Pallet fork, warehousing robot and warehousing system

Abstract

The utility model relates to the technical field of logistics storage, and discloses a pallet fork, a storage robot and a storage system. The driving assembly is arranged on the bearing assembly; the goods taking and placing assembly comprises a supporting frame, a guiding piece and a butt joint piece, the supporting frame is movably arranged, the guiding piece is arranged at the bottom of the supporting frame and used for being matched with a supporting face at the bottom to provide guiding and supporting for the supporting frame when moving along with the supporting frame, and the butt joint piece is arranged on the supporting frame and used for being in butt joint with a container. The container is taken and placed in cooperation with movement of the supporting frame; the one-way bending chain is arranged on the bearing assembly and connected with the driving assembly, the driving assembly is used for driving the one-way bending chain to flexibly bend and contract or rigidly stretch out relative to the bearing assembly, one end of the one-way bending chain is connected with the supporting frame, and the one-way bending chain is used for driving the supporting frame to move when stretching out and drawing back relative to the bearing assembly. In this way, the size and the weight of the pallet fork can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics and warehousing, and particularly relates to a fork, a warehousing robot and a warehousing system. BACKGROUND

[0002] With the development of technology, the automation and intelligence of the warehousing system are also increasingly high. The fork is the main structure of the robot in the warehousing system for automatic picking and placing of goods. The fork is generally composed of telescopic arms on both sides of a bearing table and fingers at the end of the telescopic arms. The fingers hook the goods box, and the telescopic arms drive the fingers to contract inward to pull the goods box to the bearing table.

[0003] The existing fork has a large volume and heavy weight, and is difficult to adapt to small robots. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems, the present application provides a fork, a warehousing robot and a warehousing system, which can reduce the volume and weight of the fork.

[0005] According to an aspect of the present application, a fork is provided, comprising: a bearing assembly; a driving assembly arranged on the bearing assembly; a picking and placing assembly arranged on the bearing assembly, the picking and placing assembly comprising a support frame, a guide member and a docking member, the support frame being movable relative to the bearing assembly, the guide member being arranged at the bottom of the support frame, the guide member being used to cooperate with the support surface of the bottom to provide guidance and support for the support frame when the support frame moves, and the docking member being arranged on the support frame, the docking member being used to dock with the goods box and cooperate with the movement of the support frame to pick and place the goods box; and a one-way bending chain arranged on the bearing assembly and connected with the driving assembly, the driving assembly being used to drive the one-way bending chain to flexibly bend and contract or rigidly extend relative to the bearing assembly, one end of the one-way bending chain being connected with the support frame, and the one-way bending chain being used to drive the support frame to move when the one-way bending chain extends and contracts relative to the bearing assembly.

[0006] In an optional manner, the horizontal direction perpendicular to the extension direction of the one-way bending chain is the width direction of the bearing assembly, and the one-way bending chain and the picking and placing assembly are both arranged at the middle position of the width direction of the bearing assembly.

[0007] In an optional manner, the connection point between the one-way bending chain and the support frame and the turning point of the one-way bending chain when bending are at the same height relative to the bearing assembly.

[0008] In an optional manner, the one-way bending chain comprises a first chain and a second chain, the first chain and the second chain are oppositely arranged on both sides of the bearing assembly, the support frame is connected with one end of the first chain and one end of the second chain respectively, and the first chain and the second chain are used to drive the support frame to move together.

[0009] In an alternative mode, the bearing assembly comprises a bearing table and first and second guide limiting assemblies arranged on opposite sides of the bearing table, the first and second chains are respectively matched with the first and second guide limiting assemblies to be telescopic; the first guide limiting assembly has a first entrance and exit for the first chain to go in and out when telescoping, the second guide limiting assembly has a second entrance and exit for the second chain to go in and out when telescoping, the first entrance and exit and the second entrance and exit are arranged at the rear end of the bearing table, so that the first and second chains can drive the support frame to move on the bearing assembly when telescoping.

[0010] In an alternative mode, the first guide limiting assembly comprises a first side wall arranged on the bearing table, the driving assembly comprises a first chain wheel arranged at the rear end of the first side wall, the first chain wheel is engaged with the first chain to drive the first chain to telescope, the first side wall is provided with a first sliding groove, the first chain is at least partially accommodated in the first sliding groove, and the first chain slides along the first sliding groove when telescoping; the second guide limiting assembly comprises a second side wall arranged on the bearing table, the driving assembly comprises a second chain wheel arranged at the rear end of the second side wall, the second chain wheel is engaged with the second chain to drive the second chain to telescope, the second side wall is provided with a second sliding groove, the second chain is at least partially accommodated in the second sliding groove, and the second chain slides along the second sliding groove when telescoping.

[0011] In an alternative mode, the two sides of the bottom of the support frame are respectively connected with one end of the first chain and one end of the second chain; the one-way curved chain further comprises a third chain, the third chain is located between the first chain and the second chain, and one end of the third chain is connected with the top of the support frame; the first chain, the second chain and the third chain are used to drive the support frame to move together.

[0012] In an alternative mode, the bottom and rear end of the bearing assembly are provided with a third guide limiting assembly, the third chain is matched with the third guide limiting assembly to be telescopic; the third guide limiting assembly comprises a third side wall arranged at the bottom of the bearing assembly and a fixed column arranged at the rear end of the bearing assembly, the third side wall and the fixed column are provided with a third sliding groove for accommodating at least part of the third chain, the top of the fixed column is provided with a third entrance and exit, and the third chain goes in and out of the third sliding groove through the third entrance and exit.

[0013] In an alternative mode, a supporting member is telescopically arranged on the bearing assembly, an elastic member is connected between the supporting member and the bearing assembly, the elastic member is used to provide an elastic force to the supporting member relative to the bearing assembly, the supporting member is used to support the goods box and / or the guide member during the process of taking and placing the goods box by the taking and placing assembly; the end of the one-way curved chain which is not connected with the support frame is used to abut against the supporting member when being retracted, and drive the supporting member to be retracted relative to the bearing assembly.

[0014] In an alternative, the rear end of the supporting member is provided with an abutting portion, and the end of the one-way bending chain not connected to the support frame is used to abut against the abutting portion when retracted to the predetermined position, so as to drive the supporting member to retract.

[0015] In an alternative, the top surface of the supporting member forms at least part of the supporting surface, and the guide member comprises a roller, which can roll on the supporting surface of the supporting member when the support frame moves.

