at the end to telescope and move, the support member 162 can roll relative to the bearing surface of the supporting fixed plate 160, thereby reducing the friction resistance between the bearing member and the bearing surface.

[0103] It can be understood that the fork assembly 100 also includes a pallet 180, which is arranged on the base 110 and is located below the telescopic mechanism 130. There is a preset distance between the pallet 180 and the telescopic mechanism 130. The pallet 180 is configured to receive the material box hooked by the picking mechanism 170, that is, when the picking mechanism 170 hooks the material box, as the telescopic mechanism 130 retracts, the material box is pulled onto the pallet 180.

[0104] In the embodiment of the present application, a corresponding spacing is set between the pallet 180 and the telescopic mechanism 130. In this way, when it is necessary to hook up a material box, only the telescopic mechanism 130 needs to enter the storage position corresponding to the material box, and the pallet 180 does not need to enter the storage position. In this way, the total height of the fork assembly 100 entering the storage position corresponding to the material box can be reduced, thereby reducing the upper clearance of the shelf, that is, the height of the storage position only needs to be able to place the material box therein, thereby improving the space utilization rate of the storage space; in addition, since the pallet 180 and the telescopic mechanism 130 are designed separately, when hooking up the material box, the pallet 180 does not need to enter the storage position of the shelf, so that the pallet 180 can always remain flush with the shelf layer. After the picking mechanism 170 hooks up the material box, it can be directly pulled back all the way to the pallet 180, thereby reducing the time for picking up and releasing goods and improving the efficiency of picking up and releasing goods.

[0105] In addition, since both the first drive motor 151 and the second drive motor 1611 need to be powered on, the wiring path between the head end and the tail end of the fork assembly 100 can be routed along the route of the adjacent telescopic frames in the telescopic mechanism 130, for example, in a Z-shape, so that the wiring of the head end and the tail end has a certain redundancy, so that the line can be avoided from being affected by the extension and retraction of the telescopic mechanism 130, thereby improving the reliability of the wiring.

[0106] Fig.11 A schematic diagram of the structure of the transport robot provided in the embodiment of the present application; please refer to Fig.11 As shown, the embodiment of the present application also provides a handling robot 200, which includes a robot body 210 and a fork assembly 100 arranged on the robot body 210, wherein the robot body 210, for example, includes a chassis 211, a support frame 212 arranged on the chassis, a cargo plate 213 and a lifting assembly (not shown in the figure) arranged on the support frame 212, the lifting assembly and the fork assembly 100 are respectively arranged on the support frame 212, and the lifting assembly can drive the fork assembly 100 to move up and down relative to the support frame 212, so that the fork assembly 100 can place the material box on the shelf storage location at different heights, or take out the material box on the shelf storage location at different heights.

[0107] It can be understood that the chassis can be moved, for example, on the ground, so that the transport robot 200 can reach different locations to meet the transport needs. In addition, the support frame 212 is a supporting base for structures such as the fork assembly 100, the lifting assembly, and the cargo pallet 213. There can be multiple cargo pallets 213, and the multiple cargo pallets 213 are arranged on the support frame 212 at intervals along the vertical direction of the support frame 212. The cargo pallets 213 are used to temporarily store material boxes, so that the transport robot 200 can transport multiple material boxes in one transport process, thereby improving the transport efficiency.

[0108] The lifting assembly may include, for example, a driving motor and a conveyor belt assembly connected to the driving motor, without any specific limitation.

[0109] In addition, the structure and working principle of the fork assembly have been described in detail in the above embodiments and will not be repeated here.

[0110] An embodiment of the present application also provides a warehousing system, including a shelf and the transport robot provided in the above embodiment.

[0111] The shelf, for example, includes a plurality of storage locations, and the transport robot, for example, is the transport robot provided in the above embodiment.

[0112] The fork assembly, handling robot and warehousing system provided in the embodiments of the present application have a guide structure in the fork assembly, and the guide structure can guide the telescopic movement of the telescopic mechanism in a first direction, so as to prevent the telescopic mechanism from deviating to both sides during telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism during telescoping, reducing shaking, and further improving the reliability of the picking mechanism when picking up the material box.

[0113] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fork assembly, characterized in that: include: Base; A mounting plate, disposed on the base; The telescopic mechanism comprises a first telescopic unit and at least one second telescopic unit which are pivotally connected in sequence, wherein the first telescopic unit comprises two first telescopic frames, one end of each of the two first telescopic frames being pivotally connected to the mounting plate respectively; and the second telescopic unit comprises two second telescopic frames, the middle parts of the two second telescopic frames being pivotally connected to each other; The guide structure comprises a first guide rail and a second guide rail, wherein the second guide rail is connected to the base, the second guide rail extends along a first direction, the first guide rail extends along a second direction, and the first guide rail is slidably connected to the second guide rail; the second telescopic unit is slidably connected to the first guide rail; wherein the first direction and the second direction are perpendicular to each other; a first driving mechanism connected to the first guide rail, the first driving mechanism being configured to drive the first guide rail to move along the second guide rail so that the second telescopic unit slides along the first guide rail to drive the telescopic mechanism to telescope along the first direction; The picking mechanism is arranged on a side of the second telescopic unit away from the first telescopic unit.

2. The fork assembly according to claim 1, characterized in that: One end of the two first telescopic frames close to the mounting plate is pivotally connected to each other.

3. The fork assembly according to claim 2, characterized in that: One end of each of the first telescopic frames away from the mounting plate is pivotally connected to an adjacent second telescopic frame via a pivot axis.

