Rotary synchronous belt pallet fork suitable for high-density stereoscopic warehouse

Abstract

The rotary synchronous belt pallet fork comprises a pallet fork assembly, a rotary assembly, a first synchronous belt assembly and a second synchronous belt assembly, the pallet fork assembly comprises an upper fork, a middle fork and a lower fork which are sequentially and movably connected through a guide device, and the middle fork and the upper fork synchronously stretch out. The rotary assembly is arranged below the lower fork and drives the lower fork to rotate, the first synchronous belt assembly is sequentially connected with the upper fork, the middle fork and the lower fork and externally connected with a first driving motor, and the first driving motor drives the first synchronous belt assembly to drive the upper fork and the middle fork to synchronously reciprocate. The second synchronous belt assembly is sequentially connected with the upper fork, the middle fork and the lower fork, and the second synchronous belt assembly and the first synchronous belt assembly are used in cooperation to drive the upper fork and the middle fork to synchronously reciprocate. The driving motor is installed on the middle fork, the driving motor drives the synchronous belt wheel on the middle fork to rotate, and the synchronous belt wheel drives the synchronous belt to achieve reciprocating linear motion of the pallet fork assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics machinery, in particular to a rotating synchronous belt fork suitable for high-density stereoscopic warehouses. Background Art

[0002] With the acceleration of economic globalization, the huge potential contained in automated warehouses has attracted more and more attention. As an important part of the logistics center, the automated warehouse (Automatic Storage & Retrieval System) directly affects the strategy and plan formulated by the enterprise, and directs and adjusts the enterprise's actions. Due to the high access efficiency of the automated warehouse, it can effectively connect the production links outside the warehouse, and form an automated logistics system in the storage, thereby forming a planned and organized production chain, which has greatly improved the production capacity. It has become one of the symbols of enterprise production and management informatization. The fork is one of the core equipment of the entire automated warehouse. Now many companies attach great importance to cleanliness, lightweight, cost, beat, and flow.

[0003] Existing forks utilize a combination of rack and pinion gears and sprocket chains. This complex structure, high cost, bulk, and weight make them unsuitable for high-speed, light-load applications. Existing forks also utilize steel guide wheels, which can cause vibration, instability, and high noise during operation. Mechanically, these forks are unsuitable for applications where cleanliness, lightweight, cost, cycle time, and throughput are paramount.

[0004] Therefore, how to solve the deficiencies in the above-mentioned prior art has become the subject to be studied and solved in this application. Utility Model Content

[0005] In view of this, the purpose of the present invention is to provide a rotating synchronous belt fork suitable for high-density warehouses.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A rotating synchronous belt fork suitable for high-density warehouses, comprising:

[0008] A rotating synchronous belt fork suitable for high-density warehouses, comprising:

[0009] A fork assembly comprising an upper fork, a middle fork and a lower fork movably connected in sequence via a guide device, wherein the middle fork and the upper fork are extended synchronously;

[0010] A swivel assembly is provided below the lower fork, and drives the lower fork to rotate;

[0011] a first synchronous belt assembly, the first synchronous belt assembly sequentially connecting the upper fork, the middle fork, and the lower fork, the first synchronous belt assembly being externally connected to a first drive motor, the first drive motor driving the first synchronous belt assembly to drive the upper fork and the middle fork to synchronously reciprocate;

[0012] The second synchronous belt assembly connects the upper fork, the middle fork and the lower fork in sequence, and the second synchronous belt assembly cooperates with the first synchronous belt assembly to drive the upper fork and the middle fork to perform reciprocating motion synchronously.

[0013] Furthermore, the first synchronous belt assembly includes a first synchronous belt, a first synchronous belt pressure plate, a first mounting seat, a first synchronous belt pulley, a first rotating shaft and a second synchronous belt pressure plate, the first synchronous belt pressure plate is installed on the lower surface of the upper fork, the first mounting seat is installed at the first through hole opened in the middle fork, the first rotating shaft is installed on the first mounting seat, the first synchronous belt pulley is rotatably connected to the first rotating shaft, the first rotating shaft is transmission-connected to the first driving motor, the second synchronous belt pressure plate is installed on the upper surface of the lower fork, one end of the first synchronous belt is connected to the first synchronous belt pressure plate, and the other end engages with the first synchronous belt pulley and then passes through the middle fork, the first synchronous belt passes through the outlet end of the middle fork and the second synchronous belt pressure plate, and the first driving motor drives the upper fork and the middle fork to move synchronously through the first synchronous belt.

