Pallet fork assembly, autonomous moving device and picking system

Abstract

The utility model provides a pallet fork assembly, an autonomous moving device and a sorting system. The pallet fork assembly comprises a chassis, a pallet fork assembly and a sorting assembly, the fork plate assembly is arranged on the chassis, and the fork plate assembly can move relative to the chassis in the first direction; the shifting finger mechanism is arranged on the fork plate assembly, the shifting finger mechanism comprises a connecting piece and at least two shifting fingers, and the connecting piece is movably arranged on the fork plate assembly and can act relative to the fork plate assembly; the connecting piece is arranged in the first direction, the at least two shifting fingers are arranged at the two ends of the connecting piece in the first direction respectively, the connecting piece can drive the at least two shifting fingers to move between the first position and the second position when moving, and when the shifting fingers are located at the first position, the shifting finger mechanism can move along with the fork plate assembly so as to push goods. The fork assembly can flexibly adapt to goods of different shapes and specifications and can better adapt to the contours of the goods, and the grabbing stability and accuracy are improved. And meanwhile, the structure is simple, and the manufacturing and later maintenance cost can be saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of logistics transportation, and particularly relates to a fork assembly, an autonomous mobile device and a picking system. BACKGROUND

[0002] The clamping type fork is a kind of material handling equipment widely used in logistics, warehousing and manufacturing industry. The traditional fork can usually be used only for carrying standard size pallets and goods, and for irregular shape or fragile articles, the applicability of the traditional fork is poor, and it is easy to cause damage to goods or low carrying efficiency. And the existing clamping type fork is usually too complex in structure, and the manufacturing cost is high, and since the fork prongs of the fork are usually blocked by the rotating cylinder to grab the goods, the reliability of the scheme is low, and it is easy to cause damage, and the artificial maintenance cost is high.

[0003] Therefore, how to design a fork assembly with high reliability and low cost has become a problem to be solved at present. SUMMARY

[0004] The utility model aims at least solves the problem of low reliability of fork assembly, high cost and the like.

[0005] Therefore, the first aspect of the utility model provides a fork assembly.

[0006] The second aspect of the utility model provides an autonomous mobile device.

[0007] The third aspect of the utility model provides a picking system.

[0008] Therefore, the first aspect of the utility model provides a fork assembly.

[0009] The utility model provides a fork assembly, including chassis, fork board subassembly and finger mechanism. Fork board subassembly sets up on the chassis, and can move along the first direction relative to the chassis, through setting up fork board subassembly on the chassis and can move along the first direction relative to the chassis, realized the preliminary positioning and push of goods. Finger mechanism sets up on fork board subassembly, including connecting piece and at least two fingers, at least two fingers are arranged respectively in the both ends of connecting piece along the first direction, so that when finger mechanism follows fork board subassembly and moves along the first direction, can utilize finger mechanism to push goods, make goods be pushed to the chassis, complete the carrying of goods. The finger can act in the first position and the second position, when needing to push goods, the finger is located at the first position, effectively pushes goods through the contact with goods, ensures that goods are accurately and powerfully pushed to the chassis. When not needing to push goods, the finger switches to the second position, avoids the interference with goods, reduces unnecessary collision and abrasion. The present application moves goods through the finger, so that the fork assembly can flexibly cope with goods of different shapes and specifications, especially for irregularly shaped goods, the finger can better adapt to the contour of goods, improve the stability and accuracy of grabbing.

[0010] Meanwhile, since the present application can drive two fingers to act between the first position and the second position through a connecting piece, compared with the scheme of controlling each finger by an independent electric cylinder, the present application not only has a simple structure, but also can save manufacturing cost and later maintenance cost.

[0011] According to the fork assembly provided by the utility model, the following additional technical features can also be provided.

[0012] In some embodiments, optionally, the at least two fingers are arranged respectively close to both ends of the fork board subassembly along the first direction.

[0013] In these embodiments, the connecting piece can be arranged relatively long in the first direction, and preferably the length of the connecting piece in the first direction is similar to the length of the fork board subassembly in the first direction, so that when the fingers are arranged at both ends of the connecting piece, the fingers can be located at opposite ends of the fork board subassembly along the first direction, so that the fork assembly can realize two-directional goods carrying when carrying goods. Here, the goods carrying includes picking up goods and putting down goods, for example, when the first direction is the left-right direction, when the left station needs to pick up goods, at this time, the fork board subassembly is extended, thereby driving the connecting rod of the finger mechanism to move, at this time, the left finger is arranged at the second position to avoid interference with the goods. When the fork board subassembly reaches the goods picking position, the left finger is adjusted to the first position, and then the fork board subassembly is retracted, so that the goods can be pulled back by the left finger to complete the picking. Similarly, when goods need to be put down, and when the right station needs to pick up and put down goods, only the extension direction of the fork board subassembly and the position of the finger need to be adjusted.

[0014] In some embodiments, optionally, the fork plate assembly is slidingly arranged on the chassis; and / or the fork plate assembly is a telescopic structure.

[0015] In some embodiments, the fork plate assembly is slidingly arranged on the chassis, so that the fork plate assembly can slide relative to the chassis. When it is necessary to take or put goods, it is only necessary to slide the fork plate assembly. The sliding arrangement can slide more smoothly and flexibly on the chassis, so that the goods can be more accurately aligned for handling operations. And / or the fork plate assembly is a telescopic structure, which further enhances the function of the fork assembly. The telescopic feature enables it to adapt to different sizes and shapes of goods, and good grabbing and handling can be achieved for larger or smaller goods. When facing a limited space warehouse environment, the telescopic fork plate assembly can be more conveniently entered and operated. Moreover, this telescopic structure can also be flexibly adjusted according to the weight and distribution of the goods, to ensure the stability and safety during handling.

[0016] In some embodiments, optionally, the connecting piece is slidingly arranged on the fork plate assembly and can slide in the first direction. When the connecting piece slides, it can drive the prongs to rotate between the first position and the second position.

[0017] In some embodiments, the sliding of the connecting piece can drive the prongs to rotate between the first position and the second position. Specifically, the principle of screw rod and screw can be used to convert linear motion into rotation, so that the connecting piece drives the prongs to rotate. This arrangement can realize the rotation of two prongs through one connecting piece, thereby reducing the arrangement of driving members and reducing the overall cost.

