Fork, warehouse robot and warehouse system

Abstract

The application relates to the technical field of logistics storage, and discloses a fork, a storage robot and a storage system. The fork comprises a bearing assembly, a sliding channel is arranged on the bearing assembly, a driving assembly is arranged on the bearing assembly, a goods taking and placing assembly is movably arranged on the bearing assembly, a one-way bending chain is at least partially arranged in the sliding channel, the one-way bending chain is connected with the driving assembly, and the one-way bending chain slides along the sliding channel and is flexibly bent and contracted or rigidly stretched under the driving of the driving assembly; one end of the one-way bending chain extending out of the sliding channel is connected with the goods taking and placing assembly at a first point; a reinforcing piece is used for connecting the goods taking and placing assembly and the one-way bending chain, the reinforcing piece is connected with the goods taking and placing assembly at a second point, and the reinforcing piece is connected with the one-way bending chain at a third point; and the line connecting the first point, the second point and the third point forms a triangle. Through the above mode, the application can better inhibit the forward inclination of the goods taking and placing assembly, and guarantee the stability of the whole fork and the reliability of the goods taking and placing operation.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing technology, specifically to a forklift, a warehousing robot, and a warehousing system. Background Technology

[0002] Forks are the main component of a warehousing system for robots to automatically pick up and place boxes. In order to improve the space utilization of the warehouse, the aisles between the shelves for the robot to move around should be as narrow as possible. Correspondingly, the length of the forks needs to be designed to be as short as possible. Moreover, even with a short length, it is also necessary to ensure that the picking and placing components on the forks have sufficient travel to enable the normal picking and placing of boxes.

[0003] Based on this, many forks choose to use a one-way bending chain as the transmission component. The rigid extension of the one-way bending chain drives the picking and placing components, while the flexible bending and contraction of the one-way bending chain allows the picking and placing components to have a long travel distance without causing the forks to be too long.

[0004] In practice, it was found that when the unidirectional bending chain extends and pushes the picking and placing component to move, the picking and placing component tends to move forward due to inertia when the unidirectional bending chain stops. This causes the picking and placing component to tilt forward, which in turn affects the overall stability of the forks and the reliability of the picking and placing operation. Utility Model Content

[0005] In view of the above problems, the embodiments of this application provide a fork, a storage robot and a storage system, which can effectively suppress the forward tilting of the picking and placing components, and ensure the overall stability of the fork and the reliability of picking and placing operations.

[0006] According to a first aspect of the present application, a forklift is provided, comprising: a carrying component having a slide rail; a drive component disposed on the carrying component; a pick-and-place component movably disposed on the carrying component, the pick-and-place component being used to dock with a hopper and to pick up or place the hopper by moving relative to the carrying component; a one-way bending chain, at least partially slidably disposed in the slide rail, the one-way bending chain being connected to the drive component to slide along the slide rail and flexibly bend and retract or rigidly extend under the drive of the drive component; one end of the one-way bending chain extending out of the slide rail being connected to the pick-and-place component at a first point, the one-way bending chain being used to drive the pick-and-place component to move during sliding; a reinforcing member for connecting the pick-and-place component and the one-way bending chain, the reinforcing member being connected to the pick-and-place component at a second point, and the reinforcing member being connected to the one-way bending chain at a third point; the lines connecting the first point, the second point, and the third point forming a triangle.

[0007] In one alternative embodiment, the unidirectional bending chain and the loading / unloading assembly are fixed to each other at a first point; the reinforcement is a first elastic element, one end of which is connected to the loading / unloading assembly at a second point, and the other end is connected to the unidirectional bending chain at a third point, and the first elastic element remains in a stretched state.

[0008] In one alternative, the reinforcement is a link, one end of which is connected to the loading / unloading assembly at a second point, and the other end is connected to a unidirectional bending chain at a third point.

[0009] In one alternative embodiment, the loading and unloading assembly includes a main body, a hook, and a drive mechanism; the main body is horizontally movable on a carrying assembly, and the rear side of the main body is connected to a unidirectional bending chain at a first point; the hook is vertically movable on the main body, the vertical direction including a first direction and a second direction in opposite directions; the drive mechanism is disposed on the main body and can abut or separate from the hook; a second elastic element is connected between the hook and the main body, the second elastic element being used to provide elastic force to the hook in the first direction; the drive mechanism is used to abut against the hook and drive the hook to move in the second direction.

[0010] In one alternative embodiment, the driving mechanism includes a driving member, a transmission member, and an abutment member. The driving member is fixed to the main body, and the transmission member is connected between the driving member and the abutment member. The driving member is used to drive the abutment member to move vertically up and down through the transmission member. The abutment member is used to abut against the hook and drive the hook to move in the second direction when moving in the second direction. The abutment member is also used to separate from the hook when moving in the first direction, so that the hook moves in the first direction under the action of the second elastic member.

[0011] In one alternative embodiment, a force-bearing rod protrudes from one side of the hook in the horizontal direction, and a groove is provided on the abutment, with the groove opening aligned with the force-bearing rod in the second direction. When the hook is not connected to the material box, the force-bearing rod is engaged in the groove under the elastic force of the second elastic element. The abutment is used to abut against the force-bearing rod through the bottom of the groove when moving in the second direction, so as to drive the hook to move in the second direction.

[0012] In one alternative embodiment, the transmission component includes a transmission wheel, a tensioning wheel, and a flexible transmission component. The transmission wheel and the tensioning wheel are arranged opposite each other in the vertical direction and are both rotatably connected to the main body. The flexible transmission component is sleeved between the transmission wheel and the tensioning wheel. The output shaft of the drive component is fixedly connected to the transmission wheel to drive the flexible transmission component to move through the transmission wheel. The abutment component is fixed on the flexible transmission component to move up and down with the flexible transmission component.

[0013] In one alternative embodiment, the loading and unloading assembly further includes an anti-tipping head having opposing connecting ends and abutting ends. The connecting ends are rotatably connected to the front side of the main body along a horizontal axis, and the anti-tipping head is located on the side of the hook facing a first direction; the first direction is upward and the second direction is downward. The abutting member is used to push the anti-tipping head when moving towards the first direction, causing the abutting end to rotate upward and forward and protrude, abutting against the material box. When moving towards the second direction, the abutting member is used to separate from the anti-tipping head, causing the abutting end to rotate downward and backward and retract under the action of gravity.