[0014] Furthermore, the second synchronous belt assembly includes a second synchronous belt, a third synchronous belt pressure plate, a second mounting seat, a second synchronous belt pulley, a second rotating shaft and a fourth synchronous belt pressure plate, the third synchronous belt pressure plate is mounted on the lower surface of the upper fork, the second mounting seat is mounted at the second through hole opened in the middle fork, the second rotating shaft is mounted on the second mounting seat, the second synchronous belt pulley is rotatably connected to the second rotating shaft, one end of the second synchronous belt is connected to the third synchronous belt pressure plate, and the other end engages with the second synchronous belt pulley and passes through the middle fork, and the second synchronous belt is connected to the fourth synchronous belt pressure plate through the passing end of the middle fork.

[0015] Furthermore, shaft sleeves are installed at both ends of the first rotating shaft and the second rotating shaft.

[0016] Furthermore, the slewing assembly includes a slewing mounting bracket, an annular guide rail, a slider, a second drive motor and a motor drive shaft. The slewing mounting bracket is installed on the cargo platform, the annular guide rail and the second drive motor are both installed on the slewing mounting bracket, the slider is slidingly connected to the annular guide rail, the second drive motor is drivingly connected to the motor drive shaft, and the motor drive shaft is rotatably connected to the annular guide rail.

[0017] Furthermore, the lower fork is connected to the slider, and the second drive motor drives the lower fork to rotate by driving the annular guide rail.

[0018] Furthermore, the guide device includes a first inner guide rail, a first outer guide rail, a second inner guide rail, and a second outer guide rail, wherein the first inner guide rails are mounted in pairs on the lower surface of the upper fork, and the length direction of the first inner guide rails is in the same direction as the moving direction of the upper fork, and the first outer guide rails are mounted in pairs on the upper surface of the middle fork, and the length direction of the first outer guide rails is in the same direction as the moving direction of the middle fork, and each of the first inner guide rails and each of the first outer guide rails are used in conjunction with each other;

[0019] The second inner guide rails are installed in pairs on the lower surface of the middle fork, and the length direction of the second inner guide rails is in the same direction as the moving direction of the middle fork. The second outer guide rails are installed in pairs on the upper surface of the lower fork, and the length direction of the second outer guide rails is in the same direction as the moving direction of the middle fork. Each second inner guide rail and each second outer guide rail are used in conjunction with each other.

[0020] Furthermore, a first mechanical dead stop is installed on the upper surface of the middle fork, and a second mechanical dead stop is installed on the upper surface of the lower fork.

[0021] Furthermore, the first drive motor is mounted on a motor bracket, and the motor bracket is fixed to the cargo platform by bolts.

[0022] Furthermore, a third through hole is provided on the lower fork, and the third through hole is used in conjunction with the motor drive shaft.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] 1. By installing a drive motor on the middle fork, the drive motor drives the synchronous pulley on the middle fork to rotate, and the synchronous pulley drives the synchronous belt to achieve reciprocating linear motion of the fork assembly. Compared with the existing technology, the gear box and the structure of the lower fork driving the middle fork are eliminated. It has the advantages of cost savings, easy installation, smooth and accurate transmission, easy maintenance and low maintenance costs, which greatly improves the picking capacity of the equipment. The use of synchronous belt drive has the advantages of no lubrication, cushioning and shock absorption, and low noise, saving costs and greatly improving the stability of the stacker during high-speed movement.

[0025] 2. By using the inner and outer guide rails to achieve the reciprocating linear motion of the fork assembly, the fork cross-sectional height is greatly reduced. It is suitable for special industries such as medicine, new energy, cold chain, optoelectronics, etc. that have low requirements for shelf height. It is suitable for high-density storage conditions and improves the utilization rate of the shelf.