[0018] The rotation directions of the two prongs can be set according to the screw direction of the screw rod. The two prongs can be arranged to rotate in the same direction or in opposite directions.

[0019] In some embodiments, optionally, the connecting piece is rotationally connected with the fork plate assembly, and when the connecting piece rotates, it can drive the prongs to rotate between the first position and the second position.

[0020] In some embodiments, the connecting piece can also be rotationally connected with the fork plate assembly. When at least two prongs are arranged at both ends of the fork plate assembly, the rotation of the connecting piece can drive the prongs to rotate. This arrangement has a relatively stable structure, reduces the probability of failure, and reduces maintenance costs.

[0021] In some embodiments, the finger pushing mechanism further comprises: at least two lead screws arranged on the fork plate assembly and close to both ends of the connecting member in the first direction; the connecting member is provided with a matching part at both ends in the first direction, the matching part can be matched with the lead screw, and the sliding of the connecting member in the first direction can drive the at least two lead screws to rotate in the same or different directions; the at least two fingers are respectively installed on the at least two lead screws, and the rotation of the lead screw can drive the at least two fingers to move between the first position and the second position.

[0022] In some embodiments, the at least two lead screws can be arranged on the fork plate assembly and close to both ends of the connecting member in the first direction. The connecting member is provided with a matching part at both ends in the first direction, the matching part can be matched with the lead screw. Thus, when the connecting member slides in the first direction, it can drive the at least two lead screws to rotate in the same or different directions. When the at least two fingers are respectively installed on the at least two lead screws, the rotation of the lead screw can drive the at least two fingers to move between the first position and the second position. This kind of mechanism makes the power transmission more efficient and accurate, and can accurately control the rotation direction and speed of the lead screw according to the sliding action of the connecting member. At the same time, the arrangement of the at least two lead screws and their ability to rotate in the same or different directions makes the action of the finger more flexible and diverse. The position of the finger can be accurately adjusted according to the specific shape, size and position of the goods, so as to avoid interference and better adapt to various complex goods handling requirements, thereby improving the efficiency and quality of goods handling.

[0023] In some embodiments, the fork assembly further comprises: a driving assembly arranged on the chassis and connected with the fork plate assembly, for driving the fork plate assembly to move.

[0024] In some embodiments, the driving assembly can be arranged on the chassis and connected with the fork plate assembly. By setting the driving assembly to drive, a stable and powerful power source is provided to ensure that the fork plate assembly can quickly and accurately respond to operation instructions and achieve efficient goods handling.

[0025] In some embodiments, the driving assembly comprises at least one of a motor, an oil cylinder and a gas cylinder.

[0026] In some embodiments, the fork plate assembly comprises: a fixed fork plate arranged on the chassis; a movable fork plate slidingly installed on one side of the fixed fork plate and capable of sliding in the first direction relative to the fixed fork plate; and a connecting member arranged on the movable fork plate in the first direction.

[0027] In some embodiments, the fixed fork plate can be arranged on the chassis, the movable fork plate can be slidingly arranged on one side of the fixed fork plate and can slide in the first direction, and the connecting piece can be arranged on the movable fork plate in the first direction. Through the fixed fork plate, stable basic support is provided to ensure the overall stability of the fork during operation. The sliding design of the movable fork plate relative to the fixed fork plate increases the adjustability and flexibility of the fork, so that it can adapt to goods of different sizes and positions, and improves the accuracy and adaptability of the goods grabbing. At the same time, the connecting piece is arranged on the movable fork plate, so that the connecting piece can change position with the sliding of the movable fork plate, thereby more effectively driving the prongs to carry out the goods carrying operation, further improving the working efficiency and precision of the fork assembly.

[0028] In some embodiments, optionally, the fork assembly further comprises: a first gear arranged on the fixed fork plate and close to the chassis, connected with the driving assembly, and the driving assembly can drive the first gear to rotate; and a first rack arranged on the movable fork plate and engaged with the first gear, so that when the first gear rotates, the movable fork plate can be driven to slide in the first direction through the cooperation of the first gear and the first rack.

[0029] In some embodiments, in order to facilitate the sliding of the movable fork plate, the gear and rack mode can be used for driving, specifically, the first gear can be arranged on the fixed fork plate, the first rack can be arranged on the movable fork plate, and the first gear and the first rack can be cooperated, so that when the first gear rotates, the rack can be driven to move, thereby driving the movable fork plate to slide in the first direction. The driving of the first gear can be achieved by connecting the first gear with the driving assembly and driving the first gear to rotate by the driving assembly. The driving mode of the gear and rack in the present application not only has simple and stable structure, but also can realize high-precision movement, so that the fork assembly can adapt to goods of different sizes. At the same time, arranging the first gear close to the chassis is conducive to connecting the first gear with the driving assembly on the chassis.

[0030] In some embodiments, optionally, the movable fork plate comprises: a first fork plate slidingly arranged on one side of the fixed fork plate and capable of sliding in the first direction relative to the fixed fork plate, and the first rack is arranged on the first fork plate; a second fork plate slidingly arranged on the side of the first fork plate away from the fixed fork plate and capable of sliding in the first direction relative to the first fork plate; and the connecting piece is arranged on the second fork plate in the first direction.

[0031] In some embodiments, in order to further adapt to more different sizes and shapes of goods, improve the versatility of the fork, the movable fork plate can be set to multi-stage adjustment, for example, in the form of a first fork plate plus a second fork plate. Specifically, the first fork plate is slidingly installed on one side of the fixed fork plate and is moved by the first gear rack driven by the first gear, thereby enabling the first fork plate to slide relative to the fixed fork plate in the first direction. The second fork plate is slidingly installed on the side of the first fork plate away from the fixed fork plate, enabling it to slide relative to the first fork plate in the first direction, and the connecting member is arranged on the second fork plate in the first direction, so that the connecting member can more deeply contact the goods with the sliding of the second fork plate, thereby better exerting the pushing and clamping effect and improving the stability and reliability of the goods carrying.

[0032] In some embodiments, optionally, the fork assembly further comprises: a second gear rack arranged on the fixed fork plate and away from the base plate; a second gear arranged on the first fork plate and engaged with the second gear rack, the second gear rack being capable of driving the second gear to rotate when the first fork plate slides; a third gear arranged on the first fork plate coaxially with the second gear and capable of rotating with the second gear; and a third gear rack arranged on the second fork plate and engaged with the third gear, the third gear being capable of driving the second fork plate to slide in the first direction through the cooperation of the third gear and the third gear rack when the third gear rotates.