[0014] In one alternative embodiment, a cam is coaxially mounted on one side of the anti-tipping head, the cam being located on the side of the abutment facing the first direction; the abutment is used to abut against the cam when moving in the first direction and to drive the abutment end to rotate forward and protrude through the cam; the abutment is used to separate from the cam when moving in the second direction, so that the abutment end rotates backward and retracts under the action of gravity.

[0015] In one alternative embodiment, the picking and placing component is movable on the carrying component along a first horizontal direction; the carrying component is provided with baffles on both sides along a second horizontal direction, and the picking and placing component abuts against the baffles on both sides along the second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction.

[0016] In one alternative embodiment, the loading and unloading assembly further includes a guide, with a carrier assembly supported at the bottom of the guide, and the guide and carrier assembly moving in coordination.

[0017] In one alternative embodiment, a support member is telescopically provided on the carrier assembly. The support member extends relative to the carrier assembly as the loading / unloading assembly moves forward to support the bottom of the guide member and move in coordination with the guide member.

[0018] In one alternative embodiment, the fork includes at least two unidirectional bending chains and at least two reinforcing members. The at least two unidirectional bending chains extend from one end of the slide and are respectively connected to opposite sides of the pick-and-place assembly. The at least two reinforcing members are connected one-to-one between the at least two unidirectional bending chains and the pick-and-place assembly.

[0019] According to a second aspect of the embodiments of this application, a warehouse robot is provided, including a robot body and forks as described above, wherein the forks are disposed on the robot body.

[0020] According to a third aspect of the embodiments of this application, a warehousing system is provided, including a shelf and the aforementioned warehousing robot, the warehousing robot being used to pick up and place material boxes on the shelf.

[0021] In the fork provided in this application embodiment, the drive component drives the picking and placing component to move through a one-way bending chain to perform picking and placing operations. The one-way bending chain can be flexibly bent and retracted in the slide on the bearing component, which enables the fork to achieve a longer travel distance for the picking and placing component with a shorter length.

[0022] Based on this, considering that during the process of the unidirectional bending chain rigidly extending and driving the picking and placing component to move for picking and placing operations, the picking and placing component is prone to tilting forward when the unidirectional bending chain stops moving, this application further connects the unidirectional bending chain and the picking and placing component with a reinforcing member, and sets the three connection points between the reinforcing member, the picking and placing component and the unidirectional bending chain in a triangle. By utilizing the stability of the triangle, the reinforcing member can provide stable support and restraint for the picking and placing component, thereby suppressing the forward tilting of the picking and placing component due to inertia.

[0023] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0025] Figure 1 This is a schematic diagram showing the forward tilting of the forklift loading / unloading components.

[0026] Figure 2 A perspective view of the forks provided in the embodiments of this application;

[0027] Figure 3 An exploded view of the unidirectional bending chain and slide rail in the fork provided in the embodiment of this application;

[0028] Figure 4 This is a side view of the forks provided in an embodiment of this application when the loading and unloading assembly has moved to the middle position;

[0029] Figure 5 A partial perspective view of the reinforcement part in the fork provided in an embodiment of this application;

[0030] Figure 6 This is a side view of the reinforcement at the fork in a unidirectional bending chain retracted state, provided in an embodiment of this application.

[0031] Figure 7 A side view of the fork reinforcement using a connecting rod provided in the embodiments of this application;

[0032] Figure 8 A perspective view of the fork loading and unloading assembly provided in an embodiment of this application;

[0033] Figure 9 A side view of the forks in the docking state with the hopper provided in an embodiment of this application;

[0034] Figure 10 for Figure 9 A magnified view of the area at point D;

[0035] Figure 11 and Figure 12 These are perspective views of the anti-tipping head on the fork loading and unloading assembly provided in the embodiments of this application, in the retracted state and the protruding state, respectively.

[0036] Figure 13 A perspective view of the forks with the support extended, provided for an embodiment of this application;

[0037] Figures 14 to 17 Side views of the forks provided in this application embodiment during the bin-picking process in various states;

[0038] Figure 18 A side view of the warehouse robot provided in an embodiment of this application.

[0039] The reference numerals in the detailed embodiments are as follows:

[0040] Figure 1 middle:

[0041] 10. One-way bending chain; 20. Picking and placing assembly; 21. Hook;

[0042] In other attached figures:

[0043] 100. Forklifts;

[0044] 110. Load-bearing component; 111. Slide rail; 112. Baffle; 113. Support component; 114. Third elastic component;

[0045] 120. Drive assembly; 121. Sprockets;

[0046] 130. Loading / unloading assembly; 131. Main body; 132. Hook; 1321. Force-bearing rod; 133. Drive mechanism; 1331. Drive component; 1332. Transmission component; 13321. Transmission wheel; 13322. Tensioning wheel; 13323. Flexible transmission component; 1333. Abutment component; 13331. Slot; 134. Second elastic component; 135. Anti-tipping head; 1351. Connecting end; 1352. Abutment end; 1353. Cam; 13531. Force-bearing column; 136. Guide block; 137. Guide wheel;

[0047] 140. One-way bending chain; 141. Chain link; 142. Pin;

[0048] 150. Reinforcing component; 151. First elastic element; 152. Connecting rod;

[0049] 200. Material bin; 210. Hook; 300. Shelf; 400. Robot body; 500. Warehouse robot. Detailed Implementation

[0050] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0051] 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 pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0052] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0053] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0055] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0056] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0057] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0058] Please see Figure 1 A unidirectional bending chain 10 is connected to one side of the picking and placing assembly 20. The unidirectional bending chain 10 can only bend in one direction. This unidirectional bending is achieved by allowing relative rotation between adjacent links in one direction, while limiting their movement by abutting against each other in the other direction. Various specific implementation structures exist in the prior art, and will not be elaborated further. When the unidirectional bending chain 10 pushes the picking and placing assembly 20 forward to a predetermined position, the unidirectional bending chain 10 immediately stops, meaning its speed rapidly drops to zero. Meanwhile, the picking and placing assembly 20 still maintains a certain forward speed and, under inertia, tilts forward, presenting... Figure 1 The state shown by the dashed line, not the state shown by the dashed line. Figure 1The solid line represents the ideal state. Pickup and drop-off components typically connect to the hopper using hooks, suction cups, or other methods to pick up and drop items. However, during this process, the forward tilting of the pickup and drop-off component undoubtedly affects the stability of the connection between the component and the hopper, potentially leading to abnormal separation and pickup / drop-off failure. Furthermore, the forward tilting of the pickup and drop-off component also generates significant vibration, which in turn affects the overall structural stability of the forks.