[0026] 3. The fork can achieve rotational motion via a circular guide rail, allowing the fork to steer cargo on the loading platform while the stacker is operating, effectively managing time, improving efficiency, and increasing cycle time. Using a circular guide rail to achieve rotational motion offers low cost, compact structure, and smooth movement compared to slewing support bearings, making it suitable for high-speed applications. This application overcomes the shortcomings of existing technologies and is applicable to applications where cleanliness, lightweight, cost, cycle time, and flow rate are paramount. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Attachment Figure 1 This is a schematic structural diagram of an embodiment of the present application;

[0029] Attachment Figure 2 This is a schematic cross-sectional structural diagram of an embodiment of the present application;

[0030] Attachment Figure 3 This is a schematic structural diagram of the fork assembly according to an embodiment of the present application;

[0031] Attachment Figure 4 This is a schematic diagram of the front view of the fork assembly of an embodiment of the present application;

[0032] Attachment Figure 5 This is a schematic diagram of the structure of the fork in the embodiment of the present application;

[0033] Attachment Figure 6 This is a schematic diagram of the structure of the fork in the embodiment of the present application;

[0034] Attachment Figure 7 For attachment Figure 6 AA cross-section diagram;

[0035] Attachment Figure 8 This is a schematic structural diagram of the first mounting base of this application;

[0036] Attachment Figure 9 For attachment Figure 8 BB cross-section diagram;

[0037] Attachment Figure 10 This is a schematic structural diagram of the lower fork of an embodiment of the present application;

[0038] Attachment Figure 11 This is a schematic diagram of the front view of the rotary assembly of an embodiment of the present application;

[0039] Attachment Figure 12 This is a schematic structural diagram of the rotary assembly according to an embodiment of the present application;

[0040] Attachment Figure 13 This is a schematic structural diagram of the second synchronous belt assembly according to an embodiment of the present application.

[0041] Description of reference numerals and components in the accompanying drawings:

[0042] 1. Fork assembly; 11. Upper fork; 12. Middle fork; 13. Lower fork; 2. Guide device; 21. First inner guide rail; 22. First outer guide rail; 23. Second inner guide rail; 24. Second outer guide rail; 3. Rotary assembly; 31. Rotary mounting bracket; 32. Annular guide rail; 33. Slider; 34. Second drive motor; 35. Motor drive shaft; 4. First synchronous belt assembly; 41. First synchronous belt; 42. First synchronous belt pressure plate; 43 , first mounting seat; 44, first synchronous belt pulley; 45, first rotating shaft; 46, second synchronous belt pressure plate; 47, bushing; 5, second synchronous belt assembly; 51, second synchronous belt; 52, third synchronous belt pressure plate; 53, second mounting seat; 54, fourth synchronous belt pressure plate; 55, second synchronous belt pulley; 6, first drive motor; 61, motor bracket; 7, cargo platform; 8, first mechanical dead gear; 9, second mechanical dead gear; 10, through hole. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solution of the present invention through specific implementation methods. Obviously, the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0044] See attached Figures 1 to 13 As shown, the present application discloses a rotary synchronous belt fork suitable for high-density stereoscopic warehouses, comprising a fork assembly 1, a guide device 2, a slewing assembly 3, a first synchronous belt assembly 4, and a second synchronous belt assembly 5. The fork assembly 1 comprises an upper fork 11, a middle fork 12, and a lower fork 13, which are movably connected in sequence through the guide device 2, and the middle fork 12 and the upper fork 11 can be extended synchronously. The slewing assembly 3 is arranged below the lower fork 13, and the slewing assembly 3 can drive the lower fork 3 to rotate. The first synchronous belt assembly 4 is connected in sequence to the upper fork 11, the middle fork 12, and the lower fork 13. The first synchronous belt assembly 4 is externally connected to a first drive motor 6, and the first drive motor 6 drives the upper fork 11 and the middle fork 12 to reciprocate synchronously by driving the first synchronous belt assembly 4. The second synchronous belt assembly 5 is connected in sequence to the upper fork 11, the middle fork 12, and the lower fork 13. The second synchronous belt assembly 5 cooperates with the first synchronous belt assembly 4 to drive the upper fork 11 and the middle fork 12 to reciprocate synchronously.