[0033] In some embodiments, in order to realize the sliding extension and retraction of the multi-stage fork plates, a second gear rack, a second gear, a third gear rack and a third gear can also be arranged to realize the extension and retraction sliding through the cooperation of the gear and the rack. Specifically, the second gear rack can be arranged on the fixed fork plate and away from the side of the base plate. The second gear is arranged on the first fork plate and engaged with the second gear rack, so that when the first fork plate slides, the second gear rack can drive the second gear to rotate. The third gear is arranged on the first fork plate coaxially with the second gear and capable of rotating with the second gear. The third gear rack is arranged on the second fork plate and capable of engaging with the third gear, and the third gear is capable of driving the second fork plate to slide in the first direction through the cooperation of the third gear and the third gear rack when the third gear rotates. The present application realizes the extension and retraction sliding of the multi-stage fork plates through the cooperation of the multiple gears and racks, so that the fork assembly can adapt to more sizes of goods.

[0034] In some embodiments, optionally, the connecting member is a connecting rod, and the at least two fingers are at a preset angle in the circumferential direction of the connecting rod.

[0035] In some embodiments, the connecting member can be arranged as a connecting rod, and the at least two fingers can be arranged at a preset angle in the circumferential direction of the connecting rod. It can be understood that arranging the at least two fingers at a preset angle can avoid mutual influence of the at least two fingers during rotation, thereby improving the reliability of the rotation of the fingers. For example, when two fingers rotate in the same direction, if the two fingers are arranged at an angle of 180°, the two fingers will not be able to rotate. Conversely, when the two fingers rotate in opposite directions, they can rotate.

[0036] In some embodiments, the fork assembly further comprises a driving mechanism arranged on the fork plate assembly and connected with the connecting member, for driving the connecting member to act.

[0037] In some embodiments, the driving mechanism can be arranged to drive the connecting member to act, ensuring that the movement position and timing of the connecting member and the fingers are accurate, thereby improving the precision and accuracy of cargo handling.

[0038] In some embodiments, the fork plate assembly can be two, and the two fork plate assemblies are symmetrically arranged on the chassis.

[0039] In some embodiments, the fork plate assembly can be two, and the two fork plate assemblies are symmetrically arranged on the chassis. This arrangement ensures the balance and stability of the fork assembly during cargo handling, reduces the risk of cargo tilting or falling, and evenly distributes the stress on the chassis, thereby prolonging the service life. In addition, it enhances the adaptability to various cargo shapes and sizes, especially for wider or irregular cargo, providing more comprehensive support and clamping. Furthermore, it improves the flexibility of operation, allowing adjustment of the relative position and action of the fork plate assembly according to the cargo situation.

[0040] In some embodiments, the connecting member can be two, and the two connecting members are arranged on the two fork plate assemblies, respectively.

[0041] In some embodiments, the connecting member can be two, and the two connecting members are arranged on the two fork plate assemblies, respectively. This arrangement enhances the gripping and handling capacity of the fork assembly. The two connecting members can act simultaneously to more stably clamp the cargo from both sides, especially for larger or heavier cargo, providing stronger and balanced clamping force to ensure that the cargo does not shift or fall during handling. At the same time, it improves the operational flexibility and adaptability of the fork assembly. The two connecting members can be independently controlled or work cooperatively, flexibly adjusting the clamping position according to the shape, size and weight distribution of the cargo, better adapting to the handling needs of different types of cargo.

[0042] The second aspect of the present application proposes an autonomous mobile device, comprising a fork assembly as in any one of the first aspect.

[0043] The autonomous mobile device provided in the present application comprises the fork assembly in any one of the first aspect. Therefore, the autonomous mobile device provided in the present application also has all the beneficial effects of the fork assembly in any one of the first aspect, which will not be repeated here.

[0044] In some embodiments, optionally, the autonomous mobile device comprises an Autonomous Mobile Robot (AMR) and an Automated Guided Vehicle (AGV).

[0045] The third aspect of the present application provides a picking system, comprising: the fork assembly in any one of the first aspect; and / or the autonomous mobile device in any one of the second aspect.

[0046] The picking system provided in the present application comprises the fork assembly in any one of the first aspect; and / or the autonomous mobile device in any one of the second aspect. Therefore, the picking system provided in the present application also has all the beneficial effects of the fork assembly in any one of the first aspect, and / or the autonomous mobile device in any one of the second aspect, which will not be repeated here.

[0047] The additional aspects and advantages of the present application will become apparent in the following description, or can be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

[0049] Figure 1 Fig. 1 shows a structural schematic diagram of a fork assembly of one embodiment of the present application;

[0050] Figure 2 Fig. 2 shows a structural schematic diagram of a fork assembly of one embodiment of the present application;

[0051] Figure 3 Fig. 3 shows a structural schematic diagram of a fork assembly of one embodiment of the present application;

[0052] Figure 4 Fig. 4 shows a structural schematic diagram of a fork assembly of one embodiment of the present application;

[0053] Figure 5The structure schematic view of the fork assembly of one embodiment of the utility model is shown;

[0054] Figure 6 The structure schematic view of the fork plate assembly of one embodiment of the utility model is shown;

[0055] Figure 7 The explosion view of the fork plate assembly of one embodiment of the utility model is shown;

[0056] Figure 8 The explosion view of the fork plate assembly of one embodiment of the utility model is shown;

[0057] Figure 9 The explosion view of the fork plate assembly of one embodiment of the utility model is shown;

[0058] Figure 10 The structure schematic view of the fork plate assembly of one embodiment of the utility model is shown;

[0059] Figure 11 The explosion view of the fork plate assembly of one embodiment of the utility model is shown;

[0060] Figure 12 The partial structure schematic view of the fork assembly of one embodiment of the utility model is shown;

[0061] Figure 13 The structure schematic view of the finger pushing mechanism of one embodiment of the utility model is shown;

[0062] Figure 14 The structure schematic view of the driving mechanism of one embodiment of the utility model is shown;

[0063] Figure 15 The partial structure schematic view of the finger pushing mechanism of one embodiment of the utility model is shown.