[0059] To address the aforementioned problems, according to a first aspect of the embodiments of this application, a forklift is proposed, for details of which can be found in the following description. Figure 2 The figure shows a perspective view of the fork 100, which includes a load-bearing assembly 110, a drive assembly 120, a loading / unloading assembly 130, a unidirectional bending chain 140, and reinforcing components 150. The load-bearing assembly 110, as the main structure of the fork 100, is primarily responsible for the installation of other components and the support of the hopper.

[0060] Specifically, such as Figure 3 As shown in the exploded state between the middle load-bearing component 110 and the unidirectional bending chain 140, the load-bearing component 110 is provided with a slide rail 111. The unidirectional bending chain 140 is at least partially slidably disposed in the slide rail 111 and can slide along the slide rail 111 to perform flexible bending contraction or rigid extension. The slide rail 111 is used to accommodate the unidirectional bending chain 140 and to guide and limit the unidirectional bending chain 140. In order to accommodate as long a unidirectional bending chain 140 as possible, the slide rail 111 can be configured as an open ring. In addition, the slide rail 111 can be Figure 3As shown in the diagram, the unidirectional curved chain 140 enters the slide rail 111 through the two sides. The pins 142 connecting each link 141 slide against the inner wall of the slide rail 111, providing guidance. The two opposing inner surfaces of each link 141 abut against the outer walls of the support assembly 110 located on both sides of the slide rail 111, providing a limiting effect. This allows the unidirectional curved chain 140 to slide flexibly and reliably along the extension direction of the slide rail 111. Alternatively, in other embodiments, the slide rail 111 may be a groove-like structure or a cavity structure with an opening only at one end for the unidirectional curved chain 140 to extend out, so that the inner wall of the slide rail 111 can limit the unidirectional curved chain 140 after it enters, preventing it from slipping out of the slide rail 111. The picking and placing component 130 is movably mounted on the carrying component 110, and the carrying component 110 provides support for the picking and placing component 130 at its bottom. Specifically, the picking and placing component 130 can be movably mounted on the carrying component 110 by sliding a slider or rolling a roller. A one-way bending chain 140 extends from one end of the slide rail 111 and is connected to the picking and placing component 130, so that when the one-way bending chain 140 extends or retracts relative to the carrying component 110, it will correspondingly drive the picking and placing component 130 to move.

[0061] The picking and placing component 130 can connect with the material box by means of hook snapping, suction cup adsorption or magnetic connection. After connection, the picking and placing component 130 can move to pull the material box from the shelf to the carrying component 110, or push it from the carrying component 110 to the shelf, thereby realizing the picking and placing of the material box.

[0062] Please refer to Figure 2 The drive assembly 120 is mounted on the support assembly 110 and connected to the unidirectional bending chain 140. The drive assembly 120 drives the unidirectional bending chain 140 to slide telescopically relative to the slide rail 111, thereby moving the picking and placing assembly 130 to achieve automated picking and placing of the hopper. Specifically, the drive assembly 120 can be a motor, and the output shaft of the drive assembly 120 can be directly or indirectly connected to the sprocket 121 through a transmission component, so that the unidirectional bending chain 140 can slide telescopically by rotating the sprocket 121. Alternatively, the drive assembly 120 can also be a translation drive mechanism such as an electric cylinder or a hydraulic cylinder, by connecting the telescopic rod to the unidirectional bending chain 140 extending out of the slide rail 111, so that when the telescopic rod moves, it drives the unidirectional bending chain 140 to slide telescopically relative to the slide rail 111.

[0063] Please combine further Figure 4 The side structure of the fork 100 shown has a reinforcement 150 for connecting the loading / unloading assembly 130 and the one-way curved chain 140, wherein the loading / unloading assembly 130 and the one-way curved chain 140 are connected at a first point ( Figure 4The reinforcement 150 and the loading / unloading component 130 are connected at point A in the middle. Figure 4 Point B is connected, and the reinforcement 150 and the unidirectional bending chain 140 are connected at the third point ( Figure 3 Connect point C in the middle. For example... Figure 4 As shown by the dotted lines in the enlarged frame, the lines connecting points A, B, and C form a triangle. This design ensures that the picking and placing assembly 130, the portion of the unidirectional bending chain 140 located between points A and C, and the reinforcement 150 form a stable whole under the constraint of the triangular relationship. In this case, the portion of the unidirectional bending chain 140 located between points A and C and the reinforcement 150 can all be considered as part of the picking and placing assembly 130, which is equivalent to the bottom of the picking and placing assembly 130 having a backward (…) Figure 4 The triangular support extending to the left (from the perspective of the viewpoint) provides stable support and restraint for the picking and placing assembly 130, thereby suppressing the forward tilting of the picking and placing assembly 130 due to inertia.

[0064] From another perspective, the entire assembly consisting of the picking and placing component 130, the portion of the unidirectional bending chain 140 located between points A and C, and the reinforcement component 150 has a lower and more rearward center of gravity. This can be understood as the center of gravity of this entire assembly being downward and rearward relative to the picking and placing component 130 itself. This makes the forward tilt of the entire assembly under inertia relatively small, which is equivalent to suppressing the forward tilt of the picking and placing component 130 to a certain extent.

[0065] Regarding the specific structure of the reinforcement 150, this application provides two exemplary methods, one of which is as follows: Figure 5 As shown, the unidirectional bending chain 140 and the picking and placing assembly 130 are fixed to each other at point A, meaning that the unidirectional bending chain 140 and the picking and placing assembly 130 cannot rotate relative to each other at point A. Specifically, the unidirectional bending chain 140 and the picking and placing assembly 130 can be assembled and fixed at point A by rivets, screws, etc., or they can be fixed to each other by snap-fitting, welding, etc. The reinforcing member 150 is the first elastic element 151. One end of the first elastic element 151 is connected to the picking and placing assembly 130 at point B, and the other end is connected to the unidirectional bending chain 140 at point C.