[0016] In an alternative, the forks are applied to a warehouse robot, and part of the supporting surface is also formed on both sides of the forks of the warehouse robot; the rollers are spaced apart, and part of the rollers can roll on the supporting surface of the supporting member when the support frame moves, and the other part of the rollers can roll on the supporting surface of the warehouse robot.

[0017] In an alternative, the docking member is a hook, which is provided on the support frame in a liftable manner, and is used to be connected to or separated from the clamping position on the container when lifted.

[0018] According to another aspect of the embodiments of the present application, a warehouse robot is provided, comprising a robot body and the forks according to any one of the above.

[0019] According to another aspect of the embodiments of the present application, a warehouse system is provided, comprising a shelf and the warehouse robot, and the warehouse robot is used to take and place containers on the shelf.

[0020] The forks provided by the embodiments of the present application first use the one-way bending chain as the telescopic arm to perform the taking and placing operation, so as to achieve the purposes of reducing the volume and weight, and make the forks better adapt to small robots. Further, in order to avoid the end of the one-way bending chain from sagging and forming a poor stability cantilever structure after being stretched for a long distance, the end of the one-way bending chain is connected to the support frame in the taking and placing assembly, and the guide member is provided at the bottom of the support frame, so that the guide member can cooperate with the supporting surface at the bottom of the support frame to provide support and guide for the support frame during the stretching and retraction of the one-way bending chain and the movement of the support frame, which not only avoids the sagging of the end of the one-way bending chain, but also ensures that the end of the one-way bending chain will be supported after being stretched, so as not to form a cantilever structure. Meanwhile, the docking member provided on the support frame is responsible for docking with the container to perform the taking and placing operation of the container. Based on the above advantages, when the forks move to perform the taking and placing operation by driving the taking and placing assembly through the one-way bending chain, the one-way bending chain always has good structural strength, thereby improving the stability and reliability of the one-way bending chain during the taking and placing of the container.

[0021] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the present application can be implemented according to the content of the description, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments, and are not meant to limit the present application. Moreover, the same reference numerals are used throughout the various drawings to designate identical parts. In the drawings:

[0023] Figure 1 A perspective view of the fork provided by the embodiment of the present application when the unidirectional curved chain is in a retracted state;

[0024] Figure 2 A perspective view of the fork provided by the embodiment of the present application when the unidirectional curved chain is in an extended state;

[0025] Figure 3 A perspective view of the picking and placing assembly in the fork provided by the embodiment of the present application;

[0026] Figure 4 An assembly structure diagram between the picking and placing assembly in the fork provided by the embodiment of the present application and the unidirectional curved chain;

[0027] Figure 5 A side view of the fork provided by the embodiment of the present application when the unidirectional curved chain is in an extended state;

[0028] Figure 6 A Figure 5 An enlarged view at A;

[0029] Figure 7 A side view of the picking and placing assembly in the fork provided by the embodiment of the present application when the picking and placing assembly is docked with the container;

[0030] Figure 8 A side view of the picking and placing assembly in the fork provided by another embodiment of the present application when the picking and placing assembly is docked with the container;

[0031] Figure 9 A side view of the picking and placing assembly in the fork provided by still another embodiment of the present application when the picking and placing assembly is docked with the container;

[0032] Figure 10 A perspective view of the cooperation between the first chain and the first guide limiting assembly in the fork provided by the embodiment of the present application;

[0033] Figure 11A side view of the fork provided by the embodiment of the present application when the unidirectional bending chain is in a retracted state;

[0034] Figure 12 A side view of the fork provided by the embodiment of the present application when the unidirectional bending chain is in an extended state;

[0035] Figures 13 to 17 A side view of the fork provided by the embodiment of the present application in various states during the process of picking up the cargo box;

[0036] Figure 18 A perspective view of the warehouse robot provided by the embodiment of the present application;

[0037] Figure 19 A top view of the warehouse system provided by the embodiment of the present application.

[0038] The reference signs in the detailed description are as follows:

[0039] 100, fork;

[0040] 110, bearing assembly; 111, bearing table; 112, first guide limiting assembly; 1121, first side wall; 1122, first sliding groove; 1123, first entrance and exit; 1124, first turning section; 1125, first straight section; 1126, second turning section; 1127, second straight section; 113, second guide limiting assembly; 1131, second side wall; 1132, second sliding groove; 1133, second entrance and exit; 114, third guide limiting assembly; 1141, third side wall; 1142, fixed column; 1143, third sliding groove; 1144, third entrance and exit; 115, supporting piece; 1151, abutting portion; 116, elastic piece;

[0041] 120, unidirectional bending chain; 1201, chain link; 121, first chain; 1211, first end; 1212, second end; 122, second chain; 123, third chain; 124, abutting end;

[0042] 130, picking and placing assembly; 131, support frame; 132, guide piece; 1321, roller; 133, butt joint piece; 1331, hook; 1332, guide rail; 1333, hook driving piece; 1334, hook transmission piece;

[0043] 140, driving assembly; 1411, first sprocket; 1412, second sprocket; 1413, third sprocket; 1414, fourth sprocket; 142, driving shaft; 143, driving piece; 144, bevel gear set;

[0044] 200, support surface;

[0045] 300, cargo box; 310, clamping site

[0046] 400, shelf;

[0047] 500, warehouse robot; 510, robot body; 520, drive wheel; 530, climbing assembly;

[0048] 600, warehouse system. DETAILED DESCRIPTION

[0049] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0051] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise explicitly and specifically limited.

[0052] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of existence of A, existence of A and B, and existence of B. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0054] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0055] In the description of the embodiments of the present application, the orientations or positional relationships indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0056] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium, or can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0057] In the warehouse system, the size of the fork determines the width of the reserved aisle between the shelves. A longer fork will increase the width of the aisle, thereby affecting the overall space utilization of the warehouse. At present, the telescopic arm on the fork mostly adopts a plate-shaped structure to realize this. Such a telescopic arm has a large volume and heavy weight, and is difficult to adapt to some small robots.

[0058] Therefore, in order to enable the telescopic arm to extend a longer distance to pull a larger box without increasing the overall length of the fork, the fork can adopt a one-way bending chain as the telescopic arm. The one-way bending chain is bent in one direction and does not occupy more space when retracted, and the other direction cannot be bent to keep it in a rigid state.