[0064] Wherein, Figures 1 to 15 The correspondence between the reference signs and the component names in the accompanying drawings is as follows:

[0065] 1 bottom plate, 2 fork plate assembly, 20 fixed fork plate, 200 first gear, 202 second rack, 204 limiting block, 22 movable fork plate, 220 first fork plate, 2200 second gear, 2202 third gear, 2204 gear shaft, 2206 first bearing seat, 2208 first rack, 222 second fork plate, 2220 third rack, 3 finger pushing mechanism, 30 connecting piece, 300 matching part, 302 connecting rod, 32 finger, 34 screw rod, 36 second bearing seat, 4 driving assembly, 40 shaft coupling, 41 motor, 42 driving shaft, 44 third bearing seat, 46 chain wheel, 48 chain, 5 driving mechanism, 6 slide rail, 7 sliding block, 8 cargo plate. DETAILED DESCRIPTION

[0066] In order to more clearly understand the above objectives, features and advantages of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0067] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0068] The following refers to Figures 1 to 15 The fork assembly, autonomous mobile device and picking system according to some embodiments of the present application are described.

[0069] According to one embodiment of the first aspect of the present application, as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , the first aspect of the present application proposes a fork assembly, comprising a chassis 1, a fork plate assembly 2 and a finger mechanism 3. The fork plate assembly 2 is arranged on the chassis 1, and the fork plate assembly 2 can move relative to the chassis 1 along a first direction (such as the direction indicated by H in Figure 4 The finger mechanism 3 is arranged on the fork plate assembly 2, and the finger mechanism 3 comprises a connecting piece 30 and at least two fingers 32. The connecting piece 30 is movably arranged on the fork plate assembly 2 and can act relative to the fork plate assembly 2. The connecting piece 30 is arranged along the first direction, and the at least two fingers 32 are arranged at both ends of the connecting piece 30 along the first direction, respectively. The connecting piece 30 can drive the at least two fingers 32 to act between a first position and a second position when the connecting piece 30 acts. When the finger 32 is at the first position, the finger mechanism 3 can move with the fork plate assembly 2 to push the goods.

[0070] The utility model provides a fork assembly, including chassis 1, fork plate subassembly 2 and finger mechanism 3. Fork plate subassembly 2 sets up on chassis 1, and can move along the first direction relative to chassis 1, by setting up fork plate subassembly 2 on chassis 1 and can move along the first direction relative to chassis 1, the preliminary positioning and push of goods are realized. Finger mechanism 3 sets up on fork plate subassembly 2, including connecting piece 30 and at least two fingers 32, at least two fingers 32 are set up respectively in the both ends of connecting piece 30 along the first direction, so that when finger mechanism 3 follows fork plate subassembly 2 and moves along the first direction, can utilize finger mechanism 3 to push goods, make goods be pushed to chassis 1, complete the carrying of goods. Finger 32 can act in the first position and the second position, when needing to push goods, finger 32 is located at the first position, effectively pushes goods by contact, ensures that goods are accurately and powerfully pushed to chassis 1. When not needing to push goods, finger 32 switches to the second position, avoids the interference with goods, reduces unnecessary collision and abrasion. The present application moves goods by finger 32, so that fork assembly can flexibly cope with goods of different shapes and specifications, especially for irregularly shaped goods, finger 32 can better adapt to the profile of goods, improve the stability and accuracy of grabbing.

[0071] Meanwhile, since the present application can realize the action of two fingers 32 between the first position and the second position by a connecting piece 30, compared with the scheme of controlling each finger 32 by an independent electric cylinder, the present application not only has a simple structure, but also can save manufacturing cost and later maintenance cost.

[0072] In some embodiments, optionally, at least two fingers 32 are respectively arranged near both ends of fork plate subassembly 2 along the first direction.

[0073] In these embodiments, the connecting piece 30 can be arranged relatively long in the first direction, and preferably the length in the first direction is similar to the length of the fork plate subassembly 2 in the first direction, so that when the fingers 32 are arranged at both ends of the connecting piece 30, the fingers 32 can be located at the opposite ends of the fork plate subassembly 2 in the first direction, so that the fork assembly can realize two-direction goods carrying when carrying goods. Here, the goods carrying includes picking up goods and putting down goods, for example, when the first direction is the left-right direction, when the left station needs to pick up goods, at this time, the fork plate subassembly 2 is extended, thereby driving the connecting rod 302 of the finger mechanism 3 to move, at this time, the left finger 32 is arranged at the second position to avoid interference with the goods. When the fork plate subassembly 2 reaches the picking-up position, the left finger 32 is adjusted to the first position, and then the fork plate subassembly 2 is retracted, so that the goods can be pulled back by the left finger 32 to complete the picking up. Similarly, when goods need to be put down, and when the right station needs to pick up and put down goods, only the extension direction of the fork plate subassembly 2 and the position of the finger 32 need to be adjusted.

[0074] In some embodiments, optionally, the fork plate assembly 2 is slidingly arranged on the chassis 1; and / or the fork plate assembly 2 is a telescopic structure.

[0075] In these embodiments, the fork plate assembly 2 can be slidingly arranged on the chassis 1, so that it can slide relative to the chassis 1. When it is necessary to take or put goods, it is only necessary to slide the fork plate assembly 2. The sliding arrangement can more smoothly and flexibly slide on the chassis 1, so that it can more accurately align the goods for carrying operation. And / or the fork plate assembly 2 is a telescopic structure, which further enhances the function of the fork assembly. The telescopic feature enables it to adapt to different sizes and shapes of goods, and it can achieve good grabbing and carrying for larger or smaller goods. When facing a warehouse environment with limited space, the retracted fork plate assembly 2 can more conveniently enter and operate. Moreover, this telescopic structure can also be flexibly adjusted according to the weight and distribution of the goods, to ensure the stability and safety during the carrying process.

[0076] In some embodiments, optionally, the connecting piece 30 is slidingly arranged on the fork plate assembly 2 and can slide in the first direction. When the connecting piece 30 slides, it can drive the push fingers 32 to rotate between the first position and the second position.

[0077] In these embodiments, the sliding of the connecting piece 30 can drive the push fingers 32 to rotate between the first position and the second position. Specifically, the principle of screw rod 34 and screw can be used to convert linear motion into rotation, so that the connecting piece 30 drives the push fingers 32 to rotate. This arrangement can realize the rotation of the two push fingers 32 through one connecting piece 30, thereby reducing the arrangement of the driving member and reducing the overall cost.