[0066] Specifically, the first elastic element 151 can be Figure 4 and Figure 5 The spring shown, after the first elastic element 151 connects the loading / unloading assembly 130 and the one-way bending chain 140, is in a stretched state. Accordingly, the first elastic element 151 applies a force to the loading / unloading assembly 130 as shown. Figure 4The elastic force, indicated by the middle arrow M, causes the loading / unloading assembly 130 to tend to swing backward. Since this backward swing is limited by the mutual contact between the links 141, the loading / unloading assembly 130 will not swing backward or tilt under the elastic force of the first elastic element 151. Instead, it will make the link 141 between points A and C more firmly contact the ground, thus maintaining stronger rigidity in this part of the link 141 and providing better support and restraint for the loading / unloading assembly 130, thereby better suppressing the forward tilting phenomenon that occurs when the loading / unloading assembly 130 stops. Besides a spring, the first elastic element 151 can also be a taut elastic rope, elastic strip, elastic band, etc.

[0067] To enable the loading / unloading assembly 130 to have a longer travel distance without increasing the overall length of the forks 100, thus facilitating the loading / unloading of hoppers at deeper locations, this application further utilizes the elastic elongation capacity of the first elastic element 151 to allow the unidirectional bending chain 140 to contract to a greater extent. Please refer to [link / reference] for details. Figure 6 The figure shows the fully retracted state of the unidirectional bending chain 140 from a side view, that is, the unidirectional bending chain 140 has been fully retracted into the slide rail 111. As shown in the figure, the first elastic element 151 is rotatably connected to the loading and unloading assembly 130 at point B and to the unidirectional bending chain 140 at point C. Specifically, to facilitate the assembly and connection of the first elastic element 151, its two ends can be connected via... Figure 5 The hooks shown are respectively attached to the hook posts on the loading and unloading assembly 130 and the one-way bending chain 140 (i.e., the hook posts at points B and C in the figure), and the hooks at both ends can rotate relative to the hook posts.

[0068] 140-degree bending chain Figure 4 The state shown shrinks to Figure 6 In the state shown, the link 141 at point C on the unidirectional bending chain 140 undergoes flexible bending. Correspondingly, the first elastic element 151 rotates at point B relative to the loading and unloading assembly 130 and at point C relative to the unidirectional bending chain 140. At the same time, due to the increase in the distance between points B and C, the first elastic element 151 will be stretched under force.

[0069] In this embodiment, by rotatably connecting the two ends of the first elastic member 151 to the picking and placing assembly 130 and the one-way bending chain 140 respectively, and utilizing the characteristic that the first elastic member 151 can stretch under force, the link 141 between points B and C on the one-way bending chain 140 can also be flexibly bent when it retracts, thereby allowing the front end of the one-way bending chain 140 (i.e., at point A) to move back a greater distance. Thus, without increasing the overall length of the forks 100, the picking and placing assembly 130 has a longer travel distance.

[0070] Similar to the forward tilting mentioned above, the picking and placing assembly 130 may also tilt upwards under the pull of the unidirectional bending chain 140. Tilting upwards refers to the backward swinging phenomenon that occurs when the unidirectional bending chain 140 pulls the picking and placing assembly 130 back to a predetermined position. The cause is the same as the forward tilting, and will not be elaborated further here. Although the contact between the links 141 in the unidirectional bending chain 140 limits the backward tilting of the picking and placing assembly 20, slight gaps inevitably exist between the links due to manufacturing and assembly tolerances. This causes the picking and placing assembly 20 to still tilt to a certain extent.

[0071] In this embodiment, the rotation of both ends of the first elastic element 151 and the further elongation of the first elastic element 151 during the contraction of the unidirectional bending chain 140 can also suppress the tilting of the loading and unloading assembly 130. Specifically, as the unidirectional bending chain 140 contracts, the first elastic element 151... Figure 4 The state change shown is as follows: Figure 6 As shown in the diagram, during this change, the direction of the pulling force of the first elastic element 151 on the loading and unloading assembly 130 changes from... Figure 4 The direction indicated by the middle arrow M changes to a vertically downward direction. This change causes the horizontal backward force exerted on the picking and placing component 130. Figure 4 and Figure 6 The force component pointing to the left (from a downward perspective) gradually decreases, while the force component pointing vertically downward gradually increases. At the same time, based on the further elongation of the first elastic member 151, the pulling force of the first elastic member 151 on the picking and placing component 130 further increases, thereby causing the first elastic member 151 to pull the picking and placing component 130 downward and tighten it. The picking and placing component 130 is pressed tightly against the bearing component 110 at its bottom and is not easy to swing backward and tilt.

[0072] Understandably, after the unidirectional bending chain 140 is fully contracted, the first elastic element 151 does not necessarily have to... Figure 6 As shown in the figure, the first elastic element 151 is rotated to a vertical position. In some other embodiments, by changing the position of point C, the bottom of the first elastic element 151 can also be shifted to the left or right, and accordingly, the first elastic element 151 will eventually move to an inclined position.

[0073] For another implementation of the reinforcement 150, please refer to [link to relevant documentation]. Figure 7 The reinforcement component 150 can be a connecting rod 152. One end of the connecting rod 152 is connected to the picking and placing assembly 130 at point B, and the other end is connected to the one-way bending chain 140 at point C. The principle of using the connecting rod 152 to suppress the forward tilting of the picking and placing assembly 130 is the same as described above, and will not be repeated here.

[0074] It should be noted that, for the method using link 152, points A, B, and C can be either fixedly connected or hinged, depending on the actual assembly situation. Since link 152, the portion of the loading / unloading assembly 130 located between points A and B, and the portion of the one-way bending chain 140 located between points B and C form the three sides of a triangle, and link 152 itself is rigid, based on the stability of the triangle, even if points A, B, and C are hinged, the loading / unloading assembly 130, link 152, and the portion of the one-way bending chain 140 located between points B and C will not experience relative movement.

[0075] The above-mentioned connecting rod 152 serves as an implementation scheme for the reinforcement 150. The connecting rod 152 can also adopt other shapes of brackets, such as arc-shaped, V-shaped, etc. There are no restrictions here. For the V-shaped bracket, its two free ends can be connected to the picking and placing component 130 at intervals along the height direction, and the bent end is connected to the unidirectional bending chain 140.

[0076] To improve driving capability and anti-tilt effect, such as Figure 2 As shown, the fork 100 may include at least two unidirectional bending chains 140 and at least two reinforcing members 150, and the load-bearing assembly 110 may have, as shown in the figure, Figure 2 The diagram shows at least two slide rails 111, and at least two unidirectional bending chains 140 are at least partially slidably disposed in the slide rails 111.