[0059] In order to ensure the stability and reliability during the picking and placing operation, the application also adopts a picking and placing assembly including a support frame, a guide piece and a docking piece to realize the picking and placing of the container. Specifically, the support frame is the moving main body, which is driven to move by the extension and retraction of the unidirectional bending chain. Meanwhile, the support frame is also the mounting platform of the docking piece and the guide piece. The docking piece is used to move with the support frame and to dock with and separate from the container, so as to realize the picking and placing of the container. The guide piece is mounted at the bottom of the support frame, and when moving with the support frame, the guide piece moves on the support surface (such as the surface of the bearing table, the surface of the shelf, etc.) below, so as to play the role of guiding and supporting the support frame, so that the end of the unidirectional bending chain connected with the support frame will not droop and will not form a cantilever structure after extending for a long distance, thereby ensuring the stability and reliability of the telescopic arm composed of the unidirectional bending chain during the picking and placing operation.

[0060] According to an aspect of the embodiment of the application, a fork is provided, specifically, please refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 show the perspective structure of the unidirectional bending chain in the fork in the retracted state and the extended state, respectively, as shown in the figure, the fork 100 includes a bearing assembly 110, a driving assembly 140, a unidirectional bending chain 120 and a picking and placing assembly 130. Among them, the bearing assembly 110 is the main structure of the fork 100, which is mainly used for bearing the container. The driving assembly 140, the unidirectional bending chain 120 and the picking and placing assembly 130 are all arranged on the bearing assembly 110. The unidirectional bending chain 120 is the telescopic structure of the fork 100, which is connected with the driving assembly 140. The driving assembly 140 is used to drive the unidirectional bending chain 120 to flexibly bend and retract (as shown in Figure 1 ) or rigidly extend (as shown in Figure 2 ) relative to the bearing assembly 110. One end of the unidirectional bending chain 120 is connected with the picking and placing assembly 130, so as to drive the picking and placing assembly 130 to move during the extension and retraction, thereby realizing the picking and placing of the container.

[0061] Please further refer to Figure 3 , the structure of the picking and placing assembly 130 is shown in the figure, as shown in the figure, the picking and placing assembly 130 includes a support frame 131, a guide piece 132 and a docking piece 133. The support frame 131 is movable relative to the bearing assembly 110, the guide piece 132 is arranged at the bottom of the support frame 131, and the docking piece 133 is arranged on the support frame 131. Please further combine with Figure 4 , the assembly structure of the picking and placing assembly 130 and the unidirectional bending chain 120 is shown in the figure, as shown in Figure 4As shown, one end of the unidirectional bending chain 120 is connected to the support frame 131. When the unidirectional bending chain 120 extends or retracts relative to the support platform 111, it drives the support frame 131 to move. The guide member 132 is used to cooperate with the bottom support surface to provide guidance and support to the support frame 131 when it moves with the support frame 131. The docking member 133 is used to dock with the cargo box and cooperates with the movement of the support frame 131 to realize the loading and unloading of the cargo box.

[0062] Regarding the specific structure of the unidirectional bending chain 120, this application provides an exemplary implementation method, please refer to [link / reference needed]. Figure 5 and Figure 6 , Figure 5 The side structure of the forks 100 in the extended state is shown. Figure 6 It shows Figure 5 Enlarged structure at point A. As shown in the figure, the unidirectional bending chain 120 is composed of multiple interconnected links 1201. Adjacent links 1201 are offset from each other by rounded corners on one side, allowing them to move along... Figure 6 The solid arrows indicate that the links rotate relative to each other, thus achieving flexible bending in one direction of the unidirectional bending chain 120. Adjacent links 1201 abut against each other on the other side via matching edges to prevent them from bending along... Figure 6 The directions indicated by the dashed arrows rotate relative to each other, making the unidirectional bending chain 120 unable to bend in the other direction, thereby achieving the purpose of rigid extension.

[0063] For the specific principles of rigid extension, please refer to Figure 5 During the movement of the support frame 131 driven by the end of the unidirectional bending chain 120, the support surface 200 at the bottom of the guide member 132 provides an upward supporting force. This restricts the rotation of the chain link 1201 located at the end of the unidirectional bending chain 120 and connected to the support frame 131, meaning the end chain link 1201 will not rotate downwards. Based on this, any intermediate chain link 1201, under its own gravity, will tend to rotate upwards relative to its adjacent chain link 1201. Figure 6 Any link 1201 in the chain will tend to rotate relative to the link 1201 to its right in the direction shown by the dotted arrow. This tendency is restricted by the link 1201 to the right, so that all links 1201 remain basically straight, achieving the rigid extension of the unidirectional bending chain 120 as a whole.

[0064] Furthermore, in order to better maintain a basic horizontal position after the unidirectional bending chain 120 extends, such as Figure 5 As shown, the connection point between the unidirectional bending chain 120 and the support frame 131 ( Figure 5 Midpoint B) and the turning point when the unidirectional bending chain 120 bends ( Figure 5The height of the midpoint C, i.e. the position where the unidirectional bending chain 120 starts to bend after being retracted into the bearing assembly 110, is the same as the height of the bearing assembly 110. The connection point B and the turning point C are the two ends of the rigid extension of the unidirectional bending chain 120. Under the premise that the two ends are at the same height and the rotation of each link 1201 between the two ends is limited, the rigid extension of the unidirectional bending chain 120 can better maintain a horizontal state.

[0065] It should be noted that, in actual production and assembly process, due to manufacturing errors, assembly errors and other factors, there will inevitably be a certain small gap between the links 1201, which makes the rigid extension of the unidirectional bending chain 120 not absolutely straight, but presents a gradually concave state from both ends to the middle. However, the degree of concave is not too large, and such a state will not affect the effective driving of the unidirectional bending chain 120 to the support frame 131.

[0066] In addition, it can be understood that, Figure 5 and Figure 6 is only an exemplary structure provided by the present application for the unidirectional bending chain 120. At present, there are many forms of implementation of the unidirectional bending chain 120. The fork 100 provided by the embodiment of the present application can also be implemented by using other forms of unidirectional bending chain 120 to drive the support frame 131, and the specific form is not limited here.