[0078] The rotation directions of the two push fingers 32 can be set according to the screw direction of the screw rod 34. The two push fingers 32 can be arranged to rotate in the same direction or in opposite directions.

[0079] In some embodiments, optionally, the connecting piece 30 is rotationally connected with the fork plate assembly 2. When the connecting piece 30 rotates, it can drive the push fingers 32 to rotate between the first position and the second position.

[0080] In these embodiments, the connecting piece 30 can also be rotationally connected with the fork plate assembly 2. When at least two push fingers 32 are arranged at both ends of the fork plate assembly 2, the rotation of the connecting piece 30 can drive the push fingers 32 to rotate. This arrangement has a relatively stable structure, reduces the probability of failure, and reduces maintenance costs.

[0081] In some embodiments, optionally, the fork assembly further comprises a limiting block 204 arranged on the fixed fork plate 20 and corresponding to the connecting piece 30, for limiting the movement or rotation of the connecting piece 30 to limit the rotation of the finger poking mechanism 3.

[0082] In some embodiments, optionally, as shown in Figure 4 、 Figure 13 and Figure 15 , the finger poking mechanism 3 further comprises: at least two lead screws 34 arranged on the fork plate assembly 2 and close to both ends of the connecting piece 30 in the first direction; the both ends of the connecting piece 30 in the first direction are provided with a matching part 300 capable of cooperating with the lead screw 34, and the sliding of the connecting piece 30 in the first direction can drive the at least two lead screws 34 to rotate in the same or different directions; at least two finger poking pieces 32 are respectively installed on the at least two lead screws 34, and the rotation of the lead screw 34 can drive the at least two finger poking pieces 32 to act between the first position and the second position.

[0083] In these embodiments, the at least two lead screws 34 can be arranged on the fork plate assembly 2 and close to both ends of the connecting piece 30 in the first direction. The both ends of the connecting piece 30 in the first direction are provided with a matching part 300 capable of cooperating with the lead screw 34. Thus, when the connecting piece 30 slides in the first direction, it can drive the at least two lead screws 34 to rotate in the same or different directions. When the at least two finger poking pieces 32 are respectively installed on the at least two lead screws 34, the rotation of the lead screw 34 can drive the at least two finger poking pieces 32 to act between the first position and the second position. This kind of mechanism makes the power transmission more efficient and accurate, and can accurately control the rotation direction and speed of the lead screw 34 according to the sliding action of the connecting piece 30. At the same time, the arrangement of the at least two lead screws 34 and their ability to rotate in the same or different directions makes the action of the finger poking piece 32 more flexible and diverse. The position of the finger poking piece 32 can be accurately adjusted according to the specific shape, size and position of the goods to avoid interference, so as to better adapt to various complex goods handling requirements and improve the efficiency and quality of goods handling.

[0084] In some embodiments, optionally, the fork assembly further comprises a driving assembly 4 arranged on the chassis 1 and connected with the fork plate assembly 2 for driving the fork plate assembly 2 to move.

[0085] In these embodiments, the driving assembly 4 can be arranged to drive the fork plate assembly 2 to move. Specifically, the driving assembly 4 can be arranged on the chassis 1 and connected with the fork plate assembly 2. By arranging the driving assembly 4 to drive, a stable and powerful power source is provided to ensure that the fork plate assembly 2 can quickly and accurately respond to operation instructions and achieve efficient goods handling.

[0086] In some embodiments, optionally, the driving assembly 4 comprises at least one of a motor 41, an oil cylinder, and a gas cylinder.

[0087] In some embodiments, optionally, as shown in Figure 4 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 11 , the fork plate assembly 2 comprises: a fixed fork plate 20 arranged on the chassis 1; a movable fork plate 22 slidingly installed on one side of the fixed fork plate 20 and capable of sliding along a first direction relative to the fixed fork plate 20; and a connecting piece 30 arranged on the movable fork plate 22 along the first direction.

[0088] In these embodiments, the fixed fork plate 20 can be arranged on the chassis 1, the movable fork plate 22 is slidingly installed on one side of the fixed fork plate 20 and capable of sliding along the first direction, and the connecting piece 30 is arranged on the movable fork plate 22 along the first direction. This arrangement provides stable basic support through the fixed fork plate 20, ensuring the overall stability of the fork during operation. The sliding design of the movable fork plate 22 relative to the fixed fork plate 20 increases the adjustability and flexibility of the fork, allowing it to adapt to goods of different sizes and positions, improving the accuracy and adaptability of goods grabbing. At the same time, the connecting piece 30 is arranged on the movable fork plate 22, so that the connecting piece 30 can change position along with the sliding of the movable fork plate 22, thereby more effectively driving the prongs 32 to perform the goods carrying operation, further improving the working efficiency and precision of the fork assembly.

[0089] In some embodiments, optionally, the fork assembly further comprises: a first gear 200 arranged on the fixed fork plate 20 and close to the chassis 1, connected with the driving assembly 4, and the driving assembly 4 can drive the first gear 200 to rotate; and a first rack 2208 arranged on the movable fork plate 22 and engaged with the first gear 200, so that when the first gear 200 rotates, the movable fork plate 22 can be driven to slide along the first direction through the cooperation of the first gear 200 and the first rack 2208.

[0090] In the embodiments, in order to facilitate the sliding of the movable fork plate 22, the gear and rack mode can be used for driving, specifically, the first gear 200 can be arranged on the fixed fork plate, the first rack 2208 can be arranged on the movable fork plate 22, and the first gear 200 is matched with the first rack 2208, so that when the first gear 200 rotates, the rack can be driven to move, thereby driving the movable fork plate 22 to slide in the first direction. The driving of the first gear 200 can be connected with the driving assembly 4, and the first gear 200 is driven to rotate by the driving assembly 4. The driving mode of the gear and rack of the present application not only has simple and stable structure, but also can realize high-precision movement, so that the fork assembly can adapt to different sizes of goods. At the same time, the first gear 200 is arranged close to the chassis 1, which is conducive to the connection of the first gear 200 with the driving assembly 4 on the chassis 1.

