Telescopic fork leg and transfer robot

Abstract

The utility model provides a telescopic fork leg which comprises a fork leg body, the fork leg body can stretch out and draw back in the length direction of the telescopic fork leg, the first end of the fork leg body is used for being connected with a movable chassis, and the telescopic fork leg further comprises an anti-collision device. The anti-collision device comprises a first detection assembly and a second detection assembly, the second detection assembly is arranged at the second end of the fork leg body, and the first detection assembly is used for generating a first detection signal under the condition that an object exists in a set range of the first detection assembly; the second detection assembly is used for generating a second detection signal under the condition of external force. The utility model further discloses a transfer robot comprising the telescopic fork leg. The anti-collision device of the transfer robot can accurately detect an object, is convenient to install, can be suitable for a narrow space, and can be well combined with the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to a carrying equipment technical field, concretely relates to a telescopic fork leg and a carrying robot comprising the telescopic fork leg. BACKGROUND

[0002] With the development of carrying robot technology, carrying robots with telescopic fork legs have appeared.

[0003] Most of the fork legs of the carrying robots with telescopic fork legs in the related art do not have a collision protection device designed, so that the telescopic fork legs of the carrying robots are prone to collision with external equipment during the telescoping process, resulting in safety accidents.

[0004] Therefore, how to avoid damage to the telescopic fork legs of the carrying robots during the telescoping process or the running process has become a technical problem to be solved in the field. SUMMARY

[0005] The utility model aims at solving one of the technical problems in the related art to some extent, and for this purpose, the utility model provides a telescopic fork leg and a carrying robot, which can accurately detect objects, are easy to install, and can be well combined with the carrying robot.

[0006] In order to achieve the above purpose, the first aspect of the utility model discloses a telescopic fork leg, which comprises a fork leg body, the fork leg body can be telescoped along the length direction of the telescopic fork leg, the first end of the fork leg body is used for being connected with a movable chassis, the telescopic fork leg further comprises a collision protection device, the collision protection device comprises a first detection component and a second detection component, the second detection component is arranged at the second end of the fork leg body, the first detection component is used for generating a first detection signal in the case that there is an object within the set range of the first detection component, and the second detection component is used for generating a second detection signal in the case that it is subjected to an external force.

[0007] Optionally, the collision protection device further comprises a mounting bracket, the mounting bracket comprises a first detection component mounting portion and a second detection component mounting portion;

[0008] The first detection component mounting portion is fixed on the front side of the second end of the fork leg body, and the first detection component is mounted on the first detection component mounting portion;

[0009] The second detection component mounting portion protrudes from the first detection component mounting portion towards the front of the telescopic fork leg, and the second detection component is arranged on the second detection component mounting portion.

[0010] Optionally, the first detection component mounting portion comprises a connecting plate and a first mounting plate.

[0011] The connecting plate is attached to the front side of the second end of the fork leg body, the second mounting plate protrudes from the front side of the second end towards the front of the second end of the fork leg body, and the first detection assembly is arranged on the second mounting plate.

[0012] Optionally, a notch groove is formed in the middle of the connecting plate, and the first mounting plate is arranged in the notch groove.

[0013] Optionally, the second detection assembly mounting portion includes a second mounting plate and a mounting protrusion, the second mounting plate is fixed on the first detection assembly mounting portion, and the mounting protrusion is formed at the front end of the second mounting plate.

[0014] The second detection assembly is arranged on the mounting protrusion.

[0015] Optionally, the mounting protrusion is arranged on the first side of the second mounting plate, the front side of the second mounting plate, and the second side of the second mounting plate in sequence, the first side of the second mounting plate is opposite to the second side of the second mounting plate, the front side of the second mounting plate is connected between the first side of the second mounting plate and the front side of the second mounting plate,

[0016] The second detection assembly includes a first connecting arm, a second connecting arm, and a collision strip connected between the first connecting arm and the second connecting arm, the first connecting arm is arranged on the portion of the mounting protrusion located on the first side, the second connecting arm is arranged on the portion of the mounting protrusion located on the second side, and the collision strip is arranged on the portion of the mounting protrusion located on the front side of the second mounting plate.