[0077] At least two unidirectional bending chains 140 extend from one end of the slide rail 111 and are respectively connected to opposite sides of the picking and placing assembly 130. The at least two unidirectional bending chains 140 apply force from both sides to move the picking and placing assembly 130, thereby enhancing the driving capability of the picking and placing assembly 130 and ensuring the ability to pick up and place heavier boxes. At least two reinforcing members 150 are connected one-to-one between the at least two unidirectional bending chains 140 and the picking and placing assembly 130 to suppress forward tilting of the picking and placing assembly 130 at multiple locations, further improving the anti-tilting effect.

[0078] As mentioned earlier, tilting the pick-and-place component forward may cause it to separate abnormally from the hopper. Please refer to the previous article for details. Figure 1 The picking and placing component 20 can move upward via its hook 21 and engage with the downward-facing hook groove on the material box to achieve docking with the material box. When the picking and placing component 20 tilts forward... Figure 1 When the condition shown by the dotted line is such that the hook 21 can easily come out of the hook groove, which in turn causes the picking and placing component 20 to separate from the material box, affecting the safety and reliability of the picking and placing operation.

[0079] In response, in addition to the anti-tilting design, this application further incorporates a docking stability design for the loading and unloading components. Please refer to [link / reference needed] for details. Figure 8 The figure shows the three-dimensional structure of the loading and unloading assembly 130. As shown, the loading and unloading assembly 130 includes a main body 131, a hook 132, and a drive mechanism 133. The main body 131 is movably mounted on the support assembly 110 in a horizontal direction (indicated by the double arrow X in the figure). The rear side of the main body 131 (the side pointing to the upper left in the figure along the double arrow X) is connected to the unidirectional curved chain 140 at point A. The hook 132 is vertically movable on the main body 131 in a vertical direction (indicated by the double arrow Z in the figure), the vertical direction including opposite first and second directions. Figure 8 In the specific embodiment shown, the first pointer points upwards and the second pointer points downwards. For ease of understanding, the following descriptions will use "upwards" and "downwards". In other embodiments, the first pointer may point downwards and the second pointer upwards, and all similar descriptions such as "upwards", "downwards", "ascending", "descending", etc., will be converted accordingly.

[0080] A second elastic element 134 is connected between the hook 132 and the main body 131. The second elastic element 134 is always in a stretched state, that is, the second elastic element 134 provides an upward elastic force to the hook 132.

[0081] Please see Figure 8 , Figure 9 and Figure 10 , Figure 9 The cross-sectional structure of the hook 132 when it is engaged with the hook groove 210 of the material box 200 is shown. Figure 10 It shows Figure 9 The enlarged structure at point D. As shown in the figure, under the upward elastic force of the second elastic element 134, the hook 132 will tightly abut against the wall of the hook groove 210. This not only allows the hook 132 to extend into the deepest part of the hook groove 210, but also creates an interaction force between the hook 132 and the wall of the hook groove 210 to ensure the stability of the engagement between the hook 132 and the hook groove 210. Moreover, when the loading and unloading assembly 130 swings slightly back and forth, causing the hook 132 to tend to separate from the wall of the hook groove 210, the second elastic element 134 will immediately pull the hook 132 upward to ensure that the hook 132 is always tightly abutted against the hook groove 210, avoiding the risk of disengagement.

[0082] Please refer to it again. Figure 8The drive mechanism 133 is disposed on the main body 131 and can abut or detach from the hook 132 to control the lifting and lowering of the hook 132. Specifically, the drive mechanism 133 may include a drive member 1331, a transmission member 1332, and an abutment member 1333. The drive member 1331 is fixed to the main body 131, and the transmission member 1332 is connected between the drive member 1331 and the abutment member 1333. The drive member 1331 is used to drive the abutment member 1333 to move up and down through the transmission member 1332.

[0083] The docking process between hook 132 and hook groove 210 is as follows: the driving component 1331 drives the abutment component 1333 to descend, and the abutment component 1333 presses down on hook 132 accordingly, so that it overcomes the elastic force of the second elastic component 134 and moves downward. When hook 132 moves to the position below hook groove 210 and is aligned, the driving component 120 pushes the picking and placing component 130 and hook 132 on it forward through the one-way bending chain 140, so that hook 132 can smoothly enter the space below hook groove 210. Then the driving component 1331 drives the abutment component 1333 to rise, and hook 132 will rise under the elastic force of the second elastic component 134 and be engaged in hook groove 210. The abutment component 1333 will continue to rise to the position where it no longer contacts hook 132, so as to ensure that hook 132 can be tightly abutted against the wall of hook groove 210 under the elastic force of the second elastic component 134. The separation process of hook 132 and groove 210 is exactly the opposite of the above operation, and will not be elaborated further here.

[0084] If the abutment 1333 were to apply force directly downwards from the top of the hook 132, then both the transmission component 1332 and the abutment 1333 would need to be positioned above the hook 132. This would undoubtedly increase the overall height of the loading / unloading assembly 130, causing its center of gravity to shift upwards and consequently reducing its stability during movement. Therefore, to minimize the height of the loading / unloading assembly 130, such as... Figure 8 As shown, a force-bearing rod 1321 protrudes from one side of the hook 132 along the horizontal direction, and an abutment 1333 is disposed above the force-bearing rod 1321. When the abutment 1333 descends, it presses the force-bearing rod 1321 to drive the hook 132 to descend. This arrangement makes the space occupied by the hook 132, the abutment 1333 and the transmission component 1332 in the vertical direction partially overlap, thereby reducing the overall height of the loading and unloading assembly 130 and improving its movement stability.

[0085] Specifically, the receiving part 1333 can be adopted Figure 8 The pressure plate shown abuts against the force-bearing rod 1321 through its larger bottom surface to prevent slippage and ensure reliability when pressing the force-bearing rod 1321. Furthermore, a second elastic element 134 can be connected between the force-bearing rod 1321 and the main body 131.

[0086] In addition to the use of the 1333 connector, Figure 8 In addition to the structure shown, it is also possible to Figure 11 The structure shown is in Figure 11 In the middle, the abutment 1333 has a slot 13331, with the slot opening facing downwards and aligned with the force-bearing rod 1321. When the hook 132 does not... Figure 10 When the hook 132 engages with the groove 210 on the material box 200, that is, when the rise of the hook 132 is not restricted by the groove 210, under the elastic force of the second elastic element 134, the force rod 1321 moves as shown. Figure 11 As shown, it is engaged in the slot 13331. When the abutment 1333 descends, pressure is applied to the force rod 1321 through the bottom of the slot 13331 to drive the hook 132 to descend. During this process, the mutual limiting effect between the slot 13331 and the force rod 1321 can ensure the reliability of the abutment 1333 driving the hook 132 to descend.