[0067] For the specific structure of the taking and placing assembly 130, as shown in Figure 3 , the abutting piece 133 can adopt a clamping hook 1331 which is arranged on the support frame 131 in a liftable manner. Please further combine Figure 7 , the figure shows the state of the clamping hook 1331 and the container 300 when they are abutted. After the clamping hook 1331 is clamped into the clamping position 310 (which can be a clamping hook as shown in the figure, or a clamping groove, etc.) on the container 300, the clamping hook 1331 forms a clamping connection with the clamping position 310, i.e. completes the abutment with the container 300. In this state, the clamping hook 1331 can be separated from the clamping position 310 by moving downward. Of course, the figure is only an example. In other embodiments, the positions of the clamping hook 1331 and the clamping position 310 can be interchanged, i.e. the clamping hook 1331 can be clamped with the clamping position 310 by moving downward, and separated from the clamping position 310 by moving upward.

[0068] In Figure 7In the shown state, when the one-way bending chain 120 is contracted and pulls the support frame 131 to move, the clamping hook 1331 will pull the box 300 into the carrying assembly 110, realizing the taking of the box 300. The placing of the box 300 is operated reversely, that is, the one-way bending chain 120 is extended and pushes the support frame 131 to move, so as to push the box 300 out of the carrying assembly 110. When the box 300 is pushed out, the clamping hook 1331 can be clamped with the clamping position 310 or not, which does not affect the normal pushing of the box 300.

[0069] Specifically, as shown in the embodiment of the present application, Figure 3 Specifically, as shown in the embodiment of the present application,

[0070] In addition, the adapter 133 can also adopt a structure such as a suction cup (which can be negative pressure adsorption or magnetic adsorption, etc.), a clamping jaw, etc. to be adapted with the front side of the box 300, or can also adopt a structure such as a finger to be adapted with the rear side of the box 300, which is not limited here.

[0071] In Figure 8In the specific embodiment shown, the notches 310 of the box 300 are arranged at a position closer to the top on the side of the box 300, i.e., the notches 310 have a higher height. In order to enable the docking member 133, such as a hook, to cooperate with such a box type, the support frame 131 is arranged to have a larger height, and the docking member 133, such as the hook 1331, is arranged at a higher position of the support frame 131, so that the hook 1331 can dock with the notches 310 on the box 300. For such a docking mode, a single unidirectional bending chain 120 can be used to drive the movement of the support frame 131. Specifically, the taking and placing assembly 130 and the unidirectional bending chain 120 are arranged at a middle position in the width direction of the carrying assembly 110. The width direction of the carrying assembly 110 is a horizontal direction perpendicular to the stretching direction of the unidirectional bending chain 120. In some embodiments, one end of the unidirectional bending chain 120 is connected to a position in the middle of the horizontal direction at the rear end of the support frame 131, i.e., a middle position in the width direction, so that when the unidirectional bending chain 120 pushes or pulls the support frame 131 to move, the support frame 131 is uniformly stressed in the horizontal direction and does not tilt or the like to affect the stability of taking and placing goods. In some embodiments, in order to further improve the stability of taking and placing goods, one end of the unidirectional bending chain 120 is also connected to a position in the middle of the height direction at the rear end of the support frame 131, i.e., a middle position in the height direction, so that when the unidirectional bending chain 120 pushes or pulls the support frame 131 to move, the support frame 131 is uniformly stressed in the vertical direction.

[0072] Of course, in order to better ensure the stability of the support frame 131 during movement, three unidirectional bending chains 120 can also be used to drive the movement of the support frame 131. For details, please refer to Figure 2 、 Figure 4 and Figure 7 As shown in the figure, the unidirectional bending chain 120 includes a first chain 121, a second chain 122, and a third chain 123, which are collectively used to drive the movement of the support frame 131. Specifically, the first chain 121 and the second chain 122 are oppositely arranged on both sides of the carrying assembly 110, and the bottom of the support frame 131 is connected to one end of the first chain 121 and one end of the second chain 122 on both sides, respectively. One end of the third chain 123 is connected to the top of the support frame 131.

[0073] In this embodiment, the first chain 121, the second chain 122, and the third chain 123 are used to drive the movement of the support frame 131 by applying force at the bottom and the top of the support frame 131, so that the stress points of the support frame 131 are distributed in a triangular shape, the overall stress is balanced, and the structural stability of the support frame 131 during movement is ensured, the movement path is accurate and effective, and the safety of taking and placing goods is ensured.

[0074] To ensure that the first chain 121, the second chain 122 and the third chain 123 can drive the support frame 131 to move at the same speed, and in turn ensure that the thrust or pull of each chain on the support frame 131 is balanced, a plurality of sprockets arranged coaxially can be used to drive the first chain 121, the second chain 122 and the third chain 123 to stretch and retract, respectively. Specifically, as shown in Figure 4 The driving assembly 140 includes a driving member 143, a driving shaft 142 and three sprockets (including a first sprocket 1411, a second sprocket 1412 and a third sprocket 1413). The driving shaft 142 is rotationally arranged on the bearing assembly 110 and connected with the driving member 143. The three sprockets are all fixed to the driving shaft 142. The first chain 121, the second chain 122 and the third chain 123 are connected with the first sprocket 1411, the second sprocket 1412 and the third sprocket 1413, respectively, for example, wound around the three sprockets. When the driving member 143 drives the driving shaft 142 to rotate, the three sprockets rotate synchronously, and in turn drive the first chain 121, the second chain 122 and the third chain 123 to stretch and retract at the same speed.

[0075] If the driving member 143 is arranged at one end of the driving shaft 142 and connected with the driving shaft 142, the driving member 143 will occupy a certain space in the width direction of the bearing assembly 110 (i.e. the axial direction of the driving shaft 142), and in turn cause the width of the fork 100 to increase. To this end, in the embodiment shown in Figure 4 The driving assembly 140 further includes a bevel gear set 144. The driving member 143 and the driving shaft 142 are further connected through the bevel gear set 144. The bevel gear set 144 is used for transmission, so that the driving member 143 does not have to be arranged in the axial direction of the driving shaft 142, but can be arranged in the radial direction of the driving shaft 142, as shown in Figure 4 so as not to occupy space in the width direction. In some embodiments, the driving member 143 can be arranged at the rear end of the bearing assembly 110 (i.e. the end in the chain retracting direction). In other embodiments, the driving member 143 can be arranged at the bottom of the bearing assembly 110, so as not to occupy space in the length and width directions of the fork 100, and ensure that the overall fork 100 has a smaller length and width.

