High-position telescopic fork and warehouse robot

Abstract

The embodiment of the application provides a high-position telescopic fork and a warehousing robot, which comprises a fixed fork body, a movable fork body, a flexible transmission component, a height lifting guide mechanism and a driving component. The movable fork body is at least one level, and the movable fork body is directly or indirectly connected with the fixed fork body. The driving component and the height lifting guide mechanism are arranged on the fixed fork body, the flexible transmission component is arranged around the height lifting guide mechanism, and the flexible transmission component is connected with the driving component and the height lifting guide mechanism respectively. The driving component drives the flexible transmission component to rotate around the height lifting guide mechanism in a cycle, and then the flexible transmission component drives the movable fork body to stretch and retract. Since the movable fork body does not need to extend into the goods location outside the material box guide support, the space of the goods location in the transverse direction can be saved, the space rate of the goods location is improved, and then the overall goods storage density of the goods shelf is improved.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics conveying equipment technology, and in particular to a high-position telescopic fork and a warehousing robot. Background Technology

[0002] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread. In a warehousing system, racks are fixedly installed on the ground, each rack has multiple storage locations, and each location holds a storage bin. Goods are placed in the storage bins. Shuttle vehicles are used to transport the storage bins between the racks and transfer stations for picking up and placing goods.

[0003] To prevent the storage bins from shifting, two linear guide supports are installed parallel to each storage location on the shelf, such as... Figure 1 As shown. When the shuttle is picking up or placing goods, if the shuttle has a positioning error, the box held by the shuttle is prone to colliding with the box guide support, causing damage or falling of the box. To avoid collisions, the ends of the box guide support are designed in a flared shape. Even if the shuttle has a certain positioning error, the box can still be guided between the two box guide supports by the flared shape. However, because the two forks of the existing shuttle are relatively low, when picking up or placing boxes, the shuttle's forks need to extend to the outside of the two box guide supports, and then the box is retrieved by using a fork lever. Therefore, space is reserved in the storage location for fork extension and retraction.

[0004] Because the flared ends of the guide supports for the material bins fold outwards, they occupy part of the storage space, thus requiring an increase in the lateral dimension of the storage location. However, increasing the lateral dimension of the storage location leads to a decrease in the utilization rate of the storage space, resulting in a reduction in the number of storage locations for the same length of rack. Furthermore, space needs to be reserved between the guide supports of adjacent storage locations to allow for forklifts, further reducing the density of the storage location layout. Utility Model Content

[0005] This application provides a high-position telescopic fork and a warehouse robot for picking up and placing goods placed between two guide supports of a rack, thereby improving the utilization rate of storage space and increasing the overall storage density of the rack.

[0006] In a first aspect, embodiments of this application provide a high-position telescopic fork, including:

[0007] Fixed fork body;

[0008] At least one telescopic movable fork, the movable fork being directly or indirectly connected to the fixed fork;

[0009] Flexible transmission components are used to drive at least one stage of movement of the movable fork.

[0010] A height-lifting guide mechanism is used to support flexible transmission components;

[0011] A driving component is used to drive the flexible transmission component to rotate cyclically.

[0012] The drive component and the height lifting guide mechanism are both mounted on the fixed fork body, the flexible transmission component is wound around the height lifting guide mechanism, and the movable fork body is connected to the flexible transmission component.

[0013] The height lifting guide mechanism is used to raise the height of the movable fork, and the drive component drives the movable fork to extend and retract through the flexible transmission component.

[0014] In one feasible implementation, the flexible transmission component is a timing belt, and the movable fork is provided with a rack that meshes with the timing belt;

[0015] Alternatively, the flexible transmission component may be a chain, and the movable fork may be provided with chain teeth that mesh with the chain.

[0016] In one feasible implementation, the height lifting guide mechanism includes a first guide wheel and a second guide wheel, both of which are disposed on the fixed fork body, with the second guide wheel located above the first guide wheel, and the flexible transmission component sequentially wound around the first guide wheel and the second guide wheel.

[0017] In one feasible implementation, the height lifting guide mechanism further includes a support member, one end of which is connected to the first guide wheel and the other end of which is connected to the second guide wheel;

[0018] Alternatively, one end of the support member is connected to the first guide wheel, and the other end is connected to the fixed fork.