[0017] Optionally, the mounting bracket further includes a limiting strip, the limiting strip is arranged on the main surface of the second mounting plate and located on the same side as the connecting plate, the shape of the limiting strip matches the shape of the mounting protrusion, so that the second detection assembly is attached to the limiting strip.

[0018] Optionally, the second detection assembly is made of piezoelectric material.

[0019] Optionally, the first detection assembly is a distance measuring sensor.

[0020] The utility model discloses a second aspect further discloses a kind of handling robots, the handling robot includes telescopic drive unit, movable chassis and telescopic fork leg, wherein, the telescopic fork leg is the telescopic fork leg provided in the utility model first aspect, the movable chassis is formed with the fork leg slot with the export corresponding with the fork leg main body, the first end of the fork leg main body is connected with the movable chassis by the storable connecting piece, the telescopic drive unit is set on the fork leg main body, and with the movable chassis electric main control component connection, the telescopic drive unit is used to drive the fork leg main body under the control of the main control component and drive the fork leg main body through the export from the fork leg slot, and retract the fork leg main body in the fork leg slot through the export.

[0021] Optionally, the telescopic drive unit includes a drive motor and a drive wheel, the drive motor and the drive wheel are both arranged on the fork leg main body, and at least a part of the drive wheel protrudes from the bottom surface of the fork leg main body, and the drive motor is used to drive the drive wheel to rotate.

[0022] The connecting piece accommodating cavity is formed in the housing of the movable chassis, one end of the connecting piece is connected with the fork leg main body, and the other end of the connecting piece is arranged in the connecting piece accommodating cavity.

[0023] The drive motor is used to drive the drive wheel to rotate in a first direction to drive the fork leg main body to move away from the movable chassis and pull the connecting piece out of the connecting piece accommodating cavity, and the motor is also used to drive the drive wheel to rotate in a second direction to drive the fork leg main body to drive into the fork leg slot of the movable chassis and push the connecting piece back into the connecting piece accommodating cavity, wherein, one of the first direction and the second direction is a clockwise direction, and the other of the first direction and the second direction is a counterclockwise direction.

[0024] Optionally, the movable chassis is arranged as a differential chassis or an omnidirectional chassis.

[0025] On the telescopic fork leg provided in the utility model embodiment, the object on the telescopic path of the telescopic fork leg can be detected by arranging the anti-collision device, so as to ensure the safety of the telescopic fork leg during the telescopic operation process. In addition, by arranging the first detection component and the second detection component, the first detection component forms a first-level anti-collision safety mechanism, and the second detection component forms a second-level anti-collision safety mechanism. Through the two-level anti-collision safety mechanisms, the detection accuracy is improved, and the safety is further improved.

[0026] The features and advantages of the present application will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which: BRIEF DESCRIPTION OF DRAWINGS

[0027] The present application will be further described with reference to the drawings, in which:

[0028] Figure 1 Structure diagram of a carrying robot (telescopic fork leg extended state) of one embodiment of the present application;

[0029] Figure 2 Installation structure diagram of a fork leg main body and a collision prevention device of one embodiment of the present application;

[0030] Figure 3 Structure diagram of a collision prevention device of one embodiment of the present application; Figure 2 Local enlarged view of the collision prevention device A1;

[0031] Figure 4 Structure diagram of a collision prevention device of one embodiment of the present application;

[0032] Figure 5 Structure exploded view of a collision prevention device of one embodiment of the present application.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034] 1: Movable chassis 2: Telescopic fork leg