4. The fork assembly according to claim 3, characterized in that: The first telescopic frame comprises two first connecting rods, the two first connecting rods are spaced apart and arranged opposite to each other along the third direction, and one end of the two first connecting rods are respectively connected by the pivot shaft; The second telescopic frame includes two second connecting rods, the two second connecting rods are spaced apart and arranged opposite to each other along the third direction, and one ends of the two second connecting rods are respectively connected through corresponding pivot shafts.

5. The fork assembly according to claim 4, characterized in that: One of the first telescopic frames in the first telescopic unit further includes a first connecting rib, wherein the connecting rib is connected between two first connecting rods, and the first connecting rib and the two first connecting rods corresponding thereto are an integral structure.

6. The fork assembly according to claim 4, characterized in that: One of the second telescopic frames in each of the second telescopic units further includes a second connecting rib, wherein the second connecting rib is connected between two second connecting rods, and the second connecting rib and the corresponding two second connecting rods are an integral structure.

7. The fork assembly according to claim 4, characterized in that: A first bearing and a second bearing are provided between the pivot shaft and at least one of the corresponding first connecting rod and second connecting rod. The first bearing and the second bearing are sequentially sleeved on the pivot shaft. The first bearing is used to bear axial force, and the second bearing is used to bear radial force.

8. The fork assembly according to claim 7, characterized in that: The first bearing is a deep groove ball bearing, and the second bearing is a needle bearing or a ball bearing.

9. The fork assembly according to any one of claims 3 to 8, characterized in that: The guide structure further includes a slider, which is connected to the pivot shaft corresponding to one end of the second telescopic unit, and the slider is slidably connected to the first guide rail.

10. The fork assembly according to claim 9, characterized in that: The first driving mechanism includes a first driving motor and a flexible component, the first driving motor is connected to the flexible component, the flexible component is connected to the first guide rail, and the first driving motor is configured to drive the first guide rail to move along a first direction through the flexible component.

11. The fork assembly according to claim 10, characterized in that: The flexible component includes a driving wheel, a driven wheel and a transmission belt. The driving wheel and the driven wheel are respectively arranged at intervals in the first direction. The transmission belt is sleeved on the driving wheel and the driven wheel. The first driving motor is connected to the driving wheel. The first guide rail is connected to the transmission belt so that the first guide rail moves along the first direction following the transmission belt.

12. The fork assembly according to claim 11, characterized in that: Also includes: A connecting member is connected to the first guide rail and fixedly connected to the transmission belt.

13. The fork assembly according to claim 12, characterized in that: The connecting member is slidably connected to the second guide rail.

14. The fork assembly according to claim 10, characterized in that: The guide structure includes two second guide rails, the two second guide rails are respectively arranged on opposite sides of the telescopic mechanism, and the first guide rail is slidably connected to the two second guide rails.

15. The fork assembly according to claim 14, characterized in that: The first driving mechanism includes two flexible components, which are respectively located on both sides of the telescopic mechanism and are respectively connected to the first driving motor, and the two ends of the first guide rail are respectively connected to the two flexible components, so that the two flexible components synchronously drive the first guide rail to move relative to the second guide rail.

16. The fork assembly according to any one of claims 1 to 8, characterized in that: It also includes a fixing plate, which is arranged at one end of the telescopic mechanism away from the mounting plate and is pivotally connected to the telescopic mechanism, and the picking mechanism is arranged on a side of the fixing plate away from the telescopic mechanism.

17. The fork assembly according to claim 16, characterized in that: The picking-up mechanism is movably arranged on the fixing plate so that the picking-up mechanism can be lifted and moved relative to the fixing plate.

18. The fork assembly according to claim 17, characterized in that: The picking mechanism includes one of a hook, a suction cup or a clamping member.

19. The fork assembly according to claim 17, characterized in that: It also includes a second driving mechanism, which is arranged on a side of the fixed plate away from the telescopic mechanism, and the second driving mechanism is configured to drive the picking mechanism to move up and down relative to the fixed plate.

20. The fork assembly according to claim 19, characterized in that: The second driving mechanism includes a second driving motor and a lifting unit, the lifting unit is connected to the second driving motor, the picking mechanism is connected to the lifting unit, the second driving motor is configured to provide power to the lifting unit, and the lifting unit is configured to drive the picking mechanism to move up and down relative to the fixed plate.

21. The fork assembly according to claim 16, characterized in that: It also includes a support member, which is arranged at the bottom of the fixed plate and is configured to abut against a bearing surface corresponding to the material box to be taken so as to provide a supporting force to an end of the telescopic mechanism close to the fixed plate.

22. The fork assembly according to claim 21, characterized in that The support member is a swivel support member, the swivel axis of the swivel support member extends along the second direction, the fixing plate is provided with connecting parts on both opposite sides close to the bottom, and the two ends of the swivel support member are rotatably connected to the corresponding connecting parts respectively, so that the swivel support member can rotate around its own axis.

23. The fork assembly according to claim 22, characterized in that: The supporting member is a roller or a wheel.

24. The fork assembly according to any one of claims 1 to 8, characterized in that: It also includes a tray, which is arranged on the base and located below the telescopic mechanism. There is a preset distance between the tray and the telescopic mechanism. The tray is configured to receive the material box obtained by the picking mechanism.

25. A transport robot, characterized in that: include: A robot body and a fork assembly as described in any one of claims 1 to 24, wherein the fork assembly is arranged on the robot body.

26. A storage system, characterized in that: Comprising the handling robot as described in claim 25.

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