Fork adjustment system for intelligent transfer robot

Abstract

Disclosed is a fork adjustment system for an intelligent transfer robot. The fork adjustment system comprises a fork frame (1), a fork (3), and a machine vision system, wherein the fork frame (1) is mounted on an unmanned forklift, the fork (3) is connected to the fork frame (1), the machine vision system is mounted on the fork frame (1) and moves synchronously with the fork (3), and the machine vision system is configured to acquire a 3D image of fork hole (52) of goods with a random height and to calculate the height and horizontal offset of the fork hole (52). The fork frame comprises a first crossbeam (11) and a second crossbeam (12). The fork comprises a hanger (31), an upright rod (32), and a fork rod (33), wherein the hanger (31) is mounted on the first crossbeam (11), and the hanger (31) can rotate and move radially relative to the center line of the first crossbeam (11); and the upright rod (32) abuts against the second crossbeam (12). The fork frame (1) is connected to the fork (3) by means of a driving system (2), wherein the driving system (2) lifts the fork (3) relative to the fork frame (1) by means of a first elastic member (22), a second elastic member (24) and a third elastic member (26); and a first driver (21), a second driver (22) and a third driver (23) are also used to adjust the vertical pitch angle and the horizontal swing angle of the fork (3), so as to enable the fork (3) to be precisely aligned with the fork hole.

Description

A fork adjustment system for an intelligent handling robot Technical Field

[0001] The present invention relates to the field of intelligent handling robots, and in particular to a fork adjustment system of an intelligent handling robot. Background Art

[0002] The gypsum boards 5 are stacked in a dense stacking manner, usually 110 gypsum boards 5 are stacked into one rack, and pads 51 are placed under the entire rack of gypsum boards. Instead of using shelves, four racks of goods are stacked vertically in one position.

[0003] 1 , the height of the fork holes 52 of each layer of cargo may vary randomly due to the type of cargo, processing errors, and the floor surface.

[0004] FIG1( a ) shows a stack of shorter gypsum boards 5 ;

[0005] FIG1( b ) shows a stack of gypsum boards 5 of a relatively long length;

[0006] FIG1( c ) shows the stacking form of the gypsum boards 5 when the ground is tilted left or right;

[0007] FIG1( d ) shows the stacking form of the gypsum boards 5 when the ground is tilted forward and backward;

[0008] Since the position of the fork hole 52 is unknown, the intelligent transport robot cannot use the traditional unmanned forklift's control method of raising and lowering the fork 3 at a fixed height to transport the entire gypsum board. If the fork 3 cannot be accurately aligned with the fork hole 52, it will affect the normal picking and placing of goods, and in serious cases, the goods will be damaged.

[0009] Summary of the Invention

[0010] The object of the present invention is to provide a fork adjustment system for an intelligent handling robot to solve the technical problem that the forks of the intelligent handling robot are difficult to accurately align with the fork holes.

[0011] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0012] A fork adjustment system for an intelligent handling robot comprises: a fork frame, forks, and a machine vision system; the forks are connected to the fork frame, and the machine vision system is mounted on the fork frame and moves synchronously with the forks. The machine vision system is used to capture 3D images of fork holes for goods of random heights and calculate the height and horizontal offset of the fork holes.

[0013] Furthermore, an obstacle avoidance device is installed on the side of the fork, and the obstacle avoidance device is used to work when the fork enters and exits the fork hole, and sends a signal when it approaches or touches an object; the obstacle avoidance device adopts any one of a proximity sensor, a pressure sensor or a contact displacement sensor, and the obstacle avoidance device is installed at any one or several locations around the fork.

[0014] Furthermore, the obstacle avoidance device includes a pressure strip, which is slidably connected or elastically connected to the fork so that the pressure strip can move or deform toward the fork when squeezed, and when the fork contacts the goods, the pressure strip is completely immersed under the top surface of the fork. The fork is fixedly connected to a pressure sensor, which is installed in the direction of movement or deformation of the pressure strip, and the sensing end of the pressure sensor is connected to or against the pressure strip.