[0019] In one feasible implementation, two height-lifting guide mechanisms are provided, and a plurality of intermediate support wheels are provided between the first guide wheels of the two height-lifting guide mechanisms. The intermediate support wheels are used to support the flexible transmission component.

[0020] In one feasible implementation, the movable fork is one of a single-stage extension fork structure, a two-stage extension fork structure, or a three-stage extension fork structure.

[0021] Secondly, this application provides a warehouse robot, including a vehicle body, a walking mechanism, and the aforementioned high-position telescopic forks. The high-position telescopic forks are mounted on the vehicle body, the walking mechanism is used to drive the vehicle body to move along a preset track, and the high-position telescopic forks are used to pull the material boxes on the shelf into the vehicle body, or push the material boxes in the vehicle body onto the shelf.

[0022] Thirdly, this application provides a warehouse robot, which is a shuttle robot. The walking mechanism includes a walking drive component and a first direction wheel component. The walking drive component is disposed on the vehicle body, and a plurality of first direction wheel components are respectively disposed on both sides of the vehicle body. The walking drive component is connected to at least two oppositely disposed first direction wheel components to drive the vehicle body to move along the first direction.

[0023] Alternatively, the walking mechanism includes a walking drive assembly, a first direction wheel assembly, a second direction walking assembly, and a reversing assembly. The walking drive assembly is used to selectively drive the first direction wheel assembly and the second direction wheel assembly to walk. The reversing assembly is used to switch the first direction wheel assembly and the second direction wheel assembly to contact the corresponding track, so as to drive the vehicle body to move along the first direction or along the second direction.

[0024] Fourthly, this application provides a warehouse robot, wherein two high-position telescopic forks are provided, and a spacing adjustment component is provided between the two telescopic forks, the spacing adjustment component being used to adjust the distance between the two high-position telescopic forks.

[0025] In one feasible implementation, the spacing adjustment component is a synchronous belt drive structure, which drives the two high-position telescopic forks to move synchronously towards or away from each other.

[0026] Alternatively, the spacing adjustment component is a lead screw drive structure, which drives the two high-position telescopic forks to move synchronously towards or away from each other;

[0027] Alternatively, the spacing adjustment component may be a rack and pinion drive structure, which drives the two high-position telescopic forks to move synchronously towards or away from each other.

[0028] Fifthly, this application provides a warehouse robot, including a frame, a loading platform, a walking drive mechanism, and a lifting drive mechanism. The loading platform is equipped with the high-position telescopic forks. The frame travels on a track on a shelf via the walking drive mechanism. The lifting drive mechanism is used to drive the loading platform to move up and down along the frame.

[0029] Sixthly, this application provides a warehouse robot, including a mother car and a loading platform. The mother car drives the loading platform to move up and down through a hoisting mechanism. The mother car travels on a track on a shelf through a walking mechanism. The loading platform is equipped with the aforementioned high-position telescopic forks.

[0030] This application provides a high-position telescopic fork and a warehousing robot, including a fixed fork body, a movable fork body, a flexible transmission component, a height lifting guide mechanism, and a drive component. The movable fork body is at least one stage and is directly or indirectly connected to the fixed fork body. Both the drive component and the height lifting guide mechanism are mounted on the fixed fork body. The flexible transmission component is wound around the height lifting guide mechanism and is connected to both the drive component and the height lifting guide mechanism. The drive component drives the flexible transmission component to rotate cyclically around the height lifting guide mechanism, thereby causing the flexible transmission component to extend and retract the movable fork body. It is understood that the height lifting guide mechanism can raise the height of the flexible transmission component, thereby connecting it to the movable fork body positioned high above the fixed fork body, and driving the extension and retraction of the movable fork body at this high position. Because the movable fork body is positioned high above the fixed fork body, it can extend into the storage location above the material box guide support and clamp the material box. This means that the movable forks do not need to extend into the storage location from the outside of the guide support of the storage bin, thereby saving lateral space in the storage location, increasing the space utilization of the storage location, and thus increasing the overall storage density of the rack. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0032] In the attached diagram:

[0033] Figure 1 This is a schematic diagram of a shelf system that uses a linear guide support to limit the movement of the material boxes.