[0087] like Figure 11 As shown, the transmission component 1332 may include a transmission wheel 13321, a tensioning wheel 13322, and a flexible transmission component 13323. The transmission wheel 13321 and the tensioning wheel 13322 are arranged opposite each other along the direction indicated by the double arrow Z, and are both rotatably connected to the main body 131. The flexible transmission component 13323 is sleeved between the transmission wheel 13321 and the tensioning wheel 13322. Specifically, the transmission wheel 13321 and the tensioning wheel 13322 can be pulleys as shown in the figure, and correspondingly, the flexible transmission component 13323 is a synchronous belt. Of course, the transmission wheel 13321 and the tensioning wheel 13322 can also be sprockets, and the flexible transmission component 13323 can be a chain. The driving component 1331 can be a motor or an assembly of a motor and a reducer. The output shaft of the driving component 1331 is fixedly connected to the transmission wheel 13321, and the driving component 1331 is used to drive the flexible transmission component 13323 to move through the transmission wheel 13321. The abutment 1333 is fixed on the flexible transmission component 13323. When the flexible transmission component 13323 moves, it will drive the abutment 1333 to move up and down accordingly.

[0088] It is understandable that, in addition to the above, transmission component 1332 can also employ other technologies. Figure 11 In addition to the embodiments shown, gear and rack transmissions can also be used. Specifically, the output shaft of the drive member 1331 is connected to a gear to drive the gear to rotate. When the gear rotates, it drives the rack to move up and down through meshing. The abutment member 1333 is fixed to the rack and moves up and down with the rack. Alternatively, the transmission member 1332 can also be a lead screw module. The drive member 1331 drives the threaded rod in the lead screw module to rotate. The abutment member 1333 is fixed to the nut in the lead screw module so as to move up and down along the threaded rod when the threaded rod rotates.

[0089] Alternatively, the transmission component 1332 and the abutment component 1333 may be omitted, and the drive mechanism 133 may only include the drive component 1331. In this form, the drive component 1331 no longer uses a motor, but a linear drive device, such as an electric cylinder, hydraulic cylinder, or pneumatic cylinder. By utilizing the extension and retraction of the telescopic rod on it to abut or separate from the hook 132, the lifting and lowering control of the hook 132 can be achieved.

[0090] Please refer to it again. Figure 10 If the height of the hook groove 210 on the material box 200 is relatively high, that is, the height of the hook 132 and the hook groove 210 engagement point E is higher than the height of the connection point A between the one-way bending chain 140 and the picking and placing component 130, then when the one-way bending chain 140 pulls the picking and placing component 130 to pick up the material box 200, a torque of magnitude (F×H) will be generated on the picking and placing component 130. If the material box 200 is heavy and difficult to pull, then this torque may cause the picking and placing component 130 to tilt forward.

[0091] To further address the forward tilting problem arising from the above conditions, such as Figure 11 and Figure 12 As shown in the three-dimensional structure of the loading and unloading assembly 130, this application also provides an anti-tipping head 135 in the loading and unloading assembly 130. The anti-tipping head 135 has a connecting end 1351 and an abutting end 1352. The connecting end 1351 is rotatably connected to the front side of the main body 131 along the horizontal axis, and the anti-tipping head 135 is located above the hook 132.

[0092] The Anti-Tilt-Over 135, when not subjected to external forces, is tilted by its own weight. Figure 11 The image shows the drooping state, with the contact end 1352 facing downwards.

[0093] exist Figure 11 Based on the indicated state, the abutment 1333 rises to release the hook 132, allowing the hook 132 to engage with the hook groove 210 under the elastic force of the second elastic member 134. During this process, the abutment 1333 also pushes the anti-tipping head 135 upward, causing the abutment end 1352 to... Figure 11 The drooping state shown rotates and protrudes upwards and forwards. Figure 10 and Figure 12 As shown, in this state, the abutting end 1352 abuts against the material box 200, and the position of the abutting end 1352 abutting against the material box 200 is above point E. This allows the interaction between the abutting end 1352 and the material box 200 to cancel out the torque (F×H), thereby preventing the picking and placing component 130 from tilting forward.

[0094] exist Figure 10 and Figure 12Based on the state shown, as the abutment 1333 descends to cause the hook 132 to descend and separate from the groove 210, the anti-tipping head 135 rotates downward under its own weight, that is, the abutment end 1352 rotates downward and backward to retract to the position shown. Figure 11 The state shown.

[0095] In this embodiment, not only is the problem of the loading and unloading assembly 130 tilting forward when the hook groove 210 is high solved by setting the anti-tipping head 135, but the abutment part 1333 is also used to drive the anti-tipping head 135, so that a single drive mechanism 133 can simultaneously control the docking of the hook 132 with the material box 200 and the opening and retraction of the anti-tipping head 135. This can reduce the production cost of the fork 100 and simplify its control logic.

[0096] For the transmission between the abutment 1333 and the anti-tipping head 135, such as Figure 11 and Figure 12 As shown, a cam 1353 can be coaxially mounted on one side of the anti-tipping head 135, with the cam 1353 positioned above the abutment member 1333. When the anti-tipping head 135 is in a drooping state without external force, the protruding portion of the cam 1353 is tilted downwards. In this state, when the abutment member 1333 rises, its top will abut against the protruding portion of the cam 1353, and by applying force to the protruding portion, the cam 1353 will rotate, thereby causing the anti-tipping head 135 to rotate and protrude forward.

[0097] Furthermore, such as Figure 11 and Figure 12 As shown, a force-bearing column 13531 can be provided on one side of the protruding part of the cam 1353. The abutment 1333 drives the anti-tipping head 135 to rotate by pushing the force-bearing column 13531 upward. Compared with the abutment 1333 directly abutting the protruding part of the cam 1353, this method can increase the rotation angle of the cam 1353, thereby increasing the flipping angle of the anti-tipping head 135, so that it can fully protrude forward or retract.

[0098] In addition to using cam 1353, the abutting end 1352 can also be set as an inclined surface or an arc surface. When the abutting part 1333 rises, it directly abuts against the abutting end 1352. Through the friction and guiding effect between the abutting end 1352 and the inclined surface on the abutting end 1352, the abutting end 1352 is forced to bulge upward and forward.