[0091] In some embodiments, optionally, the movable fork plate 22 comprises: a first fork plate 220 slidably mounted on one side of the fixed fork plate 20 and capable of sliding in the first direction relative to the fixed fork plate 20, and the first rack 2208 is arranged on the first fork plate 220; a second fork plate 222 slidably mounted on the side of the first fork plate 220 away from the fixed fork plate 20 and capable of sliding in the first direction relative to the first fork plate 220; and the connecting piece 30 is arranged on the second fork plate 222 in the first direction.

[0092] In the embodiments, in order to further adapt to more different sizes and shapes of goods and improve the versatility of the fork, the movable fork plate 22 can be arranged in multiple stages, for example, in the form of the first fork plate 220 plus the second fork plate 222. Specifically, the first fork plate 220 is slidably mounted on one side of the fixed fork plate 20 and is driven by the first gear 200 to move the first rack 2208, thereby enabling the first fork plate 220 to slide in the first direction relative to the fixed fork plate 20. The second fork plate 222 is slidably mounted on the side of the first fork plate 220 away from the fixed fork plate 20, so that it can slide in the first direction relative to the first fork plate 220, and the connecting piece 30 is arranged on the second fork plate 222 in the first direction, so that the connecting piece 30 can be more deeply contacted with the goods by the sliding of the second fork plate 222, thereby better exerting the pushing and clamping effect and improving the stability and reliability of the goods carrying.

[0093] In some embodiments, optionally, as Figure 1 , Figure 11 and Figure 12As shown, the fork assembly further comprises: a second rack 202 arranged on the fixed fork plate 20 and away from the chassis 1; a second gear 2200 arranged on the first fork plate 220 and engaged with the second rack 202, so that when the first fork plate 220 slides, the second rack 202 can drive the second gear 2200 to rotate; a third gear 2202 arranged on the first fork plate 220 and coaxially arranged with the second gear 2200, so as to rotate with the second gear 2200; and a third rack 2220 arranged on the second fork plate 222 and engaged with the third gear 2202, so that when the third gear 2202 rotates, the second fork plate 222 can be driven to slide in the first direction through the cooperation of the third gear 2202 and the third rack 2220.

[0094] In these embodiments, in order to realize the sliding expansion of the multi-stage fork plates, a second rack 202, a second gear 2200, a third rack 2220 and a third gear 2202 can be arranged to realize the expansion sliding through the cooperation of the gears and the racks. Specifically, the second rack 202 can be arranged on the fixed fork plate 20 and away from the side of the chassis 1. The second gear 2200 is arranged on the first fork plate 220 and engaged with the second rack 202, so that when the first fork plate 220 slides, the second rack 202 can drive the second gear 2200 to rotate. The third gear 2202 is arranged on the first fork plate 220 and coaxially arranged with the second gear 2200, so as to rotate with the second gear 2200. The third rack 2220 is arranged on the second fork plate 222 and can be engaged with the third gear 2202, so that when the third gear 2202 rotates, the second fork plate 222 can be driven to slide in the first direction through the cooperation of the third gear 2202 and the third rack 2220. The present application realizes the expansion sliding of the multi-stage fork plates through the cooperation of the gears and the racks, so that the fork assembly can adapt to more sizes of goods.

[0095] In some embodiments, optionally, the connecting member 30 is a connecting rod 302, and at least two of the fingers 32 are arranged at a preset angle along the circumferential direction of the connecting rod 302 (i.e. the direction indicated by arrow G in FIG. 6). Figure 2

[0096] In these embodiments, the connecting member 30 can be arranged as a connecting rod, and at least two of the fingers 32 can be arranged at a preset angle along the circumferential direction of the connecting rod 302. It can be understood that arranging at least two of the fingers 32 at a preset angle can avoid mutual influence of the at least two fingers 32 when rotating, thereby improving the reliability of the rotation of the fingers 32. For example, when two of the fingers 32 rotate in the same direction, if the two fingers 32 are arranged at 180°, the two fingers 32 will not be able to rotate. Conversely, when the two fingers 32 rotate in opposite directions, they can rotate.

[0097] ​In some embodiments, optionally, the at least two prongs 32 are arranged at 90° along the circumferential direction of the connecting rod 302.

[0098] In some embodiments, optionally, the at least two prongs 32 are arranged at 90° along the circumferential direction of the connecting rod 302.

[0099] In some embodiments, optionally, as shown in FIGS. 1-2, the fork assembly further comprises a driving mechanism 5 arranged on the fork plate assembly 2 and connected with the connecting member 30, for driving the connecting member 30 to act. Figure 4 Figure 14 In some embodiments, optionally, the driving mechanism 5 can be a linear push rod.

[0100] In some embodiments, optionally, the fork plate assembly 2 is two, and the two fork plate assemblies 2 are symmetrically arranged on the chassis 1.

[0101] In some embodiments, optionally, the fork plate assembly 2 is two, and the two fork plate assemblies 2 are symmetrically arranged on the chassis 1.

[0102] In some embodiments, optionally, the fork plate assembly 2 is two, and the two fork plate assemblies 2 are symmetrically arranged on the chassis 1.

[0103] In some embodiments, optionally, the fork plate assembly 2 is two, and the two fork plate assemblies 2 are symmetrically arranged on the chassis 1.

[0104] In some embodiments, optionally, the connecting member 30 is two, and the two connecting members 30 are arranged on the two fork plate assemblies 2 respectively.

[0105] In some embodiments, optionally, the connecting member 30 is two, and the two connecting members 30 are arranged on the two fork plate assemblies 2 respectively.In some embodiments, optionally, the connecting member 30 is two, and the two connecting members 30 are arranged on the two fork plate assemblies 2 respectively.

[0106] In some embodiments, optionally, the fork assembly further comprises a driving shaft 42, the driving shaft 42 sequentially passes through the two symmetrically arranged fork plate assemblies 2, and then the first gear 200 corresponding to each fork assembly is installed on the driving shaft 42, so that the driving of the two fork plate assemblies 2 can be realized by connecting one driving assembly 4 with one first gear 200, thereby saving the cost of setting the driving assembly 4.

[0107] In some embodiments, optionally, in order to facilitate the placement of goods, a loading plate 8 can also be arranged on the chassis 1, so that the loading plate 8 can be used to carry goods, and the chassis 1 does not need to directly carry goods, thereby avoiding the interference between the goods and the parts arranged on the chassis 1.

[0108] It can be understood that the first gear 200, the second gear 2200 and the third gear 2202 mentioned in the application can be one or more, which can be set according to actual conditions.