[0045] The above structure is further described below:

[0046] The existing technology uses steel guide wheels, which are jittery, unstable, and noisy during operation. From a mechanical perspective, they are not suitable for applications where cleanliness, lightweight, cost, cycle time, and flow rate are highly valued. The existing technology has a high fork extension section, which requires a high shelf height, resulting in low utilization of the entire shelf and is not suitable for storing high-density goods. Figures 1 to 13 As shown, the fork assembly 1 of the present application includes an upper fork 11, a middle fork 12 and a lower fork 13 which are movably connected in sequence through a guide device 2, and the guide device 2 includes a first inner guide rail 21, a first outer guide rail 22, a second inner guide rail 23 and a second outer guide rail 24. The first inner guide rails 21 are mounted in pairs on the lower surface of the upper fork 11 by bolts, and the length direction of the first inner guide rails 21 is in the same direction as the moving direction of the upper fork 11. The first outer guide rails 22 are mounted in pairs on the upper surface of the middle fork 12 by bolts, and the length direction of the first outer guide rails 22 is in the same direction as the moving direction of the middle fork 12. Each first inner guide rail 21 and each first outer guide rail 22 are used in conjunction with each other, and the upper fork 11 extends from the middle fork 12 through the sliding cooperation between the first inner guide rail 21 and the first outer guide rail 22. Similarly, the second inner guide rails 23 are mounted in pairs on the lower surface of the middle fork 12 by bolts, and the length direction of the second inner guide rails 23 is in the same direction as the moving direction of the middle fork 12. The second outer guide rails 24 are mounted in pairs on the upper surface of the lower fork 13 by bolts, and the length direction of the second outer guide rails 24 is in the same direction as the moving direction of the middle fork 12. Each second inner guide rail 23 and each second outer guide rail 24 are used in conjunction with each other, and the middle fork 12 extends from the lower fork 13 through the sliding cooperation of the second inner guide rails 23 and the second outer guide rails 24. The present application uses the inner and outer guide rails to achieve the reciprocating linear motion of the upper fork 11 and the middle fork 12. The height of the fork section of the upper fork 11 and the middle fork 12 is greatly reduced, which is suitable for special industries with low shelf height requirements such as medicine, new energy, cold chain, optoelectronics, etc., and is suitable for high-density storage conditions, greatly improving the utilization rate of the shelf.

[0047] The existing fork drive motor is placed on the lower fork, equipped with a separate gearbox, and adopts a gear rack and sprocket chain combination structure. The fork is driven by the motor to drive the gear of the lower fork, and then the gear drives the rack on the middle fork to achieve the reciprocating motion of the fork. The drive structure is complex, costly, large, noisy, and heavy, making it unsuitable for high-speed and light-load applications. Figures 1 to 13As shown, the first synchronous belt assembly 4 includes a first synchronous belt 41, a first synchronous belt pressure plate 42, a first mounting seat 43, a first synchronous pulley 44, a first rotating shaft 45 and a second synchronous belt pressure plate 46. The first synchronous belt pressure plate 42 is fixed to the lower surface of the upper fork 11 by bolts, and the first mounting seat 43 is fixed to the first through hole opened in the middle fork 12 by bolts. The first rotating shaft 45 is installed on the first mounting seat 43, and the first synchronous pulley 44 is sleeved on the first rotating shaft 45. The first synchronous pulley 44 is rotatably connected to the first rotating shaft 45, and the first rotating shaft 45 is transmission-connected to the first drive motor 6. The first drive motor 6 is installed on the motor bracket 61, and the motor bracket 61 is installed on the side of the middle fork 12. The motor bracket 61 is also fixed to the cargo platform 7 by bolts. The second synchronous belt pressure plate 46 is fixed to the upper surface of the lower fork 13 by bolts, one end of the first synchronous belt 41 is connected to the first synchronous belt pressure plate 42, and the other end is engaged with the first synchronous belt pulley 44 and then passes through the middle fork 12. The first synchronous belt 41 is connected to the second synchronous belt pressure plate 46 through the passing end of the middle fork 12, and the first drive motor 6 drives the upper fork 11 and the middle fork 12 to move synchronously through the first synchronous belt 41.