[0076] In addition to being able to dock with the container 300 at a higher position to take and place goods, the taking and placing assembly 130 can also dock with the container 300 at a lower position to take and place goods. As shown in Figure 9As shown, the clamping position 310 of the container 300 is arranged at a position close to the bottom of the side of the container 300, i.e. the clamping position 310 is arranged at a low height. In this case, the docking member 133 of the picking and placing assembly 130 can be arranged at a low position of the support frame 131, and the support frame 131 can also be arranged to have a small height. For such a docking form, three one-way curved chains 120 can not be needed, and only one one-way curved chain 120 can be connected at the middle position of the support frame 131 along the width direction of the carrying assembly 110, or the first chain 121 and the second chain 122 can be respectively connected at the two sides of the support frame 131, and the stability of the movement of the support frame 131 can be ensured by jointly driving the support frame 131 to move by the first chain 121 and the second chain 122. For the mode of jointly driving the support frame 131 to move by the first chain 121 and the second chain 122, the first chain 121 and the second chain 122 can be synchronously driven to move by coaxial two sprockets.

[0077] For Figure 9 For the embodiment shown, if the docking member 133 still adopts the clamping hook 1331, the lifting driving of the clamping hook 1331 can be realized by, for example, an electric cylinder, a hydraulic cylinder or the like driving member, so as to ensure that the docking member 133 can be arranged at a low position, or the clamping hook 1331 driven by a motor and rotatable can be adopted, so as to realize the docking and separation with the clamping position 310 on the container 300 by the rotation of the clamping hook 1331.

[0078] The above embodiments provide various forms of picking and placing assemblies 130 and various numbers and arrangement modes of the one-way curved chains 120. Among them, for different structural forms of the support frame 131 and the docking height of the docking member 133 and the container 300, different numbers and arrangement modes of the one-way curved chains 120 can be selected for driving to ensure the stability of the structure, but it will not affect the selection of the specific docking mode of the docking member 133 and the container 300, i.e. whether it is high position docking or low position docking, the docking member 133 can adopt the structures such as clamping hooks, suction cups, clamping jaws, fingers and the like mentioned above.

[0079] At present, the telescopic arm of the fork is first extended from the front end of the carrying table, and correspondingly, the fingers arranged at the end of the telescopic arm are only responsible for hooking the back of the container to pull the container to the carrying table. The operation of placing the container from the carrying table to other positions such as shelves needs to additionally set a push plate at the rear end of the carrying table, so as to move forward by the push plate to push the container on the carrying table out, which undoubtedly causes the increase of the number of parts, and correspondingly may cause the increase of cost and volume.

[0080] To this end, the fork 100 provided by the embodiment of the present application can adopt a form that the unidirectional bending chain 120 is initially extended from the rear end of the bearing assembly 110 in addition to the form that the unidirectional bending chain 120 is initially extended from the front end of the bearing assembly 110. For details, please refer to Figure 1 and Figure 2 As shown in the figure, the bearing assembly 110 includes a bearing table 111 and first and second guide limiting assemblies 112 and 113 arranged on opposite sides of the bearing table 111. The first and second chains 121 and 122 are respectively matched with the first and second guide limiting assemblies 112 and 113 to be flexibly bent and contracted or rigidly extended.

[0081] Please further refer to Figure 10 The first guide limiting assembly 112 has a first entrance and exit 1123 for the first chain 121 to enter and exit when being extended and contracted. The second guide limiting assembly 113 has a second entrance and exit 1133 for the second chain 122 to enter and exit when being extended and contracted. The first and second entrance and exit 1123 and 1133 are arranged at the rear end of the bearing table 111, so that when the first and second chains 121 and 122 are extended and contracted, the support frame 131 can be moved on the bearing assembly 110 from one end to the other end, for example, when the first and second chains 121 and 122 are extended, the support frame 131 is moved from the rear end to the front end of the bearing assembly 110; when the first and second chains 121 and 122 are retracted, the support frame 131 is moved from the front end to the rear end of the bearing assembly 110. Correspondingly, in the process of moving the support frame 131, the upper surface of the bearing assembly 110 forms at least a part of the support surface for supporting and cooperating with the guide piece 132.

[0082] In the embodiment, the first and second chains 121 and 122 are guided and limited by the first and second guide limiting assemblies 112 and 113 respectively, so that the first and second chains 121 and 122 can drive the support frame 131 to be retracted to the rear end of the bearing table 111. On this basis, the support frame 131 connected to the end of the first and second chains 121 and 122 can be moved on the bearing assembly 110 under the drive of the first and second chains 121 and 122, which makes the bearing assembly 110 not only capable of pulling the cargo box 300 onto the bearing table 111, but also capable of pushing the cargo box 300 on the bearing table 111 off the bearing table 111, so that a push plate does not need to be arranged, thereby reducing the production cost and the product size.

[0083] Specifically, as Figure 10As shown in FIG. 1, the first guiding and limiting assembly 112 can include a first side wall 1121, and the first sprocket 1411 of the driving assembly 140 is arranged at the rear end of the first side wall 1121. The first sprocket 1411 is engaged with the first chain 121 to drive the first chain 121 to extend and retract. As shown in FIG. 1, the second guiding and limiting assembly 113 can include a second side wall 1131, and the second sprocket 1412 of the driving assembly 140 is arranged at the rear end of the second side wall 1131. The second sprocket 1412 is engaged with the second chain 122 to drive the second chain 122 to extend and retract. When the first sprocket 1411 and the second sprocket 1412 are arranged at the rear end of the first side wall 1121 and the second side wall 1131, the first chain 121 and the second chain 122 have a longer active stroke when extending and a larger accommodation space when retracting. Of course, the first sprocket 1411 can also be arranged at other positions as long as it can drive the first chain 121 to normally extend and retract. Figure 2

[0084] As shown in FIG. 1, the first guiding and limiting assembly 112 can include a first side wall 1121, and the first sprocket 1411 of the driving assembly 140 is arranged at the rear end of the first side wall 1121. The first sprocket 1411 is engaged with the first chain 121 to drive the first chain 121 to extend and retract. As shown in FIG. 1, the second guiding and limiting assembly 113 can include a second side wall 1131, and the second sprocket 1412 of the driving assembly 140 is arranged at the rear end of the second side wall 1131. The second sprocket 1412 is engaged with the second chain 122 to drive the second chain 122 to extend and retract. When the first sprocket 1411 and the second sprocket 1412 are arranged at the rear end of the first side wall 1121 and the second side wall 1131, the first chain 121 and the second chain 122 have a longer active stroke when extending and a larger accommodation space when retracting. Of course, the first sprocket 1411 can also be arranged at other positions as long as it can drive the first chain 121 to normally extend and retract. Figure 2