[0034] Figure 2 This is a schematic diagram of the structure of a high-position telescopic fork provided in an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of a high-position telescopic fork for picking up and placing goods;

[0036] Figure 4 yes Figure 3 An enlarged view of region A in the diagram;

[0037] Figure 5 This is a schematic diagram of the mechanism of a first type of warehouse robot provided in an embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the mechanism of a second type of warehouse robot provided in one embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the mechanism of a third type of warehouse robot provided in an embodiment of this application;

[0040] Figure 8 This is a schematic diagram of the mechanism of the fourth type of warehouse robot provided in one embodiment of this application;

[0041] Figure 9 This is a schematic diagram of the mechanism of the fifth type of warehouse robot provided in one embodiment of this application.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100-Carriage body; 200-High-position telescopic forks; 300-Traveling mechanism; 400-Spacing adjustment assembly; 500-Frame; 600-Loading platform; 700-Traveling drive mechanism; 800-Lifting drive mechanism; 900-Main car; 1000-Bag guide support plate; 1100-Radar detection component; 1200-Code scanner; 1300-Splined shaft;

[0044] 210-Fixed fork body; 220-Moving fork body; 230-Flexible transmission component; 240-Height lifting guide mechanism; 250-Drive component; 260-Intermediate support wheel; 310-Travel drive assembly; 320-First direction wheel assembly; 330-Second direction wheel assembly; 340-Reversing assembly;

[0045] 241-First guide wheel; 242-Second guide wheel; 243-Support component. Detailed Implementation

[0046] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0047] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., 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; 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread. In a warehousing system, racks are fixedly installed on the ground, each rack has multiple storage locations, and each location holds a storage bin. Goods are placed in the storage bins. Shuttle vehicles are used to transport the storage bins between the racks and transfer stations for picking up and placing goods.

[0051] To prevent the material bins from shifting, two linear guide support plates 1000 are installed parallel to each storage location on the shelf. Figure 1 As shown. When the shuttle is picking up or placing goods, if the shuttle has a positioning error, the material box held by the shuttle is prone to collide with the material box guide support plate 1000, causing damage or falling of the material box. To avoid collisions, the end of the material box guide support plate 1000 is designed in a flared shape. Even if the shuttle has a certain positioning error, the material box can still enter between the two material box guide support plates 1000 under the guidance of the flared shape. However, because the two forks of the existing shuttle are relatively low, when picking up or placing the material box, the shuttle's forks need to extend to the outside of the two material box guide support plates 1000, and then use the forks to retrieve the material box. Therefore, space is reserved in the storage location for the fork extension.

[0052] Because the flared end of the guide support plate 1000 occupies part of the storage space, the lateral dimension of the storage location needs to be increased. However, increasing the lateral dimension of the storage location will reduce the utilization rate of the storage space, reduce the number of storage locations for the same length of rack, and require space to be reserved between the guide supports of adjacent storage locations for fork arms, thus reducing the density of the storage location layout.

[0053] To improve the utilization rate of storage space and increase the overall storage density of goods on the shelves, this application provides a high-position telescopic fork and storage system. The solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0054] Figure 2 This is a schematic diagram of the structure of a high-position telescopic fork 200 provided in one embodiment of this application. Figure 3 This is a schematic diagram of the high-position telescopic forks 200 for picking up and placing goods.

[0055] Reference Figure 2 As shown, this application embodiment provides a high-position telescopic fork, including a fixed fork body 210, a movable fork body 220, a flexible transmission component 230, a height lifting guide mechanism 240, and a drive component 250. The movable fork body 220 is at least a single-stage telescopic fork, and it is directly or indirectly connected to the fixed fork body 210. For example, the movable fork body 220 is mounted on the fixed fork body 210 via a slide rail. Both the drive component 250 and the height lifting guide mechanism 240 are mounted on the fixed fork body 210. The flexible transmission component 230 is wound around the height lifting guide mechanism 240 and is connected to both the drive component 250 and the height lifting guide mechanism 240. The drive component 250 drives the flexible transmission component 230 to rotate cyclically around the height lifting guide mechanism 240, thereby causing the flexible transmission component 230 to extend and retract the movable fork body 220. Understandably, the height-lifting guide mechanism 240 can raise the height of the flexible transmission component 230, thereby connecting it to the movable fork 220 positioned high on the fixed fork 210, and thus driving the movable fork 220 at the high position to extend or retract. Figure 3 As shown, since the movable fork 220 is positioned high above the fixed fork 210, the movable fork 220 can extend into the storage location above the bin guide support 243 and clamp the bin. This means the movable fork 220 does not need to extend into the storage location from the outside of the bin guide support 243, thus saving lateral space in the storage location, increasing the space utilization rate of the storage location, and consequently increasing the overall storage density of the rack.