[0015] 14. The repairing kit for automotive dents, according to claim 13, wherein the foot stand comprises a through-hole, and the two foot stands are connected to each other with a bolt, and the bolt has a round shank to contact with the foot stand of the foot stand. The drive system moves, and the drive system includes: a first drive, a second drive and a third drive; the first drive and the second drive are connected to both sides of the width direction of the fork through a first elastic member and a second elastic member respectively, and the actuators of the first drive and the second drive are close to the top of the fork, and the first drive and the second drive are used to drive the fork to rise, fall or swing around the center line of the fork rod; the third drive is connected to the fork through a third elastic member, and the actuator of the third drive is close to the bottom of the fork, and the third drive is used to drive the fork to rotate around the center line of the first crossbeam so that the distal end of the fork rod is lifted up or drooped; when the goods are lifted by the fork, the first elastic member, the second elastic member and the third elastic member are compressed until the fork and the fork frame are in rigid contact.

[0016] Furthermore, the first elastic member, the second elastic member and the third elastic member are all oil pressure buffers.

[0017] Furthermore, the side of the vertical pole facing the second crossbeam includes a first wall and a second wall, the first wall is located above the second wall, and the distance between the first wall and the second crossbeam is smaller than the distance between the second wall and the second crossbeam; when the first crossbeam contacts the top wall of the first groove, the second crossbeam contacts the first wall, and the top of the fork rod is horizontal; when the first crossbeam is separated from the top wall of the first groove, the first wall is located above the second crossbeam.

[0018] Furthermore, the fork includes a limit rod formed as an integral part with the vertical rod; the limit rod is vertically arranged, the second cross beam is arranged between the vertical rod and the limit rod, and the distance between the second wall and the limit rod is greater than the maximum distance between any two points at the same height on the cross section of the second cross beam.

[0019] Furthermore, the fork also includes a second groove opening downward, the length direction of the second groove is perpendicular to the length direction of the fork rod, and the cross-section of the second groove is hemispherical, the ends of the first elastic member and the second elastic member are inserted into the interior of the second groove, and the ends of the first elastic member and the second elastic member are hemispherical; the fork also includes a third groove opening away from the upright pole, the length direction of the third groove is parallel to the length direction of the fork rod, and the cross-section of the third groove is hemispherical, the end of the third elastic member is inserted into the interior of the third groove, and the end of the third elastic member is hemispherical.

[0020] Furthermore, the driving system also includes a fourth driver, which is connected to the first driver, the second driver and the third driver through a slider, and the fourth driver is used to drive the slider to move along the length direction of the first beam.

[0021] and a lifting mechanism is installed in the lifting mode of the lifting device, and the lifting mechanism is installed in the lifting mode of the lifting device, and the lifting mechanism is installed in the lifting mode of the lifting device. Each of the forks is moved by a drive system, which includes: a first drive, a second drive, and a third drive; the first drive and the second drive are connected to both sides of the fork in the width direction through a first elastic member and a second elastic member respectively, and the actuators of the first drive and the second drive are close to the top of the fork, and the first drive and the second drive are used to drive the fork to rise, fall or swing around the center line of the fork rod; the third drive is connected to the fork through a third elastic member, and the actuator of the third drive is close to the bottom of the fork, and the third drive is used to drive the fork to rotate around the center line of the first beam so that the distal end of the fork rod is lifted up or drooped; when the goods are lifted by the fork, the first elastic member, the second elastic member and the third elastic member are compressed until the fork and the fork frame are in rigid contact.

[0022] Compared with the prior art, this application has the following beneficial effects:

[0023] A fork adjustment system for an intelligent handling robot is provided. The system uses a vision system to collect 3D images of fork holes of random-height cargo and calculate the height and horizontal offset of the fork holes. An unmanned forklift is used to adjust the angle of the fork frame and the position of the forks so that the forks can be accurately aligned with the fork holes.