[0085] Specifically, in some embodiments, the first sliding groove 1122 has a first turning section 1124, a first straight section 1125, a second turning section 1126, and a second straight section 1127 connected in sequence. The first sprocket 1411 is arranged at the first turning section 1124. The part of the first chain 121 wound around the first sprocket 1411 is bent and turned by the guidance of the first sprocket 1411 and the groove wall of the first turning section 1124. For example, as shown in FIG. 1, the first chain 121 is bent and turned at the first turning section 1124, and then extends along the first straight section 1125. The second chain 122 is also bent and turned at the second turning section 1126, and then extends along the second straight section 1127. Figure 2 ​​As shown, the end of the first chain 121 connected to the support frame 131 is defined as the first end 1211, and the end of the first chain 121 not connected to the support frame 131 (i.e., the other end of the first chain 121 opposite to the first end 1211) is defined as the second end 1212; the direction in which the first end 1211 extends is defined as the first direction, and the direction in which the first end 1211 retracts is defined as the second direction. Figure 2 The first chain 121 is in an extended state, with the portion of the chain near the second end 1212 wrapped around the first sprocket 1411. Under the action of the first sprocket 1411 and the first deflecting section 1124, the extension direction of this portion of the chain changes, so that both the first end 1211 and the second end 1212 are now facing the first direction. Figure 2 When the first chain 121 extending from the center retracts, that is, when the first end 1211 moves in the second direction, after the first chain 121 passes through the first turning section 1211, the second end 1212 moves linearly in the first straight section 1125 in the first direction. As the first end 1211 continues to retract, the second end 1212 passes through the second turning section 1126, and changes direction in the second direction under the action of the groove wall of the second turning section 1126. As the first end 1211 continues to retract, the second end 1212 moves linearly in the second direction in the second straight section 1127.

[0086] In embodiments that also include a third chain 123, a third guide and limiting component 114 can be provided to guide and limit the third chain 123. Since the end of the third chain 123 needs to be connected to the top of the support frame 131, accordingly, as... Figure 4 As shown, the third guide and limiting assembly 114 includes a third sidewall 1141 disposed at the middle of the bottom of the support platform 111 and a fixing post 1142 disposed above the rear end of the third sidewall 1141. The fixing post 1142 can be positioned as follows: Figure 4The third side wall 1141 and the fixed column 1142 are provided with a third sliding groove 1143 for accommodating at least part of the third chain 123. The top of the fixed column 1142 is provided with a third access opening 1144 through which the third chain 123 enters or exits the third sliding groove 1143. In this embodiment, the driving assembly 140 further comprises a third sprocket 1413 and a fourth sprocket 1414. The third sprocket 1413 is arranged at the rear end of the third side wall 1141, and the fourth sprocket 1414 is rotatably arranged at the top of the fixed column 1142. The third chain 123 passes the third sprocket 1413 and the fourth sprocket 1414 in sequence, and then extends towards the front end of the carrying assembly 110 at the top and is connected to the support frame 131 to apply a force to the support frame 131 at the top and drive it to move. It is worth mentioning that the connection point of the third chain 123 and the support frame 131 is at the same height relative to the carrying assembly 110 as the turning point of the third chain 123 after passing the fourth sprocket 1414.

[0087] To avoid the falling of the box 300 from the gap between the forks 100 and the shelves 400 when the box 300 is taken or placed, the present application further proposes an embodiment, please refer to Figure 2 , the carrying assembly 110 is provided with a telescopic support 115. The support 115 is connected to the carrying assembly 110 by an elastic member 116, which is used to provide an elastic force to the support 115 relative to the carrying assembly 110. The support 115 is used to provide support for the box 300 and / or the guide member 132 during the taking or placing of the box 300 by the taking or placing assembly 130. The end of the one-way bending chain 120 that is not connected to the support frame 131 is used to abut against the support 115 when it is retracted, and drive the support 115 to retract relative to the carrying assembly 110.

[0088] The support 115 can be a column-shaped tray structure that extends on both sides of the carrying assembly 110 as shown in Figure 2 , it can also be a flat plate-shaped tray structure with a larger support area, of course, it can also be other structures, which are not limited here.

[0089] Please refer to Figure 11 , the rear end of the support 115 can be provided with an abutting portion 1151. When the one-way bending chain 120 is in the retracted state, the end (abutting end 124 in the figure) that is not connected to the support frame 131 pushes the abutting portion 1151 on the support 115 inward (to the right in the view angle in the figure) to limit the outward extension of the support 115. Please further refer to Figure 12When the one-way bending chain 120 drives the support frame 131 to move and extend, the abutting end 124 releases the supporting piece 115, which is automatically extended outward (leftward in the view angle) under the elastic force of the elastic piece 116 and abuts against the front side of the shelf. Based on this, when the one-way bending chain 120 is retracted, the support frame 131 is first driven to pull the goods box to the supporting piece 115, and then the supporting piece 115 is retracted inward under the driving of the one-way bending chain 120 and drives the goods box to move inward, ensuring that the goods box is driven to move by the supporting piece 115 in the process of entering the carrying assembly 110, and the goods box does not rub and slide with the carrying assembly 110, so that the whole process is more labor-saving.

[0090] In some embodiments, in combination with Figure 2 and Figure 11 , the upper part of the second straight segment 1127 of the first sliding groove 1122 is not provided with a groove wall, but is provided with an opening, so that the abutting part 1151 can extend into the second straight segment 1127, so that the second end 1212 can abut against the abutting part 1151 when moving in the second direction in the second straight segment 1127, thereby driving the supporting piece 115 to move in the second direction, and achieving the retraction of the supporting piece 115.