[0048] Similarly, the second synchronous belt assembly 5 includes a second synchronous belt 51, a third synchronous belt pressure plate 52, a second mounting seat 53, a second synchronous pulley 55, a second rotating shaft and a fourth synchronous belt pressure plate 54. The third synchronous belt pressure plate 52 is fixed to the lower surface of the upper fork 11 by bolts, and the second mounting seat 53 is fixed to the second through hole opened in the middle fork 12 by bolts. The second rotating shaft is installed on the second mounting seat 53, and the second synchronous pulley 55 is rotatably connected to the second rotating shaft. One end of the second synchronous belt 51 is connected to the third synchronous belt pressure plate 52, and the other end engages with the second synchronous pulley and passes through the middle fork 12. The second synchronous belt 51 is connected to the fourth synchronous belt pressure plate 54 through the outlet end of the middle fork 12. As can be seen, the drive motor of the fork of this application is fixed to the middle fork, with a novel structure. The drive motor drives the synchronous pulley on the middle fork to rotate, and the synchronous pulley drives the synchronous belt to achieve reciprocating linear motion of the fork. Compared with the existing technology, the gear box and the structure of the lower fork driving the middle fork are omitted, which saves costs, is easy to install, has smooth and accurate transmission, is easy to maintain and has low maintenance costs, and greatly improves the picking capacity of the equipment. The use of synchronous belt drive has the characteristics of no lubrication, cushioning and shock absorption, and low noise. It saves costs and greatly improves the stability of the stacker during high-speed movement.

[0049] The movement directions of the first and second synchronous belts 41, 51 are in the same direction as the length directions of the upper fork 11, the middle fork 12, and the lower fork 13. The first and third synchronous belt pressure plates 42, 52 are respectively located at the two ends of the upper fork 11 along the movement direction, and the first and third synchronous belt pressure plates 42, 52 are respectively arranged close to the upper fork 11 on both sides along the width direction. After the upper fork 11 extends from the middle fork 12, the first synchronous belt pressure plate 42 is located away from the middle fork 12, and the third synchronous belt pressure plate 52 is located close to the middle fork. The first mounting seat 43 and the second mounting seat 53 are fixed to the two ends of the middle fork 12 along the movement direction, and the first and second mounting seats 43, 53 are respectively arranged close to the two sides of the middle fork 12 along the width direction. After the upper fork 11 extends from the middle fork 12, the first mounting seat 43 is located away from the upper fork 11, and the second mounting seat 53 is located away from the lower fork 13. The second synchronous belt pressure plate 46 and the fourth synchronous belt pressure plate 54 are respectively located at the two end portions of the lower fork 13 and the middle fork 12 in the same direction of movement, and the second synchronous belt pressure plate 46 and the fourth synchronous belt pressure plate 54 are respectively arranged on both sides of the lower fork 13 along the width direction. After the middle fork 12 extends from the lower fork 13, the second synchronous belt pressure plate 46 is located close to the middle fork 12, and the fourth synchronous belt pressure plate 54 is located away from the middle fork 12.

[0050] In this embodiment, the first synchronous belt 41 and the second synchronous belt 52 are both provided with teeth, which can engage with the first synchronous pulley 44 and the second synchronous pulley 55 respectively, and the gaps between the first mounting seat 43 and the first synchronous pulley 44 and the second mounting seat 53 and the second synchronous pulley 55 are small, which can prevent the synchronous belt from jumping teeth.

[0051] See attached Figure 1 , Attachment Figure 2 , Attachment Figure 4 , Attachment Figure 11 and attached Figure 12As shown, the slewing assembly 3 is mounted below the lower fork 13 and includes a slewing mounting bracket 31, an annular guide rail 32, a slider 33, a second drive motor 34, and a motor drive shaft 35. The slewing mounting bracket 31 is mounted on the cargo platform 6. The annular guide rail 32 and the second drive motor 34 are both mounted on the slewing mounting bracket 31. The slider 33 is mounted on the annular guide rail 32, and the slider 33 and the annular guide rail 32 are rotatably connected to the motor drive shaft 35. The second drive motor 34 can drive the motor drive shaft 35 to rotate. The lower fork 13 is provided with a third through-hole 10, which cooperates with the motor drive shaft 35. The lower fork 13 is mounted on the slider 33 via a mounting plate. When the second drive motor 34 rotates the annular guide rail 32, it also rotates the lower fork 13. The fork assembly 1 achieves rotational motion via the annular guide rail 32. During operation, the fork can steer cargo on the cargo platform, achieving efficient and time-efficient operation. The annular guide rail 32 is used to realize the rotation movement, which has the advantages of low cost, compact structure, and smooth movement, and is suitable for high-speed occasions.