[0024] A fork adjustment system for an intelligent handling robot is provided. The system uses a first elastic member, a second elastic member, and a third elastic member to float the fork relative to the fork frame. At the same time, the first drive, the second drive, and the third drive are used to adjust the vertical pitch and left-right swing angles of the fork so that the fork can be accurately aligned with the fork hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0026] FIG1 is a schematic diagram of a stack of gypsum boards;

[0027] FIG2 is a schematic structural diagram of a fork lever according to an embodiment of the present invention;

[0028] FIG3 is a perspective view of a fork frame, forks and a drive system according to an embodiment of the present invention;

[0029] FIG4 is a top view of a fork frame, forks and a drive system according to an embodiment of the present invention;

[0030] FIG5 is a cross-sectional view taken along the AA direction of FIG4 ;

[0031] FIG6 is a perspective view of a drive system according to an embodiment of the present invention;

[0032] FIG7 is a perspective view of a partial structure of a fork according to an embodiment of the present invention;

[0033] FIG8 is a side view of a fork and a fork lever according to an embodiment of the present invention, wherein (a) and (b) respectively illustrate two different pitch angles of the fork;

[0034] FIG9 is a front view of a fork and a fork lever according to an embodiment of the present invention, showing a left-right swing angle of the fork;

[0035] FIG10 is a side view of a fork and a fork lever according to an embodiment of the present invention, showing a left-right swing angle of the fork;

[0036] The numbers in the figure represent the following:

[0037] 1-Fork frame; 11-Frame; 12-First crossbeam; 13-Second crossbeam; 2-Drive system; 21-First driver; 22-First elastic member; 23-Second driver; 24-Second elastic member; 25-Third driver; 26-Third elastic member; 27-Fourth driver; 28-Slider; 3-Fork; 31-Hanging device; 311-First groove; 312-Second groove; 32-Vertical pole; 321-First wall; 322-Second wall; 33-Fork rod; 34-Limiting rod; 341-Third groove; 4-Pressing strip; 5-Gypsum board; 51-Padding strip; 52-Fork hole. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] The following provides a fork adjustment system for an intelligent handling robot, the fork adjustment system comprising: a fork frame 1, a fork 3 and a machine vision system;

[0040] The fork frame 1 is installed on a conventional unmanned forklift, which provides the fork frame 1 with four degrees of freedom: automatic walking, lifting and pitching. Among them, free walking on the road is two degrees of freedom.

[0041] The fork 3 is connected to the fork frame 1, and the machine vision system is installed on the fork frame 1 and moves synchronously with the fork 3. The machine vision system includes a 3D camera, which is used to capture 3D images and transmit them to the controller. The controller calculates the height recognition and horizontal offset recognition of the fork hole 52 of random height goods based on the 3D vision recognition algorithm, and the height recognition accuracy is ±5mm.

[0042] Another problem is usually encountered when the fork 3 enters and exits the fork hole 52. It is known that the thickness of the fork 3 is 45 mm, and the theoretical height of the fork hole 52 is 75 to 85 mm. Since the part of the gypsum board 5 located above the fork hole 52 naturally droops under the action of gravity, the actual height of the fork hole 52 is only 65 to 70 mm.

[0043] Therefore, during the process of picking up and placing goods, the vertical clearance between the fork 3 and the fork hole 52 is only about 10 mm. Due to the influence of uneven ground or uneven goods, the vertical clearance between the fork 3 and the fork hole 52 is even smaller, and in special cases it may be zero, which can easily cause the fork 3 to collide with the goods or the ground, and even cause damage.

[0044] To solve the above problem, please refer to Figure 2:

[0045] An obstacle avoidance device is installed on the side of the fork 3. The obstacle avoidance device is used to work when the fork 3 enters and exits the fork hole 52, and sends a signal when it approaches or touches an object. The intelligent handling robot stops working and moves the position of the fork 3 in the opposite direction of the obstacle avoidance device that sent the signal, and then continues to work, thereby preventing the fork 3 from damaging the goods when entering and exiting.

[0046] The obstacle avoidance device adopts any one of a proximity sensor, a pressure sensor or a contact displacement sensor, which is installed at any one or several of the above, below, left and right sides of the fork 3.