[0109] According to one embodiment of the first aspect of the application, a fork assembly is provided, mainly comprising: a telescopic mechanism (fork plate assembly 2), a driving assembly 4 and a finger mechanism 3.

[0110] The telescopic mechanism includes a bottom fork, a middle fork and an upper fork. The bottom fork includes a bottom fork plate (fixed fork plate 20), a sliding rail 6, a rack (second rack 202) and a driving gear (first gear 200). The middle fork includes a middle fork plate (first fork plate 220), a gear shaft 2204, a transition gear (second gear 2200 and third gear 2202), a bearing seat (first bearing seat 2206), a rack (first rack 2208), a sliding block 7 and a sliding rail 6. The upper fork includes an upper fork plate (second fork plate 222), a rack (third rack 2220), a straight-line push rod (driving mechanism 5), a finger mechanism 3 and a sliding block 7.

[0111] The sliding rail 6 on the bottom fork plate can slide with the sliding block 7 on the middle fork plate, so that the middle fork can slide relative to the bottom fork. The sliding rail 6 arranged on the middle fork plate can slide with the sliding block 7 on the upper fork plate, so that the upper fork can slide relative to the middle fork. Specifically, the middle fork plate is provided with a rack (first rack 2208) at the bottom, which can cooperate with the driving gear (first gear 200). When the driving gear rotates, the rack (first rack 2208) is driven to extend and retract, and the middle fork is driven to slide.

[0112] The rack (second rack 202) arranged above the bottom fork plate can engage with the transition gear (second gear 2200) on the middle fork plate.

[0113] Further, two sets of transition gears (second gear 2200 and third gear 2202) are arranged above the middle fork plate and fixed on the middle fork plate through gear shaft 2204 and bearing seat (first bearing seat 2206). One of the transition gears (second gear 2200) is engaged with the rack (second rack 202) on the bottom fork plate. Further, the driving gear (first gear 200) on the bottom fork plate rotates, driving the rack (first rack 2208) on the middle fork plate to move, thereby driving the entire middle fork to slide relative to the bottom fork, and further driving the two sets of transition gears to rotate.

[0114] The finger pushing mechanism 3 is fixed on the upper fork plate, and the upper fork plate is fixed with a sliding block 7, so that the upper fork plate can slide along the slide rail 6 relative to the middle fork.

[0115] Further, the rack (third rack 2220) is fixed on the upper fork plate and engaged with the transition gear (third gear 2202) on the middle fork plate. When the transition gear (second gear 2200) rotates, it drives the rack (third rack 2220) to move forward, thereby driving the entire upper fork to move relative to the middle fork.

[0116] Further, the linear push rod is embedded in the upper fork plate, connected to the finger pushing mechanism 3 through connecting rod 302, and limited in rotation by limiting block 204.

[0117] The finger pushing mechanism 3 includes connecting rod 302, finger 32, left-handed screw rod (screw rod 34), right-handed screw rod (screw rod 34), and bearing seat (second bearing seat 36). The connecting rod 302 is connected to the left-handed screw rod and the right-handed screw rod at both ends respectively. The connecting rod 302 is connected to the linear push rod on the upper fork plate at the middle part, and the linear push rod drives the connecting rod 302 to move, which can drive the screw rod 34 to rotate, thereby driving the finger 32 to rotate. Further, the screw rod 34 is fixed on the upper fork plate through the bearing seat. The finger 32 is connected to the screw rod 34, and because the two sets of screw rods 34 rotate in opposite directions, pushing the connecting rod 302 to move drives one screw rod 34 to rotate left and the other screw rod 34 to rotate right, thereby driving the finger 32 to rotate. That is, the left and right fingers 32 realize linkage, and when the right finger is lowered, the left finger is raised, and when the left finger is lowered, the right finger is raised, that is, the two fingers are always perpendicular to each other.

[0118] The driving assembly 4 comprises a reduction motor 41, a shaft coupling 40, a driving shaft 42, a bearing seat (a third bearing seat 44), a sprocket 46, a chain 48 and a base plate. Further, a clamping fork device (fork assembly) comprises two sets of symmetrical extension mechanisms and a finger mechanism 3. The two sets of extension mechanisms and the reduction motor 41 are installed on the base plate, and the base plate is provided with a hole and fixed with a bearing seat, so that the driving shaft 42 passes through the bearing seat, the base plate, the driving gear, the driving gear, the base plate in turn, and is finally fixed on the bearing seat. Further, the reduction motor 41 is connected to one end of the driving shaft 42 through the shaft coupling 40, the motor 41 drives the driving shaft 42 to rotate, and then drives the driving gear to rotate, and the other end of the driving shaft 42 is provided with a sprocket 46, which drives the other set of sprocket 46, the driving shaft 42 and the driving gear on the base plate to rotate through the chain 48, so as to ensure the continuous movement of the base plate.

[0119] The application will be further described in detail below in combination with specific embodiments and drawings.

[0120] The application can realize left and right double-station picking and placing. When the left station needs to pick goods, the linear push rod is extended, thereby driving the connecting rod on the finger mechanism to move, thereby driving the left and right fingers to rotate, at this time the left finger is lifted and the right finger is lowered. Further, the driving motor rotates counterclockwise, driving the left and right groups of driving gears to rotate counterclockwise, since the base plate is fixed, thereby driving the middle fork rack to move left, thereby driving the middle fork to move left, thereby driving the two transition gears to rotate, further driving the upper fork rack to move forward, thereby making the upper fork slide relative to the middle fork. When the upper fork reaches the picking position, the linear push rod is retracted, thereby driving the left finger to lower and the right finger to lift, and the driving motor is reversed, so as to pull back the goods, that is, the picking is completed. When the left station places goods, the above working process remains unchanged, only the linear push rod is not retracted.

[0121] When the right station needs to pick goods, the linear push rod is retracted, thereby driving the connecting rod on the finger mechanism to move, thereby driving the left and right fingers to rotate, at this time the left finger is lowered and the right finger is lifted. Further, the driving motor rotates clockwise, driving the left and right groups of driving gears to rotate clockwise, since the base plate is fixed, thereby driving the middle fork rack to move right, thereby driving the middle fork to move right, thereby driving the two transition gears to rotate, further driving the upper fork rack to move right, thereby making the upper fork slide relative to the middle fork. When the upper fork reaches the picking position, the linear push rod is extended, thereby driving the left finger to lift and the right finger to lower, and the driving motor is reversed, so as to pull back the goods, that is, the picking is completed. When the right station places goods, the above working process remains unchanged, only the linear push rod is not extended.