[0056] It should be noted that the high position of the fixed fork body 210 refers to the position of the fixed fork body 210 that is higher than the guide support plate 1000 of the material box.

[0057] For example, in some embodiments, the flexible transmission component 230 is a timing belt, which is wound around the height lifting guide mechanism 240, and the drive component 250 drives the timing belt to rotate. The outer surface of the timing belt is provided with teeth. The movable fork 220 is fixedly connected to the rack, and the rack engages with the teeth. During the rotation of the timing belt, the rack moves, thereby causing the movable fork 220 to extend and retract on the fixed fork 210. In other embodiments, the flexible transmission component 230 is configured as a chain, which is wound around the height lifting guide mechanism 240, and the drive component 250 drives the chain to rotate. The movable fork 220 is fixedly connected to a sprocket, and the sprocket meshes with the chain. During the rotation of the chain, the movable fork 220 moves along the fixed fork 210 through the sprocket. It should be noted that in this embodiment, the sprocket is fixedly connected to the movable fork 220 and cannot rotate, thereby ensuring that the chain can drive the movable fork 220 to move through the sprocket.

[0058] Correspondingly, when the flexible transmission component 230 is a synchronous belt, the drive component 250 can be a synchronous belt drive wheel driven by a drive motor; when the flexible transmission component 230 is a chain, the drive component 250 can be a chain drive wheel driven by a drive motor.

[0059] Continue to refer to Figure 2 As shown, exemplarily, the height-lifting guide mechanism 240 includes a first guide wheel 241 and a second guide wheel 242. The first guide wheel 241 is fixedly mounted on the fixed fork body 210 via a mounting shaft, and the second guide wheel 242 is fixedly mounted on the fixed fork body 210 via a mounting shaft. The first guide wheel 241 is located diagonally above the second guide wheel 242. A flexible transmission component 230 is sequentially wound around the first guide wheel 241 and the second guide wheel 242. In some examples, the height-lifting guide mechanism 240 further includes a support member 243, one end of which is connected to the first guide wheel 241, and the other end is connected to the second guide wheel 242. The support member 243 fixes the first guide wheel 241 and the second guide wheel 242 into a whole, improving the stability of the first guide wheel 241 and the second guide wheel 242. In other examples, one end of the support member 243 is connected to the first guide wheel 241, and the other end is connected to the fixed fork body 210, so that the first guide wheel 241 is stably supported.

[0060] When the flexible transmission component 230 is configured as a synchronous belt, the first guide wheel 241 and the second guide wheel 242 are both configured as synchronous belt pulleys; when the flexible transmission component 230 is configured as a chain, the first guide wheel 241 and the second guide wheel 242 are both configured as sprockets.

[0061] Continue to refer to Figure 2As shown, the high-position telescopic fork 200 includes two height-lifting guide mechanisms 240, which are respectively disposed at both ends of the fixed fork body 210. Multiple intermediate support wheels 260 are provided between the two height-lifting guide mechanisms 240, and these intermediate support wheels 260 are spaced apart on the fixed fork body 210. These intermediate support wheels 260 support the upper part of the flexible transmission component 230, preventing it from sagging and affecting its connection with the movable fork body 220.

[0062] For example, the movable fork 220 can be a single-stage, two-stage, or three-stage extension fork structure. When the movable fork 220 is a single-stage extension fork structure, the extension fork of the single-stage extension fork structure is connected to the fixed fork 210 via a slide rail assembly, and the flexible transmission component 230 is connected to the extension fork, directly driving it to move along the fixed extension fork. When the movable fork 220 is a two-stage extension fork structure, the first-stage extension fork of the two-stage extension fork structure is slidably connected to the fixed fork 210 via a slide rail assembly, and the second-stage extension fork of the two-stage extension fork structure is connected to the first-stage extension fork via a slide rail. A power supply belt is provided between the second-stage extension fork and the fixed fork 210. This is prior art, and for details, please refer to the description in patent CN340243U. When the movable fork 220 is a three-stage extension fork structure, the first-stage extension fork, the second-stage extension fork, and the third-stage extension fork are slidably connected in sequence. This three-stage extension fork structure is also prior art, such as the similar technical solution disclosed in Chinese patent application publication number CN117416894B, which will not be described in detail here.