[0099] To ensure the linearity of the movement of the picking and placing component 130 and prevent it from failing to dock with the material bin 200 due to lateral deviation, this application proposes an implementation method, which can be found in the following description. Figure 2The picking and placing component 130 is mounted on the carrying component 110 along a first horizontal direction (indicated by the double arrow X in the figure). Baffles 112 are provided on both sides of the carrying component 110 along a second horizontal direction (indicated by the double arrow Y in the figure), and the picking and placing component 130 abuts against the baffles 112 along both sides in the direction indicated by the double arrow Y. During the forward and backward movement of the picking and placing component 130, the baffles 112 limit its movement on both sides to ensure the straightness of the picking and placing component 130's movement and improve the success rate of docking between the picking and placing component 130 and the material box 200.

[0100] To improve the flexibility of the picking and placing component 130, the picking and placing component 130 may also include a guide member, with the carrying component 110 supported at the bottom of the guide member. The movement of the picking and placing component 130 relative to the carrying component 110 is achieved by the guide member and the carrying component 110 moving together, so as to reduce the resistance when the picking and placing component 130 moves.

[0101] Specifically, such as Figure 2 As shown, the guide may include a guide block 136, the bottom of which is slidably engaged with the support assembly 110. In embodiments where baffles 112 are provided on both sides of the support assembly 110, guide blocks 136 may be provided on both sides of the loading / unloading assembly 130 along the direction indicated by the double arrow Y. While the bottom of the guide block 136 is slidably engaged with the support assembly 110, its outer side is also slidably engaged with the baffle 112, thus simultaneously guiding and limiting the loading / unloading assembly 130. To extend its service life, the guide block 136 may be made of wear-resistant hard plastic.

[0102] Please refer to it again. Figure 5 The guide may also include a guide wheel 137. The movement of the picking and placing component 130 relative to the carrying component 110 is achieved by the rolling of the guide wheel 137 on the carrying component 110. The method of guiding by the rolling of the guide wheel 137 can better reduce the resistance when the picking and placing component 130 moves.

[0103] It is understandable that, regarding the selection of guide components, either guide block 136 or guide wheel 137 can be used, or... Figure 5 As shown, guide block 136 or guide wheel 137 are provided at the same time.

[0104] Please refer to it again. Figure 2 The support component 110 may also be provided with a support member 113, which extends relative to the support component 110 when the loading and unloading component 130 moves forward, so as to support the bottom of the guide and cooperate with the movement of the guide.

[0105] Specifically, such as Figure 3 and Figure 13As shown, the slide 111 is curved both front and rear. Due to the constraint of the extended shape of the slide 111, the unidirectional curved chain 140 bends twice by 180° after extending into the slide 111, resulting in a curved loop overall shape. Correspondingly, when the unidirectional curved chain 140 initially extends from its retracted state, both the end connected to the loading / unloading assembly 130 (the end outside the slide 111) and the end inside the slide 111 move forward. Based on this, the end of the unidirectional curved chain 140 inside the slide 111 can abut against the support member 113, and a third elastic member 114 connects between the support member 113 and the load-bearing assembly 110, providing a forward-extending elastic force to the support member 113. When the one-way bending chain 140 extends, one end of it located in the slide 111 releases the support member 113, causing the support member 113 to move forward and extend under the elastic force of the third elastic member 114; when the one-way bending chain 140 retracts, one end of it located in the slide abuts against the support member 113 and pushes the support member 113 to move backward and retract.

[0106] In cases where the front end of the load-bearing component 110 cannot directly abut against the shelf, the above-mentioned arrangement allows the support component 113 to extend and abut against the shelf simultaneously as the picking and placing component 130 moves forward. For embodiments where the guide component includes the guide wheel 137, the support component 113 can further extend the support distance for the guide wheel 137 and the material box 200, so that the picking and placing component 130 can smoothly pull the material box 200 from the shelf to the load-bearing component 110 or push it from the load-bearing component 110 to the shelf.

[0107] The above is a description of the relevant structure of the fork 100. To better understand the working principle of the fork 100, the following will use... Figure 13 The working principle of the fork 100 will be introduced using the specific embodiment shown as an example.

[0108] Taking the material dispensing box 200 as an example, firstly... Figure 14 As shown, the picking and placing component 130 is initially at the rear end, the hook 132 is in a low position, and the forks 100 move to the shelf 300 so that the picking and placing component 130 is aligned with the bin 200 on the shelf 300.

[0109] Then as Figure 15 As shown, the drive assembly 120 pushes the picking and placing assembly 130 forward via the unidirectional bending chain 140. Simultaneously, the support member 113 extends forward and abuts against the outside of the shelf 300. Supported by the load-bearing assembly 110 and the support member 113, the picking and placing assembly 130 moves to the storage bin 200, and the hook 132 extends below the hook groove 210 (not shown in the figure due to obstruction) on the storage bin 200. During this process, the reinforcement member 150 provides a forward tilting inhibition effect for the picking and placing assembly 130.

[0110] Then, the driving component 1331 drives the abutment component 1333 to rise, causing the hook 132 to rise under the pulling force of the second elastic component 134 (not shown in the figure due to being obscured) and engage in the hook groove 210. At the same time, the abutment component 1333 also pushes the anti-tipping head 135 to rotate forward and protrude to abut against the material box 200, forming a... Figure 16 The state shown.

[0111] exist Figure 16 Based on the indicated state, the drive assembly 120 pulls the loading / unloading assembly 130 backward via the one-way bending chain 140, so that the hopper 200 is pulled onto the support assembly 110 by the hook 132. During this process, the end of the one-way bending chain 140 located inside the slide rail 111 pushes the support member 113 to slide backward and retract. The anti-tipping head 135 abuts against the hopper 200 to limit the forward tilting of the loading / unloading assembly 130 under tension, ultimately resulting in a state where... Figure 17 As shown in the image, the 200-piece material handling box operation is complete.

[0112] When the material box 200 is in operation, the drive component 120 pushes the picking and placing component 130 forward through the one-way bending chain 140. At the same time, the support component 113 extends forward and abuts against the outside of the shelf 300. The picking and placing component 130 pushes the material box 200 onto the shelf 300 with the support of the bearing component 110 and the support component 113. During this process, the hook 132 and the hook groove 210 remain engaged to prevent the material box 200 from rushing forward when the picking and placing component 130 stops suddenly, which would cause inaccurate positioning. In addition, when placing the material box 200, it is only necessary to control the abutment component 1333 to rise slightly so that the hook and the hook groove 210 remain engaged. It is not necessary to push the anti-tipping head 135 forward to rotate and protrude and abut against the material box 200, which simplifies the control process of the material box 200 operation.