[0052] As a feasible approach, a slewing bearing or a composite bearing may be used to achieve the rotational motion.

[0053] The cargo fork of the present application can rotate when the stacker is running, realize the reversal of the goods, improve the rhythm of the entire three-dimensional warehouse, and greatly improve the company's production efficiency. Since the fork cross-section of the cargo fork is very short, it can be used in high-density storage conditions, which improves the utilization rate of the shelf. The driving motor of the cargo fork is fixed on the middle fork, which has a novel structure. The synchronous belt is driven by the synchronous pulley to realize the reciprocating linear motion of the cargo fork. Compared with the existing design, the structure of the lower fork driving the middle fork is omitted, which saves costs, is easy to install, has smooth and accurate transmission, low noise, convenient maintenance and low maintenance costs, and greatly improves the picking capacity of the equipment. Replacing the linear guide and the annular guide with a non-metallic nylon guide can achieve lubrication-free operation of the entire cargo fork, which can be used in occasions with high requirements for cleanliness.

[0054] Better, see attached Figure 8 and attached Figure 9 As shown, in this embodiment, shaft sleeves 47 are installed at both ends of the first rotary shaft 45 and the second rotary shaft.

[0055] Better, see attached Figure 7 and attached Figure 10 As shown, a first mechanical stop 8 is installed on the upper surface of the middle fork 12, and a second mechanical stop 9 is installed on the upper surface of the lower fork 13, which can effectively prevent the forks from exceeding the designed travel.

[0056] Preferably, the high-strength aluminum alloy fork body in this embodiment can be replaced with a sheet metal part.

[0057] When the fork assembly 1 is working, when it is necessary to pick up and place goods, the first drive motor 6 drives the first synchronous pulley 44 to rotate, and the first synchronous pulley 44 drives the upper fork 11, the middle fork 12, and the lower fork 13 to perform reciprocating linear motion through the first synchronous belt 41. The first mechanical dead gear 8 and the second mechanical dead gear 9 can effectively prevent the fork from exceeding the designed stroke. When the goods need to change direction, the second drive motor 34 drives the motor drive shaft 35 to rotate, and the fork assembly 1 fixed to the slider 33 performs rotational motion along the annular guide rail 32. The present application adopts a high-strength aluminum alloy fork body, which has higher stability, higher load-bearing performance, and lighter weight. The use of linear guide travel can meet more material box specifications and has a wider applicability. The present application can be applied to equipment such as mini load, Multishuttle, AMR, and can be applied to special industries such as medicine, new energy, cold chain, optoelectronics, etc., and has a wide range of applications.

[0058] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotating synchronous belt fork suitable for high-density warehouse, characterized in that: include: A fork assembly comprising an upper fork, a middle fork and a lower fork movably connected in sequence by a guide device, wherein the middle fork and the upper fork are extended in sequence; A swivel assembly is provided below the lower fork, and drives the lower fork to rotate; a first synchronous belt assembly, the first synchronous belt assembly sequentially connecting the upper fork, the middle fork, and the lower fork, the first synchronous belt assembly being externally connected to a first drive motor, the first drive motor driving the first synchronous belt assembly to drive the upper fork and the middle fork to synchronously reciprocate; The second synchronous belt assembly connects the upper fork, the middle fork and the lower fork in sequence, and the second synchronous belt assembly cooperates with the first synchronous belt assembly to drive the upper fork and the middle fork to perform reciprocating motion synchronously.