[0063] Figure 5 This is a schematic diagram of the mechanism of a first type of warehouse robot provided in an embodiment of this application; Figure 6 This is a schematic diagram of the mechanism of a second type of warehouse robot provided in one embodiment of this application. Figure 7 This is a schematic diagram of the mechanism of a third type of warehouse robot provided in one embodiment of this application.

[0064] Reference Figures 5 to 7As shown, this application embodiment provides a warehouse robot, including a vehicle body 100, a walking mechanism 300, and two telescopic forks 200, which are spaced apart at both ends of the vehicle body 100. A walking drive mechanism 700 is mounted on the vehicle body 100 and is used to drive the vehicle body 100 to move along a preset track. The telescopic forks 200 are used to pull cartons from shelves into the vehicle body 100, or to push cartons from the vehicle body 100 onto shelves. The two telescopic forks 200 can be driven by a single drive motor. Specifically, the drive components 250 in both telescopic forks 200 are configured as splined wheels, connected by a splined shaft 1300. A drive motor drives the splined shaft 1300 to rotate, thereby rotating the two splined wheels and driving the movable fork body 220 to extend and retract. It is understood that the drive components 250 in the two telescopic forks can also be connected via a synchronous shaft.

[0065] like Figure 5 and Figure 6 As shown, in some examples, the warehouse robot is configured as a shuttle robot. The walking mechanism 300 includes a walking drive assembly 310 and first-direction wheel assemblies 320, with multiple first-direction wheel assemblies 320 respectively disposed on both sides of the vehicle body 100. The walking drive assembly 310 is connected to at least two oppositely disposed first-direction wheel assemblies 320, that is, the walking drive assembly 310 simultaneously drives two oppositely disposed first-direction wheel assemblies 320 to move, thereby moving the vehicle body 100 along the first direction. It should be noted that the first direction is the extension direction of the track.

[0066] For example, such as Figure 6 As shown, the walking drive assembly 310 includes a drive motor and a belt drive assembly. Two first-direction wheel assemblies 320, which are arranged opposite each other, are connected by a synchronous shaft. The drive motor is connected to the synchronous shaft via the belt drive assembly. The two first-direction wheel assemblies 320 at the other end of the vehicle body 100 are each separately arranged and not connected to the walking drive assembly 310; they are driven wheels.

[0067] Reference Figure 7As shown, the warehouse robot is a four-way shuttle. Its walking mechanism 300 includes a walking drive component 310, a first-direction wheel assembly 320, a second-direction walking component, and a reversing component 340. The walking drive component 310 is used to selectively drive the first-direction wheel assembly 320 and the second-direction wheel assembly 330 to walk. The reversing component 340 is used to switch the first-direction wheel assembly 320 and the second-direction wheel assembly 330 to contact the corresponding track, so as to drive the vehicle body 100 to move along the first direction or along the second direction. The walking mechanism 300 of the four-way shuttle is set to the prior art and will not be described in detail here. It should be noted that the second direction is the direction perpendicular to the first direction. A track is preset in this direction, and the second-direction wheel assembly 330 can cooperate with the track in this direction.

[0068] Additionally, refer to Figures 5 to 7 As shown, in some examples, both telescopic forks 200 are slidably connected to the vehicle body 100 via slide rails. The two telescopic forks 200 are connected by a spacing adjustment assembly 400, which is fixedly mounted on the vehicle body 100. The spacing adjustment assembly 400 is used to adjust the distance between the two telescopic forks 200 to accommodate different sized hoppers. It should be noted that in these examples, the two telescopic forks 200 are connected via a splined shaft 1300, and the two telescopic forks 200 can move along the splined shaft 1300.

[0069] like Figure 5 and Figure 7 As shown, the spacing adjustment component 400 is configured as a synchronous belt drive structure, which is connected to two telescopic forks 200 respectively, and can drive the two telescopic forks 200 to move synchronously in opposite directions or in opposite directions. Specifically, one side of the telescopic fork 200 is connected to the upper part of the synchronous belt of the synchronous belt drive structure, and the other side of the telescopic fork is connected to the lower part of the synchronous belt, so as to achieve simultaneous movement in opposite directions or in opposite directions.