[0035] 201: Fork leg main body 202: Telescopic drive unit

[0036] 3: Collision prevention device 301: Installation support

[0037] 302: Second detection assembly 3021: First connecting arm

[0038] 3022: Second connecting arm 3023: Collision bar

[0039] 303: First detection assembly 304: Screw

[0040] 3011: Connecting plate 3012: First installation plate

[0041] 3013: Second installation plate 3014: Installation convex strip. DETAILED DESCRIPTION

[0042] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0043] In this specification, "one embodiment" or "an embodiment" or "example" or "exemplary" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0044] Referring to Figure 2 , Figure 3 , and Figure 4 , one embodiment of the present application discloses a telescopic fork leg, the telescopic fork leg 2 comprises a fork leg body 201, the fork leg body 201 can be telescopic along the length direction of the telescopic fork leg 2, the first end of the fork leg body 201 is used for being connected with the movable chassis 1, the telescopic fork leg 2 further comprises a collision prevention device 3, the collision prevention device 3 comprises a first detection assembly 303 and a second detection assembly 302, the second detection assembly 302 is arranged at the second end of the fork leg body 201, the first detection assembly 303 is used for generating a first detection signal in the case that there is an object in the set range of the first detection assembly 303, and the second detection assembly 302 is used for generating a second detection signal in the case that it is subjected to an external force.

[0045] The telescopic fork leg 2 mentioned in the embodiment can be attached to industrial equipment (such as fixed industrial equipment or mobile industrial equipment, etc.) to meet different work tasks, and of course can also be used alone. When in use, the collision prevention device 3 is installed at the first end of the fork leg body 201, so that in the extension process of the telescopic fork leg 2, the collision prevention device 3 can detect the object on the extension path of the telescopic fork leg 2, and the safety of the extension process of the telescopic fork leg 2 can be ensured.

[0046] In the embodiment, two detection components, the first detection component 303 and the second detection component 302, are arranged. In operation, the detection distance of the first detection component 303 is greater than that of the second detection component 302. Thus, when an object exists in the extension path of the telescopic fork leg 2, the object is first detected by the first detection component 303, i.e., the first detection component 303 forms a first level anti-collision safety mechanism. When the first detection component 303 detects the object, a first detection signal is sent to control the extension driving unit 202 to stop the extension action, so that the extension action of the telescopic fork leg 2 is stopped. If the first detection component 303 does not detect the object in the extension path due to some reasons, the telescopic fork leg 2 continues to extend. When the telescopic fork leg 2 extends to the second detection component and contacts the object and is impacted, the second detection component 302 sends a second detection signal to control the extension driving unit to stop the extension action. Thus, the first detection component 303 and the second detection component 302 form a two-level anti-collision safety mechanism, improve the detection accuracy, and further improve the safety.

[0047] Of course, it should be noted that in actual arrangement, more detection components can be further arranged on the anti-collision device 3. These detection components can be reasonably distributed according to different detection distances and detection heights, so as to further increase the detection range and the detection accuracy, and achieve better anti-collision effect.

[0048] Referring to FIG. 1, the anti-collision device 3 is arranged on the front end of the telescopic fork leg 2. The anti-collision device 3 includes a first detection component 303 and a second detection component 302. Figure 4 Figure 5 In order to facilitate the installation of the first detection component and the second detection component, the anti-collision device 3 further includes a mounting bracket 301. The mounting bracket 301 includes a first detection component mounting portion and a second detection component mounting portion. The first detection component mounting portion is fixed on the front side of the second end of the fork leg body 201, and the first detection component 303 is mounted on the first detection component mounting portion.

[0049] The second detection component mounting portion protrudes from the first detection component mounting portion toward the front of the telescopic fork leg, and the second detection component 302 is arranged on the second detection component mounting portion.

[0050] In the embodiment, the mounting bracket for mounting the first detection component and the second detection component is arranged. In specific assembly, the first detection component and the second detection component can be fixed in corresponding positions on the mounting bracket according to the designed orientation in advance. After assembly is completed, the anti-collision device is fixed on the front end of the telescopic fork leg through the mounting bracket. In the production process, modular assembly can be performed, and the assembly and production efficiency are improved.