[0113] According to a second aspect of the embodiments of this application, a warehouse robot is provided, for details please refer to... Figure 18 The figure shows the three-dimensional structure of the warehouse robot 500. As shown in the figure, the warehouse robot 500 includes a robot body 400 and a fork 100 in any of the above embodiments, which can effectively suppress the forward tilting problem when the picking and placing component 130 moves.

[0114] According to a third aspect of the embodiments of this application, a warehousing system is provided, the warehousing system including shelves 300 (e.g., Figures 14 to 17 As shown in the figure) and the warehouse robot 500 in the above embodiment, the warehouse robot 500 is used to pick up and put away the material box 200 on the shelf 300.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A forklift, characterized in that, include: A support component, wherein a slide rail is provided on the support component; The driving component is disposed on the carrier component; A picking and placing component is movably mounted on the carrying component. The picking and placing component is used to dock with the material box and to pick up and place the material box by moving relative to the carrying component. A unidirectional bending chain is at least partially slidably disposed in the slide rail. The unidirectional bending chain is connected to the drive assembly so that it slides along the slide rail and flexibly bends and retracts or rigidly extends under the drive of the drive assembly. One end of the unidirectional bending chain extending out of the slide rail is connected to the picking and placing assembly at a first point. The unidirectional bending chain is used to drive the picking and placing assembly to move when sliding. A reinforcing member is used to connect the picking and placing component and the unidirectional bending chain. The reinforcing member is connected to the picking and placing component at a second point, and the reinforcing member is connected to the unidirectional bending chain at a third point. The lines connecting the first point, the second point, and the third point form a triangle.

2. The forklift according to claim 1, characterized in that, The unidirectional bending chain and the picking and placing component are fixed to each other at the first point; The reinforcement component is a first elastic element. One end of the first elastic element is connected to the picking and placing component at the second point, and the other end is connected to the unidirectional bending chain at the third point. The first elastic element is kept in a stretched state.

3. The forklift according to claim 1, characterized in that, The reinforcement component is a connecting rod, one end of which is connected to the picking and placing assembly at the second point, and the other end is connected to the unidirectional bending chain at the third point.

4. The forklift according to any one of claims 1-3, characterized in that, The loading and unloading assembly includes a main body, a hook, and a drive mechanism; The main body is horizontally mounted on the supporting component, and the rear side of the main body is connected to the unidirectional bending chain at the first point; The hook is vertically mounted on the main body, and the vertical direction includes opposite first and second directions; The drive mechanism is disposed on the main body and can abut or separate from the hook; A second elastic element is connected between the hook and the body, and the second elastic element is used to provide elastic force to the hook in the first direction; The driving mechanism is used to abut against the hook and drive the hook to move in the second direction.

5. The forklift according to claim 4, characterized in that, The driving mechanism includes a driving component, a transmission component, and a contact component. The driving component is fixed to the main body, and the transmission component is connected between the driving component and the contact component. The driving component is used to drive the contact component to move up and down along the vertical direction through the transmission component. The abutment is used to abut against the hook and drive the hook to move in the second direction when moving in the second direction; The abutment is also used to separate from the hook when moving toward the first direction, so that the hook moves toward the first direction under the action of the second elastic member.

6. The forklift according to claim 5, characterized in that, The hook has a force-bearing rod protruding from one side in the horizontal direction, and the abutment has a groove, with the groove opening aligned with the force-bearing rod in the second direction. When the hook is not connected to the material box, the force rod is engaged in the slot under the elastic force of the second elastic element; The abutment is used to abut against the force rod through the bottom of the slot when moving in the second direction, so as to drive the hook to move in the second direction.

7. The forklift according to claim 5, characterized in that, The transmission component includes a transmission wheel, a tensioning wheel, and a flexible transmission component. The transmission wheel and the tensioning wheel are arranged opposite each other along the vertical direction and are both rotatably connected to the main body. The flexible transmission component is sleeved between the transmission wheel and the tensioning wheel. The output shaft of the drive component is fixedly connected to the transmission wheel so as to drive the flexible transmission component to move through the transmission wheel; The abutment is fixed to the flexible transmission member so that it can move up and down with the flexible transmission member.

8. The forklift according to claim 5, characterized in that, The loading and unloading assembly also includes an anti-tipping head, which has a connecting end and an abutting end. The connecting end is rotatably connected to the front side of the main body along a horizontal axis, and the anti-tipping head is located on the side of the hook facing the first direction; the first direction is upward and the second direction is downward. The abutment is used to push the anti-tipping head when it moves toward the first direction, so that the abutment end rotates and protrudes upward and forward, and abuts against the material box; The abutment is used to separate from the anti-tipping head when moving in the second direction, so that the abutment end rotates downward and backward under the action of gravity and retracts.

9. The forklift according to claim 8, characterized in that, A cam is coaxially provided on one side of the anti-tipping head, and the cam is located on the side of the abutment member facing the first direction; The abutting member is used to abut against the cam when moving toward the first direction, and the abutting end is driven to rotate forward and protrude by the cam. The abutment is used to separate from the cam when moving toward the second direction, so that the abutment end rotates backward and retracts under the action of gravity.

10. The forklift according to any one of claims 1-3, characterized in that, The loading and unloading component is movable and mounted on the bearing component along the first horizontal direction; The carrying component is provided with baffles on both sides along the second horizontal direction, and the loading and unloading component abuts against the baffles on both sides along the second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction.

11. The forklift according to any one of claims 1-3, characterized in that, The loading and unloading assembly also includes a guide member, and the carrying assembly is supported at the bottom of the guide member. The guide member and the carrying assembly move in coordination.

12. The forklift according to claim 11, characterized in that, The carrier component is provided with a telescopic support member, which extends relative to the carrier component when the loading and unloading component moves forward, so as to support the bottom of the guide member and move in cooperation with the guide member.

13. The forklift according to any one of claims 1-3, characterized in that, The fork includes at least two unidirectional bending chains and at least two reinforcing members. The at least two unidirectional bending chains extend from one end of the slide and are respectively connected to the opposite sides of the pick-and-place assembly. The at least two reinforcing members are connected one-to-one between the at least two unidirectional bending chains and the pick-and-place assembly.

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 the warehouse robot of claim 14, the warehouse robot being used to pick up and place boxes on the shelf.

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