2. The rotating synchronous belt fork suitable for high-density warehouse according to claim 1, characterized in that: The first synchronous belt assembly includes a first synchronous belt, a first synchronous belt pressure plate, a first mounting seat, a first synchronous belt pulley, a first rotating shaft and a second synchronous belt pressure plate. The first synchronous belt pressure plate is installed on the lower surface of the upper fork, the first mounting seat is installed at the first through hole opened in the middle fork, the first rotating shaft is installed on the first mounting seat, the first synchronous belt pulley is rotatably connected to the first rotating shaft, the first rotating shaft is transmission-connected to the first driving motor, the second synchronous belt pressure plate is installed on the upper surface of the lower fork, one end of the first synchronous belt is connected to the first synchronous belt pressure plate, and the other end engages with the first synchronous belt pulley and then passes through the middle fork, the first synchronous belt is connected to the second synchronous belt pressure plate through the passing end of the middle fork, and the first driving motor drives the upper fork and the middle fork to move synchronously through the first synchronous belt.

3. The rotating synchronous belt fork suitable for high-density warehouse according to claim 2, characterized in that: The second synchronous belt assembly includes a second synchronous belt, a third synchronous belt pressure plate, a second mounting seat, a second synchronous belt pulley, a second rotating shaft and a fourth synchronous belt pressure plate. The third synchronous belt pressure plate is mounted on the lower surface of the upper fork, the second mounting seat is mounted at the second through hole opened in the middle fork, the second rotating shaft is mounted on the second mounting seat, the second synchronous belt pulley is rotatably connected to the second rotating shaft, one end of the second synchronous belt is connected to the third synchronous belt pressure plate, and the other end engages with the second synchronous belt pulley and then passes through the middle fork, and the second synchronous belt is connected to the fourth synchronous belt pressure plate through the passing end of the middle fork.

4. The rotating synchronous belt fork suitable for high-density warehouse according to claim 3 is characterized in that: Both ends of the first rotary shaft and the second rotary shaft are equipped with shaft sleeves.

5. The rotating synchronous belt fork suitable for high-density warehouse according to claim 3 is characterized in that: The slewing assembly includes a slewing mounting bracket, an annular guide rail, a slider, a second drive motor and a motor drive shaft. The slewing mounting bracket is installed on the cargo platform. The annular guide rail and the second drive motor are both installed on the slewing mounting bracket. The slider is slidably connected to the annular guide rail, the second drive motor is drive-connected to the motor drive shaft, and the motor drive shaft is rotatably connected to the annular guide rail.

6. The rotating synchronous belt fork suitable for high-density warehouse according to claim 5, characterized in that: The lower fork is connected to the slider, and the second driving motor drives the lower fork to rotate by driving the annular guide rail.

7. The rotating synchronous belt fork suitable for high-density warehouse according to claim 1, characterized in that: The guide device includes a first inner guide rail, a first outer guide rail, a second inner guide rail and a second outer guide rail, wherein the first inner guide rails are mounted in pairs on the lower surface of the upper fork, and the length direction of the first inner guide rails is in the same direction as the moving direction of the upper fork, and the first outer guide rails are mounted in pairs on the upper surface of the middle fork, and the length direction of the first outer guide rails is in the same direction as the moving direction of the middle fork, and each of the first inner guide rails and each of the first outer guide rails are used in conjunction with each other; The second inner guide rails are installed in pairs on the lower surface of the middle fork, and the length direction of the second inner guide rails is in the same direction as the moving direction of the middle fork. The second outer guide rails are installed in pairs on the upper surface of the lower fork, and the length direction of the second outer guide rails is in the same direction as the moving direction of the middle fork. Each second inner guide rail and each second outer guide rail are used in conjunction with each other.

8. The rotating synchronous belt fork suitable for high-density warehouse according to claim 1, characterized in that: A first mechanical dead stop is installed on the upper surface of the middle fork, and a second mechanical dead stop is installed on the upper surface of the lower fork.

9. The rotating synchronous belt fork suitable for high-density warehouse according to claim 5, characterized in that: The first drive motor is mounted on a motor bracket, and the motor bracket is fixed to the cargo platform by bolts.

10. The rotating synchronous belt fork suitable for high-density warehouse according to claim 5, characterized in that: The lower fork is provided with a third through hole, and the third through hole is used in conjunction with the motor drive shaft.

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