[0047] The proximity sensor may be any one of a visual sensor, a laser sensor, an infrared sensor, and an ultrasonic sensor.

[0048] The obstacle avoidance device shown in Figure 2 includes a pressure bar 4, which is slidably connected or elastically connected to the fork 3 so that the pressure bar 4 can move or deform toward the fork 3 when squeezed, and when the fork 3 contacts the cargo, the pressure bar 4 is completely submerged under the top surface of the fork 3.

[0049] A pressure sensor is buried under the pressure strip 4 , fixedly connected to the fork 3 , installed in the direction of movement or deformation of the pressure strip 4 , and the sensing end of the pressure sensor is connected to or against the pressure strip 4 .

[0050] The pressure sensor is used to send a signal when the pressure bar 4 moves toward the fork 3 or deforms to make the intelligent handling robot stop working, and continue working after moving the fork 3 in the opposite direction of the pressure sensor that sent the signal.

[0051] Since the cargo is a gypsum board 5, the surface of which is relatively flat, the obstacle avoidance device can solve the problem of the fork 3 easily colliding with the cargo. However, the ground is difficult to achieve the same flatness as the gypsum board 5. Therefore, when the obstacle avoidance device is running, the fork 3 will often trigger the protection, that is, the intelligent transport robot stops working and adjusts the position of the fork 3 before continuing to work, which results in low working efficiency of the intelligent transport robot.

[0052] To solve the above problem, it is necessary to increase the degree of freedom of the fork 3 so that the fork 3 can tilt itself adaptively following the inclination angle of the ground. The existing unmanned forklift can only provide the fork 3 with the pitch freedom through the pitch of the fork frame 1, and cannot provide the freedom to deflect along with the left and right inclination of the ground.

[0053] However, this problem cannot be solved simply by increasing the degrees of freedom of the forks 3 or the fork frame 1 .

[0054] It is unreliable to add a degree of freedom between the unmanned forklift and the fork frame 1 so that the fork frame 1 can rotate around the forward and backward direction of the unmanned forklift. This will cause the lifting path of the fork frame 1 to be at an angle to the direction of gravity, and the unmanned forklift will overturn when lifting heavier objects.

[0055] Adding a degree of freedom between the fork frame 1 and the forks 3 to allow the forks 3 to rotate around the forward and backward directions of the unmanned forklift is also unreliable. This will cause an angle between the goods picked up by the forks 3 and the horizontal plane. During the forward, backward and turning process of the unmanned forklift, several gypsum boards 5 located on the upper part of the entire gypsum board rack will easily slide to the side.

[0056] To solve the above technical problems, please refer to Figures 3, 4, 5, and 6:

[0057] The fork frame 1 comprises: a frame 11, a first crossbeam 12 and a second crossbeam 13 which are fixedly connected;

[0058] The first crossbeam 12 and the second crossbeam 13 are both arranged horizontally, and the first crossbeam 12 is located above the second crossbeam 13;

[0059] The fork 3 includes: a hanger 31, a vertical rod 32 and a fork rod 33 formed into an integral part;

[0060] The hanger 31 includes a first groove 311 opening downward, and the hanger 31 is hung on the first beam 12 through the first groove 311. The width of the first groove 311 is greater than the maximum distance between any two points on the cross section of the first beam 12, so that the hanger 31 can rotate and move radially relative to the center line of the first beam 12.

[0061] The vertical rod 32 is arranged vertically, and the upper and lower ends of the vertical rod 32 are respectively connected to the hanger 31 and the fork rod 33. The fork rod 33 extends straightly in a direction away from the fork frame 1. The vertical rod 32 includes a first wall 321. When the first wall 321 abuts against the second crossbeam 13, the top surface of the fork rod 33 is in a horizontal state.