[0051] ​The specific structure of the first detection component mounting portion and the second detection component mounting portion is not limited in the embodiment, and only needs to ensure that the first detection component and the second detection component are stably mounted.

[0052] Moreover, the connection between the mounting bracket and the fork leg body 201 is not limited, and in use, the mounting bracket and the fork leg body can be connected by screws or fixed by a buckle structure or a plug-in structure.

[0053] As one of the embodiments of the utility model, referring to the accompanying drawings Figure 5 The first detection component mounting portion comprises a connecting plate 3011 and a first mounting plate 3012.

[0054] The connecting plate 3011 is arranged on the front side of the second end of the fork leg body 201, the second mounting plate 3012 protrudes from the front side of the second end towards the front of the second end of the fork leg body 201, and the first detection component 303 is arranged on the second mounting plate 3012.

[0055] The second mounting plate 3012 is arranged to provide a mounting plane for the first detection component 303, which facilitates assembly and improves the stability of the first detection component 303.

[0056] During the actual extension process of the telescopic fork leg 2, the telescopic fork leg 2 and the object are not necessarily in a completely opposite state, and may deviate. If the first detection component 303 and the second detection component 302 are arranged on one side of the telescopic fork leg 2 deviating from the center of the telescopic fork leg 2, the first detection component 303 and the second detection component 302 may not be able to detect the object when the other side of the telescopic fork leg 2 is close to the object, and an impact accident may occur.

[0057] Therefore, the detection portion of the first detection component 303 can be arranged to have equal distances from the two sides of the second end, and the detection portion of the second detection component 302 can be arranged to have equal distances from the two sides of the second end, so that the first detection component 303 and the second detection component 302 are arranged centrally relative to the fork leg body 201, which can reduce the detection error of the object and further improve the safety. Specifically, the middle part of the connecting plate 3011 is formed with a notch groove, and the first mounting plate 3012 is arranged in the notch groove, so that the first detection component 303 can be arranged centrally.

[0058] As one of the embodiments of the utility model, the second detection component mounting part includes a second mounting plate 3013 and a mounting convex strip 3014, the second mounting plate 3013 is fixed on the first detection component mounting part, and the mounting convex strip 3014 is formed at the front end of the second mounting plate 3013; the second detection component 302 is arranged on the mounting convex strip 3014.

[0059] Referring to Figure 4 and Figure 5 , in order to make the detection of the second detection component 302 more accurate and better protect the telescopic fork leg 2, the mounting convex strip 3014 is sequentially arranged on the first side of the second mounting plate 3013, the front side of the second mounting plate 3013 and the second side of the second mounting plate 3013, the first side of the second mounting plate 3013 is opposite to the second side of the second mounting plate 3013, the front side of the second mounting plate 3013 is connected between the first side of the second mounting plate 3013 and the front side of the second mounting plate 3013, the first connecting arm 3021 is arranged on the part of the mounting convex strip 3014 located on the first side, the second connecting arm 3022 is arranged on the part of the mounting convex strip 3014 located on the second side, and the collision strip 3023 is arranged on the part of the mounting convex strip 3014 located on the front side of the second mounting plate 3013; the second detection component 302 can be arranged to include the first connecting arm 3021, the second connecting arm 3022 and the collision strip 3023 connected between the first connecting arm 3021 and the second connecting arm 3022, the first connecting arm 3021 is arranged outside the first side of the second end, the second connecting arm 3022 is arranged outside the second side of the second end, and the collision strip 3023 is arranged on the front side of the second end. In this way, the collision strip 3023 makes the detection range completely cover the telescopic path of the telescopic fork leg 2, so that the collision strip 3023 is preferentially contacted with the object, the collision between the telescopic fork leg 2 and the object is avoided, and the stability of the second detection component installation can be improved.

[0060] The second detection component 302 of one of the embodiments of the utility model can be arranged as a U-shaped structure as shown in Figure 4 and Figure 5 .