[0070] like Figure 6 As shown in these example sets, the spacing adjustment assembly 400 is configured as a screw-nut drive assembly, wherein the threads at both ends of the screw connecting the two telescopic forks 200 are in opposite directions, and each telescopic fork 200 is provided with a nut matching the thread direction. When the screw rotates, the two nuts move simultaneously in the same direction or in opposite directions, thereby driving the two telescopic forks 200 to move simultaneously towards or away from each other.

[0071] In some other examples, the spacing adjustment assembly 400 is configured as a rack and pinion drive assembly. Two telescopic forks 200 are each connected by a rack. A drive motor is located in the middle of the vehicle body 100, and a gear is provided at the end of the drive motor. Two racks mesh with the top and bottom ends of the gear, respectively. When the drive motor drives the gear to rotate, the two racks move simultaneously towards or away from each other, thereby causing the two telescopic forks 200 to move towards or away from each other.

[0072] Figure 8 This is a schematic diagram of the mechanism of the fourth type of warehouse robot provided in one embodiment of this application.

[0073] like Figure 8 As shown in the illustration, this application also provides a warehouse robot, which includes a frame 500, a loading platform 600, a walking drive mechanism 700, and a lifting drive mechanism 800. The walking drive mechanism 700 is mounted on the frame 500 and connected to a track, driving the frame 500 to move along the track. The loading platform 600 is slidably mounted on the frame 500, and the lifting drive mechanism 800 drives the loading platform 600 to move up and down along the frame 500. The loading platform 600 is equipped with a high-position telescopic fork 200 as described above. When the lifting drive mechanism 800 moves the loading platform 600 to a designated height, the high-position telescopic fork 200 moves the toy box between the loading platform 600 and the designated location. It should be noted that the walking drive mechanism 700 and the lifting drive mechanism 800 are prior art and will not be described in detail here.

[0074] Figure 9 This is a schematic diagram of the mechanism of the fifth type of warehouse robot provided in one embodiment of this application.

[0075] like Figure 9 As shown in the illustration, this application provides another type of warehouse robot, which includes a mother cart 900 and a loading platform 600. The mother cart 900 is equipped with a hoisting mechanism connected to the loading platform 600, which drives the loading platform 600 to rise and fall. The mother cart 900 moves along a track connected to the shelving via a traveling mechanism 300. The loading platform 600 is equipped with the aforementioned high-position telescopic forks 200. The mother cart 900 drives the loading platform 600 to move horizontally, the hoisting mechanism controls the lifting and lowering of the loading platform 600, and the loading platform 600 eventually moves to the designated storage location. The high-position telescopic forks 200 move the toy box between the storage location and the loading platform 600. It should be noted that the mother cart 900, the hoisting mechanism, and the traveling mechanism 300 are all prior art and will not be described in detail here.

[0076] Additionally, refer to Figures 5 to 7As shown, in some examples, a radar detection component 1100 is installed at the middle position of the telescopic fork 200. This component can detect whether the hopper has shifted, determine the distance between the two telescopic forks 200, monitor the status of the lever on the movable fork 220, and facilitate obstacle avoidance for the warehouse robot. A barcode scanner 1200 is installed on the vehicle body 100 to scan and locate the QR codes on the shelves, thereby accurately locating the picking and placing positions.

[0077] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0078] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A high-position telescopic fork, characterized in that: include: Fixed fork body (210); At least one telescopic movable fork (220), the movable fork (220) being directly or indirectly connected to the fixed fork (210); A flexible transmission component (230) is used to drive the movable fork (220) to move; A height-lifting guide mechanism (240) is used to support the flexible transmission component (230); A drive component (250) is used to drive the flexible transmission component (230) to rotate cyclically; The driving component (250) and the height lifting guide mechanism (240) are both mounted on the fixed fork (210), the flexible transmission component (230) is wound around the height lifting guide mechanism (240), and the movable fork (220) is connected to the flexible transmission component (230). The height lifting guide mechanism (240) is used to raise the height of the movable fork (220), and the drive component (250) drives the movable fork (220) to extend and retract through the flexible transmission component (230).

2. The high-position telescopic fork according to claim 1, characterized in that, The flexible transmission component (230) is a synchronous belt, and the movable fork (220) is provided with a rack that meshes with the synchronous belt; Alternatively, the flexible transmission component (230) may be a chain, and the movable fork (220) may be provided with chain teeth that mesh with the chain.