[0091] As shown in Figure 12 , after the one-way bending chain 120 is fully extended, the abutting end 124 and the abutting part 1151 have a large distance therebetween. The purpose of this arrangement is to ensure that when the one-way bending chain 120 is just starting to retract and the goods box is driven to move on the shelf by the goods taking and placing assembly 130, the supporting piece 115 will not be directly retracted inward. When the one-way bending chain 120 is retracted to a predetermined position, that is, after the goods taking and placing assembly 130 pulls the goods box 300 from the shelf to the supporting piece 115, the abutting end 124 starts to abut against the abutting part 1151, and then the supporting piece 115 is retracted inward by the abutting end 124, and finally the goods box is stably taken to the carrying assembly 110 by the pulling of the abutting piece 133 and the driving of the supporting piece 115 at the bottom of the goods box. When goods are placed, the operation is reversed, and the stability of the operation during the transfer of goods can also be ensured.

[0092] In order to ensure that the support frame 131 can be stably supported during the whole movement stroke, further, the top surface of the supporting piece 115 can form at least part of the supporting surface 200, and the guide piece 132 can include, for example, Figure 3The rollers 1321 can roll on the support surface 200 of the supporting member 115 when the support frame 131 moves. When the supporting member 115 extends out relative to the carrying assembly 110 to take or place the goods, the rollers 1321 can roll on the supporting member 115, so that the supporting member 115 can stably support the support frame 131 between the carrying assembly 110 and the shelf, and ensure the stability of the taking or placing assembly 130 during movement.

[0093] As shown in Figure 4 , two rollers 1321 can be arranged at intervals, and more rollers 1321 can also be arranged. When the fork 100 is applied to the warehouse robot 500 as shown in Figure 18 , the warehouse robot 500 also forms a part of the support surface 200 (for example, a fixed tray arranged on the robot body 510 of the warehouse robot 500) on both sides of the fork 100. Among the plurality of rollers 1321, a part of the rollers 1321 can roll on the support surface 200 of the supporting member 115, and the other part of the rollers 1321 can roll on the support surface 200 of the warehouse robot, so as to stably support the taking or placing assembly 130 and fully ensure the stability of the taking or placing assembly 130 during movement.

[0094] Taking the taking operation as an example, the operation process of the fork 100 is described below. After the fork 100 moves to the shelf 400, the side surface is in the state shown in Figure 13 . In this state, the one-way bending chain 120 is rigidly extended to drive the support frame 131 to move towards the goods box 300 along the direction indicated by the arrow in the drawing, and the one-way bending chain 120 will gradually release the supporting member 115, so that the supporting member 115 is pushed forward by the elastic force of the elastic member 116 along the dashed arrow in the drawing.

[0095] Next, during the movement of the taking or placing assembly 130, the guide member 132 cooperates with the support surface 200 of the supporting member 115 to provide guidance and support to the support frame 131. A state during movement is shown in Figure 14 , which enables the support frame 131 to stably move forward.

[0096] After the supporting member 115 is extended, the supporting member 115 can abut against the front side of the shelf 400. After the taking or placing assembly 130 reaches the front end of the supporting member 115, the taking or placing assembly 130 is guided by the guide member 132 to cross from the supporting member 115 to the support surface 200 on the shelf 400, and thus reaches the goods box 300. Then, the connecting member 133 is connected to the goods box 300, specifically by the clamping of the clamping hook 1331 and the clamping position 310 on the goods box 300, or by other manners such as a suction cup, a clamping jaw, a finger, and the like. After the connection is completed, the state is shown in Figure 15 .

[0097] After the docking piece 133 is docked with the box 300, the one-way bending chain 120 is retracted to pull the box 300 along the direction indicated by the arrow in Figure 15 The description of the above-mentioned Figure 12 , since the abutting end 124 has a certain distance from the abutting portion 1151 at the beginning, the one-way bending chain 120 does not drive the support piece 115 to retract inwardly in the preliminary retraction process, based on which, the box 300 can be first pulled from the shelf 400 to the support piece 115 to form the state shown in Figure 16 .

[0098] As shown in Figure 16 , after the box 300 is completely pulled to the support piece 115, the abutting end 124 starts to abut against the abutting portion 1151, so that the subsequent retraction of the one-way bending chain 120 drives the pick-and-place assembly 130, the box 300 and the support piece 115 to move inwardly synchronously, and finally the box 300 is completely pulled to the carrying assembly 110 to present the state shown in Figure 17 .

[0099] When the box 300 is placed on the shelf 400, the steps from Figures 17 to 15 are first performed to push the box 300 to the shelf 400, and then the steps from Figures 15 to 13 are performed to retract the pick-and-place assembly 130, and the placing operation of the box 300 on the shelf 400 is completed.

[0100] It should be noted that Figures 13 to 17 , only one example is provided in the present application, and in other embodiments, the support piece 115 can also not be provided, and in the pick-and-place operation, the two sides of the carrying assembly 110 and the shelf 400 facing each other are moved close to or directly abut against each other by the overall movement of the fork 100, so as to ensure that the bottom of the guide piece 132 can be always supported in the movement process of the pick-and-place assembly 130, thereby stably and safely achieving the pick-and-place of the box 300.

[0101] In summary, the fork 100 provided by the embodiment of the present application firstly adopts the unidirectional bending chain 120 as the telescopic arm to perform the picking and placing operation, so as to reduce the volume and weight, and make the fork 100 better adapt to the small robot. Further, in order to avoid the end of the unidirectional bending chain 120 from drooping and forming a poor stability cantilever structure after extending for a long distance, the support frame 131 in the picking and placing assembly 130 is connected with the end of the unidirectional bending chain 120, and the guide 132 is arranged at the bottom of the support frame 131, so that the guide 132 can cooperate with the supporting surface at the bottom of the support frame 131 to provide the support and guide for the support frame 131 during the extension and contraction of the unidirectional bending chain 120 and the movement of the support frame 131, so as to not only avoid the end of the unidirectional bending chain 120 from drooping, but also ensure that the end of the unidirectional bending chain 120 will be supported after extending, so as not to form a cantilever structure. Meanwhile, the butt joint 133 arranged on the support frame 131 is responsible for the butt joint with the container 300 to perform the picking and placing operation of the container 300. Based on the above advantages, when the fork 100 moves to perform the picking and placing operation by the unidirectional bending chain 120, the unidirectional bending chain 120 always has good structural strength, so as to improve the stability and reliability of the unidirectional bending chain 120 during the picking and placing of the container 300.

[0102] According to another aspect of the embodiment of the present application, a warehouse robot is provided, please refer to Figure 18 , the structure of the warehouse robot is shown in the figure, as shown in the figure, the warehouse robot 500 comprises a robot body 510 and the fork 100 in any of the above embodiments, and the fork 100 is arranged on the robot body 510.