[0061] Referring to Figure 2 , Figure 3 , and Figure 5 ; in order to facilitate the installation of the anti-collision device and the fork leg body, the anti-collision device 3 can further include a mounting bracket 301, and the mounting bracket 301 includes a connecting plate 3011, a first mounting plate 3012, a second mounting plate 3013 and a mounting convex strip 3014, the connecting plate 3011 is arranged on the main surface of the second mounting plate 3013 Figure 5The connecting plate 3011 is fixed on the front end face of the second end of the fork leg body 201, the first detection assembly 303 is arranged on the surface of the first mounting plate 3012 away from the second mounting plate 3013, and the detection surface of the first detection assembly 303 faces the front of the fork leg body 201.

[0062] The connecting plate 3011 is fixed on the front end face of the second end of the fork leg body 201, the first detection assembly 303 is arranged on the surface of the first mounting plate 3012 away from the second mounting plate 3013, and the detection surface of the first detection assembly 303 faces the front of the fork leg body 201.

[0063] As an optional embodiment, the mounting bracket 301 can be formed by an integral molding process such as injection molding or stamping. As can be seen, the mounting bracket 301 has a simple structure, and the mounting manner of the first detection assembly and the second detection assembly can be simplified by arranging the mounting bracket 301.

[0064] Further, the mounting bracket 301 further comprises a limiting strip arranged on the main surface of the second mounting plate 3013 and located on the same side as the connecting plate 3011, the limiting strip is shaped to match the shape of the mounting convex strip 3014, so that the second detection assembly 302 is attached to the limiting strip, and the stability of the installation of the second detection assembly 302 is improved.

[0065] After assembly, the first connecting arm 3021 is located outside the first side face of the mounting bracket 301, the second connecting arm 3022 is arranged outside the second side face of the mounting bracket 301, and the collision strip 3023 is arranged on the front side face of the mounting bracket 301, so that the mounting bracket 301 can avoid contacting the object before the second detection assembly 302, and the safety is improved.

[0066] Further, in the extension direction of the telescopic fork leg 2, the second detection assembly 302 is arranged in front of the first detection assembly. Since the working principles of the first detection assembly 303 (distance measuring sensor) and the second detection assembly 302 (piezoelectric material) are different, the second detection assembly 302 needs to contact the object to send a detection signal, therefore, in order to ensure the normal work of the second detection assembly 302 and avoid the first detection assembly 303 being damaged by impact, the second detection assembly 302 is arranged at the most front end, so that during the extension of the telescopic fork leg 2, the second detection assembly 302 will first contact the object, and then other components can be protected in time.

[0067] Of course, it should be noted that in order to better improve the safety effect, a elastic buffer structure (elastic pad or spring, etc.) can be further arranged between the second detection assembly 302 and the telescopic fork leg 2 or the mounting bracket 301 to reduce the influence of the impact between the second detection assembly 302 and the object on the telescopic fork leg 2.

[0068] Since the first detection assembly 303 and the second detection assembly 302 are arranged at the same end of the telescopic fork leg 2, the installation positions of the two are in a case where the detection planes of the two are in the same plane, at which time the ranging light of the ranging sensor 303 and the ranging signal are easily blocked by the second detection assembly 302, causing a problem of being unable to detect, therefore, the first detection assembly 303 and the second detection assembly 302 are arranged in a height direction, which can avoid the mutual interference between the first detection assembly 303 and the second detection assembly 302, and realize a larger range of detection.

[0069] In the embodiments of the present application, the specific structure of the telescopic driving unit 202 is not specially limited. As an optional implementation, the telescopic driving unit 202 can be selected from any one of a screw pair assembly, an electric push rod assembly, and a gear and rack assembly.