[0122] The beneficial effects of the present application include: a simple clamping fork device (fork assembly) is proposed, which adopts common components and has simple structure and extremely low manufacturing and maintenance cost.

[0123] The second aspect of the present application provides an autonomous mobile device, comprising the fork assembly in any one of the embodiments of the first aspect.

[0124] The autonomous mobile device provided by the present application comprises the fork assembly in any one of the embodiments of the first aspect. Therefore, the autonomous mobile device provided by the present application also has all the beneficial effects of the fork assembly in any one of the embodiments of the first aspect, which will not be repeated here.

[0125] In some embodiments, optionally, the autonomous mobile device comprises an autonomous mobile robot (AMR) and an automated guided vehicle (AGV).

[0126] The third aspect of the present application provides a picking system, comprising: the fork assembly in any one of the embodiments of the first aspect; and / or the autonomous mobile device in any one of the embodiments of the second aspect.

[0127] The picking system provided by the present application comprises the fork assembly in any one of the embodiments of the first aspect; and / or the autonomous mobile device in any one of the embodiments of the second aspect. Since the picking system provided by the present application comprises the fork assembly in any one of the embodiments of the first aspect; and / or the autonomous mobile device in any one of the embodiments of the second aspect. Therefore, the picking system provided by the present application also has all the beneficial effects of the fork assembly in any one of the embodiments of the first aspect, and / or the autonomous mobile device in any one of the embodiments of the second aspect, which will not be repeated here.

[0128] In the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, "connecting" can be fixed connection, or detachable connection, or integrally connected; "connecting" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0129] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "a specific embodiment", and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0130] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fork assembly, characterized in that, include: Chassis; A fork plate assembly is disposed on the chassis, and the fork plate assembly is movable relative to the chassis in a first direction; A shift mechanism is provided on the fork plate assembly. The shift mechanism includes a connector and at least two shift fingers. The connector is movably disposed on the fork plate assembly and is capable of moving relative to the fork plate assembly. The connector is arranged along the first direction, and at least two of the shift fingers are respectively arranged at both ends of the connector along the first direction. When the connector is activated, it can drive at least two of the shift fingers to move between a first position and a second position. When the shift fingers are in the first position, the shift finger mechanism can follow the movement of the fork assembly to push the goods.

2. The fork assembly according to claim 1, characterized in that, The fork assembly is slidably disposed on the chassis; and / or The fork assembly is a retractable structure.

3. The fork assembly according to claim 1, characterized in that, The connector is slidably disposed on the fork plate assembly and can slide along the first direction. When the connector slides, it can drive the shift finger to rotate between the first position and the second position; or The connector is rotatably connected to the fork plate assembly, and when the connector rotates, it can drive the shift finger to rotate between the first position and the second position.

4. The fork assembly according to claim 1, characterized in that, The finger-shifting mechanism also includes: At least two lead screws are disposed on the fork plate assembly and near the two ends of the connector in the first direction; The connector has mating parts at both ends in the first direction, and the mating parts can cooperate with the lead screw. The connector can drive at least two lead screws to rotate in the same or different directions by sliding along the first direction. At least two of the aforementioned fingers are respectively mounted on at least two of the aforementioned lead screws, and when the lead screws rotate, they can drive at least two of the aforementioned fingers to move between the first position and the second position.

5. The fork assembly according to claim 1, characterized in that, Also includes: A drive assembly is disposed on the chassis and connected to the fork assembly, used to drive the fork assembly to move.

6. The fork assembly according to claim 5, characterized in that, The fork plate assembly includes: A fixed fork plate is mounted on the chassis. The movable fork plate is slidably mounted on one side of the fixed fork plate and can slide relative to the fixed fork plate along the first direction; The connector is disposed on the movable fork plate along the first direction.

7. The fork assembly according to claim 6, characterized in that, Also includes: A first gear is disposed on the fixed fork plate and close to the chassis, and is connected to the drive assembly, which can drive the first gear to rotate. A first rack is disposed on the movable fork plate and meshes with the first gear. When the first gear rotates, the movable fork plate can be driven to slide along the first direction through the cooperation between the first gear and the first rack.

8. The fork assembly according to claim 7, characterized in that, The movable fork plate includes: The first fork plate is slidably mounted on one side of the fixed fork plate and can slide relative to the fixed fork plate in the first direction; the first rack is disposed on the first fork plate. The second fork plate is slidably mounted on the side of the first fork plate away from the fixed fork plate, and can slide relative to the first fork plate along the first direction; The connector is disposed on the second fork plate along the first direction.

9. The fork assembly according to claim 8, characterized in that, Also includes: The second rack is disposed on the fixed fork plate and is located away from the chassis; The second gear is disposed on the first fork plate and meshes with the second rack. When the first fork plate slides, the second rack can drive the second gear to rotate. The third gear is disposed on the first fork plate and is coaxially arranged with the second gear, and can rotate following the second gear; The third rack is disposed on the second fork plate and meshes with the third gear. When the third gear rotates, the second fork plate can be driven to slide along the first direction through the cooperation between the third gear and the third rack.

10. The fork assembly according to any one of claims 1 to 9, characterized in that, The connector is a link, and at least two of the levers are at a preset angle along the circumferential direction of the link.

11. The fork assembly according to any one of claims 1 to 9, characterized in that, Also includes: A drive mechanism is disposed on the fork plate assembly and connected to the connector, for driving the connector to move.

12. The fork assembly according to any one of claims 1 to 9, characterized in that, There are two fork plate assemblies, which are symmetrically arranged on the chassis.

13. The fork assembly according to claim 12, characterized in that, There are two connectors, and the two connectors are respectively disposed on the two fork plate assemblies.

14. An autonomous mobile device, characterized in that, include: The fork assembly as described in any one of claims 1 to 13.

15. The autonomous mobile device according to claim 14, characterized in that, The autonomous mobile device includes an autonomous mobile robot and an automated guided vehicle.

16. A picking system, characterized in that, include: Forklift assembly as described in any one of claims 1 to 13; and / or The autonomous mobile device as described in claim 14 or 15.

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