[0103] Further, as shown in Figure 18 , the bottom of the robot body 510 can be provided with a driving wheel 520 and / or the robot body 510 can be provided with a climbing assembly 530 for driving the robot body 510 to climb on the shelf, so that the warehouse robot 500 can automatically move to the target position to perform the picking and placing operation. The fork 100 can also be arranged on the robot body 510 in a lifting manner to perform the picking and placing at different heights of the shelf.

[0104] According to still another aspect of the embodiment of the present application, a warehouse system is also provided, please refer to Figure 19 , the top view structure of the warehouse system is shown in the figure, as shown in the figure, the warehouse system 600 comprises a shelf 400 and the warehouse robot 500 in the above embodiment, and the warehouse robot is used to pick and place the container 300 on the shelf 400.

[0105] It should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced equivalently; and 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. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner.

Claims

1. A forklift, characterized in that, include: Carrier component; The driving component is disposed on the carrier component; A loading and unloading assembly, mounted on the supporting assembly, includes a support frame, a guide member, and a docking member. The support frame is movable relative to the supporting assembly. The guide member is located at the bottom of the support frame and, as it moves with the support frame, engages with a support surface at the bottom to provide guidance and support. The docking member is mounted on the support frame and is used to dock with a cargo box, cooperating with the movement of the support frame to load and unload the cargo box. A unidirectional bending chain is disposed on the bearing component and connected to the drive component. The drive component is used to drive the unidirectional bending chain to flexibly bend and contract or rigidly extend relative to the bearing component. One end of the unidirectional bending chain is connected to the support frame. The unidirectional bending chain is used to drive the support frame to move when it extends or contracts relative to the bearing component.

2. The forklift according to claim 1, characterized in that, The horizontal direction perpendicular to the extension and retraction direction of the unidirectional bending chain is the width direction of the bearing component, and both the unidirectional bending chain and the loading and unloading component are located at the middle position in the width direction of the bearing component.

3. The forklift according to claim 1, characterized in that, The connection point between the unidirectional bending chain and the support frame is at the same height relative to the load-bearing component as the turning point of the unidirectional bending chain when it bends.

4. The forklift according to claim 1, characterized in that, The unidirectional bending chain includes a first chain and a second chain, which are disposed opposite to each other on both sides of the bearing component. The support frame is connected to one end of the first chain and one end of the second chain, respectively. The first chain and the second chain are used together to drive the support frame to move.

5. The forklift according to claim 4, characterized in that, The bearing assembly includes a bearing platform and a first guide limiting assembly and a second guide limiting assembly disposed on opposite sides of the bearing platform. The first chain and the second chain cooperate with the first guide limiting assembly and the second guide limiting assembly respectively to extend and retract. The first guide limiting component has a first inlet / outlet for the first chain to enter and exit when it extends or retracts, and the second guide limiting component has a second inlet / outlet for the second chain to enter and exit when it extends or retracts. Both the first inlet / outlet and the second inlet / outlet are located at the rear end of the support platform, so that when the first chain and the second chain extend or retract, the support frame can be moved on the support component.

6. The forklift according to claim 5, characterized in that, The first guide limiting component includes a first sidewall disposed on the support platform, and the driving component includes a first sprocket disposed at the rear end of the first sidewall. The first sprocket meshes with the first chain to drive the first chain to extend and retract. The first sidewall is provided with a first groove, and the first chain is at least partially received in the first groove. When the first chain extends and retracts, it slides along the first groove. The second guide limiting component includes a second sidewall disposed on the support platform. The drive component includes a second sprocket disposed at the rear end of the second sidewall. The second sprocket meshes with the second chain to drive the second chain to extend and retract. A second groove is provided on the second sidewall. The second chain is at least partially received in the second groove. The second chain slides along the second groove when it extends and retracts.

7. The forklift according to claim 4, characterized in that, The two sides of the bottom of the support frame are respectively connected to one end of the first chain and one end of the second chain; The unidirectional bending chain also includes a third chain, which is located between the first chain and the second chain, and one end of the third chain is connected to the top of the support frame; The first chain, the second chain, and the third chain work together to move the support frame.

8. The forklift according to claim 7, characterized in that, The bottom and rear end of the bearing component are provided with a third guide limiting component, and the third chain cooperates with the third guide limiting component to extend and retract; The third guide and limiting component includes a third sidewall disposed at the bottom of the bearing component and a fixed post disposed at the rear end of the bearing component. The third sidewall and the fixed post are provided with a third groove for accommodating at least a portion of the third chain. The top of the fixed post is provided with a third inlet and outlet, through which the third chain enters and exits the third groove.

9. The forklift according to any one of claims 1-8, characterized in that, The support component is retractably provided with a support member, and an elastic member is connected between the support member and the support component. The elastic member is used to provide elastic force to the support member relative to the support component. The support member can be used to provide support for the cargo box and / or the guide member during the process of the loading and unloading component loading and unloading the cargo box. The end of the unidirectional bending chain not connected to the support frame is used to abut against the support member during contraction, and to drive the support member to contract relative to the load-bearing component.

10. The forklift according to claim 9, characterized in that, The rear end of the support member is provided with an abutment portion, and the end of the unidirectional bending chain that is not connected to the support frame is used to abut against the abutment portion when it is retracted to a predetermined position, so as to drive the support member to retract.

11. The forklift according to claim 9, characterized in that, The top surface of the support member forms at least a portion of the support surface, and the guide member includes a roller that can roll on the support surface of the support member as the support frame moves.

12. The forklift according to claim 11, characterized in that, The forks are used in a warehouse robot, and the warehouse robot also forms some of the support surfaces on both sides of the forks; The rollers include a plurality of rollers spaced apart. When the support frame moves, some of the rollers can roll on the support surface of the support member, while other rollers can roll on the support surface of the warehouse robot.

13. The forklift according to any one of claims 1-8, characterized in that, The docking component is a hook, which is elliptical and can be mounted on the support frame. The hook is used to engage or disengage with the locking position on the cargo box during lifting.

14. A warehouse robot, characterized in that, It includes a robot body and a fork as described in any one of claims 1-13, wherein the fork is disposed on the robot body.

15. A warehousing system, characterized in that, The system includes a shelf and a warehouse robot as described in claim 14, the warehouse robot being used to pick up and place boxes on the shelf.

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