[0070] In the embodiments of the present application, the specific structure of the fork leg body 201 is not specially limited. For example, the fork leg body can include a fork leg bottom plate, a lifting assembly (for example, a scissor lifting assembly) arranged on the fork leg bottom plate, and a load bearing plate arranged on the side of the lifting assembly away from the fork leg bottom plate.

[0071] Before picking up the goods, the lifting assembly is in a retracted state, the fork leg body 201 is inserted into the bottom of the material to be transported, the lifting assembly is controlled to rise, the material to be transported is lifted, the telescopic driving unit 202 is controlled to retract the fork leg body 201 until the material is located above the movable base plate, and then the lifting assembly is controlled to lower, so that the material finally falls on the load bearing surface of the movable base plate.

[0072] Referring to Figure 1 , Figure 2 , and Figure 3 , the second aspect of the present application discloses a carrying robot, which includes a telescopic driving unit 202, a movable base plate 1, and a telescopic fork leg 2 arranged on the movable base plate 1. The telescopic fork leg 2 is the telescopic fork leg disclosed in the first aspect of the present application. The top end of the telescopic fork leg 2 is not higher than the top surface of the movable base plate 1, so that interference between the anti-collision device 3 and the carried goods during the carrying operation of the movable base plate can be avoided.

[0073] Specifically, the movable chassis 1 is formed with a fork leg groove with an outlet corresponding to the telescopic fork leg 2, a first end of the fork leg body 201 is connected to the movable chassis 1 through a storable connecting piece, the telescopic driving unit 202 is arranged on the fork leg body 201 and is electrically connected to a master control component of the movable chassis 1, and the telescopic driving unit 202 is used for driving the fork leg body 201 to extend out of the fork leg groove through the outlet under the control of the master control component and driving the fork leg body 201 to retract into the fork leg groove through the outlet.

[0074] As shown in the accompanying drawings, the telescopic driving unit 202 is arranged as a driving wheel arranged at a tail end of the fork leg body 201, in use, rotation of the driving wheel can drive movement of the fork leg body 201, and the telescopic driving unit 202 is used for driving the fork leg body 201 to extend and retract along a length direction of the fork leg body 201. Figure 2

[0075] The carrying robot further comprises a master control component capable of receiving the first detection signal and the second detection signal and capable of controlling the telescopic fork leg 2 to stop extending according to the first detection signal and the second detection signal.

[0076] A top surface of the movable chassis 1 is a carrying surface of the carrying robot, and optionally, when the fork leg body 201 retracts into the fork leg groove, the top surface of the fork leg body 201 is flush with the top surface of the movable chassis 1, so that the carrying robot can more stably carry and transport materials.

[0077] Of course, the embodiment of the utility model is not limited thereto, for example, when the fork leg body 201 retracts into the fork leg groove, the top surface of the fork leg body 201 can also be not flush with the top surface of the movable chassis 1 (for example, lower than the top surface of the movable chassis 1 or higher than the top surface of the movable chassis 1), as long as it can stably carry and transport materials.

[0078] The first detection component 303 arranged in the embodiment has a farther detection distance than the second detection component 302, and designers can select sensors of different specifications to meet the needs of different detection distances.

[0079] ​When the telescopic fork leg 2 is telescoped forward and backward, the first detection component 303 forms a first level anti-collision safety mechanism; the first detection component 303 detects objects at a relatively long distance (within 1 meter), and if an object is detected, a first detection signal is immediately sent out, and after the main control component receives the first detection signal, the telescoping action of the telescopic fork leg 2 is immediately stopped; if the first level anti-collision safety mechanism fails to detect, a second level anti-collision safety mechanism (the second detection component 302) is officially enabled, the second detection component 302 is a sensor of piezoelectric material, which immediately sends out a second detection signal when contacting an object, and after the main control component receives the second detection signal, the telescoping action of the telescopic fork leg 2 is stopped, so as to prevent the telescopic fork leg 2 from colliding with the object to cause tilting, personal injury and the like.