3. The high-position telescopic fork according to claim 2, characterized in that, The height lifting guide mechanism (240) includes a first guide wheel (241) and a second guide wheel (242). The first guide wheel (241) and the second guide wheel (242) are both disposed on the fixed fork body (210), and the second guide wheel (242) is located above the first guide wheel (241). The flexible transmission component (230) is sequentially wound around the first guide wheel (241) and the second guide wheel (242).

4. The high-position telescopic fork according to claim 3, characterized in that, The height lifting guide mechanism (240) further includes a support member (243), one end of which is connected to the first guide wheel (241) and the other end of which is connected to the second guide wheel (242); Alternatively, one end of the support member (243) is connected to the first guide wheel (241), and the other end is connected to the fixed fork (210).

5. The high-position telescopic fork according to claim 3, characterized in that, Two height lifting guide mechanisms (240) are provided. Multiple intermediate support wheels (260) are provided between the first guide wheels (241) of the two height lifting guide mechanisms (240). The intermediate support wheels (260) are used to support the flexible transmission component (230).

6. The high-position telescopic fork according to claim 2, characterized in that, The movable fork (220) is one of a single-stage extension fork structure, a two-stage extension fork structure, or a three-stage extension fork structure.

7. A warehouse robot, characterized in that: The device includes a vehicle body (100), a traveling mechanism (300), and a high-position telescopic fork (200) as described in any one of claims 1-6. The high-position telescopic fork (200) is used to be mounted on the vehicle body (100), the traveling mechanism (300) is used to drive the vehicle body (100) to move along a preset track, and the high-position telescopic fork (200) is used to pull the material box on the shelf into the vehicle body (100), or to push the material box in the vehicle body (100) onto the shelf.

8. The warehouse robot according to claim 7, characterized in that, The warehousing robot is a shuttle robot. The walking mechanism (300) includes a walking drive assembly (310) and a first direction wheel assembly (320). The walking drive assembly (310) is disposed on the vehicle body (100). A plurality of first direction wheel assemblies (320) are respectively disposed on both sides of the vehicle body (100). The walking drive assembly (310) is connected to at least two oppositely disposed first direction wheel assemblies (320) to drive the vehicle body (100) to move along the first direction. Alternatively, the walking mechanism (300) includes a walking drive assembly (310), a first direction wheel assembly (320), a second direction walking assembly, and a reversing assembly (340). The walking drive assembly (310) is used to selectively drive the first direction wheel assembly (320) and the second direction wheel assembly (330) to walk. The reversing assembly (340) is used to switch the first direction wheel assembly (320) and the second direction wheel assembly (330) to contact the corresponding track, so as to drive the vehicle body (100) to move along the first direction or along the second direction.

9. The warehouse robot according to claim 8, characterized in that: Two high-position telescopic forks (200) are provided, and a spacing adjustment component (400) is provided between the two telescopic forks. The spacing adjustment component (400) is used to adjust the distance between the two high-position telescopic forks (200).

10. The warehouse robot according to claim 9, characterized in that: The spacing adjustment component (400) is a synchronous belt drive structure, which drives the two high-position telescopic forks (200) to move synchronously towards or away from each other. Alternatively, the spacing adjustment component (400) is a lead screw drive structure, and the spacing adjustment component (400) drives the two high-position telescopic forks (200) to move synchronously towards each other or away from each other; Alternatively, the spacing adjustment component (400) may be a rack and pinion drive structure, which drives the two high-position telescopic forks (200) to move synchronously toward or away from each other.

11. A warehouse robot, characterized in that: The device includes a frame (500), a loading platform (600), a travel drive mechanism (700), and a lifting drive mechanism (800). The loading platform (600) is equipped with a high-position telescopic fork as described in any one of claims 1-6. The frame (500) travels on a track on the shelf via the travel drive mechanism (700). The lifting drive mechanism (800) is used to drive the loading platform (600) to move up and down along the frame (500).

12. A warehouse robot, characterized in that: It includes a mother car (900) and a loading platform (600). The mother car (900) drives the loading platform (600) to move up and down through a hoisting mechanism. The mother car (900) travels on a track on the shelf through a traveling mechanism (300). The loading platform (600) is equipped with a high-position telescopic fork as described in any one of claims 1-6.

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