[0080] Of course, in actual design, the first detection component 303 is not limited to the above-mentioned distance measuring sensor, and can also use photoelectric sensors or reflective sensors and the like.

[0081] It should be noted that the movable chassis mentioned in the utility model can be set as a differential chassis or an omnidirectional chassis.

[0082] The carrying robot provided in the utility model embodiment is a lurking fork taking type robot, which can pass through a relatively narrow taking and placing channel.

[0083] In the utility model embodiment, the connecting member can be a drag chain, and the drag chain can be accommodated in the housing of the movable chassis 1. Correspondingly, the telescopic driving unit 202 is electrically connected with the main control component through a wire harness passing through the drag chain.

[0084] It should be noted that the first detection component and the second detection component are both electrically connected with the main control component through a wire harness passing through the drag chain.

[0085] In the utility model embodiment, the position of the telescopic driving unit 202 relative to the fork leg body 201 is not specially limited. For example, the telescopic driving unit 202 can be arranged at the first end of the fork leg body 201 to reduce the overall length of the connecting member. Alternatively, the telescopic driving unit 202 can be arranged at the second end of the fork leg body 201 or the middle part of the fork leg body 201, as long as the telescopic driving unit 202 can drive the connecting member to move.

[0086] As an optional implementation, the telescopic driving unit 202 can include a motor and a driving wheel, the driving motor and the driving wheel are both arranged on the fork leg body 201, at least a part of the driving wheel protrudes from the bottom surface of the fork leg body 201, and the driving motor is used to drive the driving wheel to rotate.

[0087] A connection piece accommodating cavity is formed in the shell of the movable chassis 1, one end of the connection piece is connected with the fork leg body 201, and the other end of the connection piece is arranged in the connection piece accommodating cavity.

[0088] The driving motor is used for driving the driving wheel to rotate in a first direction to drive the fork leg body 201 to move away from the movable chassis 1 and pull the connection piece out of the connection piece accommodating cavity, and is also used for driving the driving wheel to rotate in a second direction to drive the fork leg body 201 to run into the fork leg groove of the movable chassis 1 and push the connection piece back into the connection piece accommodating cavity, wherein one of the first direction and the second direction is a clockwise direction, and the other of the first direction and the second direction is a counterclockwise direction.

[0089] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited to this, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific implementation manner. Any modification not deviating from the function and structural principle of the present application will be included in the scope of the claims.

Claims

1. A telescopic fork leg, said telescopic fork leg (2) comprising a fork leg body (201) which is telescopable in the length direction of the telescopic fork leg, a first end of the fork leg body (201) being intended for connection to a movable chassis (1), characterized in that, The telescopic fork leg (2) further comprises an anti-collision device (3), the anti-collision device (3) comprising a first detection assembly (303) and a second detection assembly (302), the second detection assembly (302) being arranged at the second end of the fork leg body (201), the first detection assembly (303) being configured to generate a first detection signal in the presence of an object within a set range of the first detection assembly (303), and the second detection assembly (302) being configured to generate a second detection signal in the presence of an external force.

2. The retractable fork leg of claim 1, wherein, The anti-collision device (3) further comprises a mounting bracket (301), the mounting bracket (301) comprising a first detection assembly mounting portion and a second detection assembly mounting portion; The first detection assembly mounting portion is fixed to the front side of the second end of the fork leg body (201), and the first detection assembly (303) is mounted on the first detection assembly mounting portion; The second detection assembly mounting portion protrudes from the first detection assembly mounting portion towards the front of the telescopic fork leg (2), and the second detection assembly (302) is arranged on the second detection assembly mounting portion.

3. The telescoping prong of claim 2, wherein, The first detection assembly mounting portion comprises a connecting plate (3011) and a first mounting plate (3012); The connecting plate (3011) is arranged in close contact with the front side of the second end of the fork leg body (201), and the first mounting plate (3012) protrudes from the front side of the second end towards the front of the second end of the fork leg body (201), and the first detection assembly (303) is arranged on the first mounting plate (3012).

4. The telescoping prong of claim 3, wherein, A notch groove is formed in the middle of the connecting plate (3011), and the first mounting plate (3012) is arranged in the notch groove.

5. The telescoping prong of claim 3, wherein, The second detection assembly mounting portion comprises a second mounting plate (3013) and a mounting protruding strip (3014), the second mounting plate (3013) being fixed to the first detection assembly mounting portion, and the mounting protruding strip (3014) being formed at the front end of the second mounting plate (3013); The second detection assembly (302) is arranged on the mounting protruding strip (3014).

6. The telescoping prong of claim 5, wherein, The mounting protruding strip (3014) is arranged in sequence on the first side of the second mounting plate (3013), the front side of the second mounting plate (3013), and the second side of the second mounting plate (3013), the first side of the second mounting plate (3013) being opposite to the second side of the second mounting plate (3013), and the front side of the second mounting plate (3013) being connected between the first side of the second mounting plate (3013) and the front side of the second mounting plate (3013), The second detection assembly (302) comprises a first connecting arm (3021), a second connecting arm (3022), and a collision strip (3023) connected between the first connecting arm (3021) and the second connecting arm (3022), the first connecting arm (3021) is arranged on the portion of the mounting protrusion (3014) located on the first side face, the second connecting arm (3022) is arranged on the portion of the mounting protrusion (3014) located on the second side face, and the collision strip (3023) is arranged on the portion of the mounting protrusion (3014) located on the front side face of the second mounting plate (3013).

7. The telescoping prong of claim 5, wherein, The mounting bracket (301) further comprises a limiting strip arranged on the main surface of the second mounting plate (3013) and located on the same side as the connecting plate (3011), the limiting strip is matched with the shape of the mounting protrusion, so that the second detection assembly is attached to the limiting strip.

8. The telescoping prong according to any one of claims 1 to 7, wherein, The second detection assembly (302) is made of piezoelectric material.

9. The telescoping prong of any of claims 1-7, wherein, The first detection assembly (303) is a distance measuring sensor.

10. A transport robot comprising a telescopic drive unit (202), a movable chassis (1) and a telescopic fork leg (2), characterized in that, The telescopic fork leg (2) is the telescopic fork leg (2) according to any one of claims 1 to 9, a fork slot with an outlet corresponding to the fork leg body (201) is formed on the movable chassis, a first end of the fork leg body (201) is connected to the movable chassis (1) through a storable connecting piece, the telescopic driving unit (202) is arranged on the fork leg body (201) and electrically connected to a master control component of the movable chassis (1), and the telescopic driving unit (202) is used for driving the fork leg body (201) to extend out of the fork slot through the outlet and driving the fork leg body (201) to retract into the fork slot through the outlet under the control of the master control component.

11. The transport robot of claim 10, wherein, The telescopic driving unit (202) comprises a driving motor and a driving wheel, both of which are arranged on the fork leg body (201), and at least a part of the driving wheel protrudes from the bottom surface of the fork leg body (201), and the driving motor is used for driving the driving wheel to rotate. A connecting piece accommodating cavity is formed in the shell of the movable chassis (1), one end of the connecting piece is connected to the fork leg body (201), and the other end of the connecting piece is arranged in the connecting piece accommodating cavity. The driving motor is used for driving the driving wheel to rotate in a first direction to drive the fork leg body (201) to move away from the movable chassis (1) and pull the connecting piece out of the connecting piece accommodating cavity, and the driving motor is also used for driving the driving wheel to rotate in a second direction to drive the fork leg body (201) to move into the fork slot of the movable chassis (1) and push the connecting piece back into the connecting piece accommodating cavity, wherein one of the first direction and the second direction is a clockwise direction, and the other of the first direction and the second direction is a counterclockwise direction.

12. A handling robot according to claim 10 or 11, characterised in that The movable chassis (1) is arranged as a differential chassis or an omnidirectional chassis.

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