[0062] The fork frame 1 is connected to the forks 3 through the drive system 2. Each fork 3 is moved by a drive system 2. The drive system 2 includes: a first drive 21, a second drive 23 and a third drive 25;

[0063] The first driver 21 and the second driver 23 are connected to both sides of the fork 3 in the width direction through the first elastic member 22 and the second elastic member 24 respectively, and the actuators of the first driver 21 and the second driver 23 are close to the top of the fork 3. The first driver 21 and the second driver 23 are used to drive the fork 3 to rise, fall or swing around the center line of the fork rod 33;

[0064] The third actuator 25 is connected to the fork 3 via the third elastic member 26, and the actuator of the third actuator 25 is close to the bottom of the fork 3. The third actuator 25 is used to drive the fork 3 to rotate around the center line of the first crossbeam 12, so that the distal end of the fork rod 3 is raised or lowered.

[0065] When the cargo is lifted by the fork 3 , the first elastic member 22 , the second elastic member 24 and the third elastic member 26 are compressed until the fork 3 and the fork frame 1 are in rigid contact.

[0066] Since the center of gravity of the fork 3 is close to the fork rod 33 , the vertical rod 32 is always in contact with the second crossbeam 13 when no external force is applied.

[0067] The first driver 21 , the second driver 23 and the third driver 25 are all electric push rods.

[0068] 8 , 9 , and 10 , each fork 3 obtains two degrees of freedom of pitching up and down and swinging left and right through the first driver 21 , the second driver 23 , and the third driver 25 connected thereto, thereby making it easy for the fork rod 33 to be inserted into the fork hole 52 close to the ground.

[0069] During the process of the fork rod 33 lifting the entire gypsum board, the first elastic member 22, the second elastic member 24 and the third elastic member 26 are not compressed at the same time. The two first elastic members 22 and the two second elastic members 24 are compressed first. These four elastic members are compressed in descending order according to their own heights until the first crossbeam 12 contacts the top wall of the first groove 311. At this time, the goods are in a horizontal posture in the left and right directions. Then the two third elastic members 26 are compressed at the same time until the vertical rod 32 contacts the second crossbeam 13. At this time, the goods are in a horizontal posture in the front and back directions. This process is used to ensure that when the entire gypsum board is lifted or lowered, the several gypsum boards 5 located above are not easy to slide to the side.

[0070] 5 , when the weight of the entire rack of gypsum boards is fully loaded on the fork rod 33 , the fork 3 and the fork frame 1 are in rigid contact, so that the entire rack of gypsum boards can be lifted or lowered smoothly.

[0071] 5 and 6 , when the fork rod 33 is in an unloaded state, the fork 3 and the fork frame 1 should be non-contacting, allowing the fork 3 to be easily driven by the first driver 21 , the second driver 23 , and the third driver 25 to pitch up and down and swing left and right. Therefore, the first elastic member 22 , the second elastic member 24 , and the third elastic member 26 should have sufficient elastic force to allow the fork 3 to float relative to the fork frame 1 .

[0072] In this embodiment, the first elastic member 22, the second elastic member 24 and the third elastic member 26 are all hydraulic buffers. The hydraulic buffers can not only elastically support the fork 3 and automatically reset, but also provide damping force to the movement of the fork 3, so that the fork 3 can move more smoothly.

[0073] When the fork 3 bears the load, the entire gypsum board should be horizontal, so the top surface of the fork rod 33 should be horizontal to achieve this purpose.

[0074] The side of the vertical rod 32 facing the second crossbeam 13 includes a first wall 321 and a second wall 322 . The first wall 321 is located above the second wall 322 . The distance between the first wall 321 and the second crossbeam 13 is smaller than the distance between the second wall 322 and the second crossbeam 13 .

[0075] 5 , when the first crossbeam 12 contacts the top wall of the first groove 311 , the second crossbeam 13 contacts the first wall 321 , and the top of the fork rod 33 is horizontal;

[0076] 8 , when the first beam 12 is separated from the top wall of the first groove 311 , the first wall 321 is located above the second beam 13 . At this time, the fork 3 has the freedom to pitch.

[0077] The fork 3 includes: a limiting rod 34 formed as an integral part with the upright rod 32;

[0078] The limiting rod 34 is vertically arranged, the second crossbeam 13 is arranged between the vertical rod 32 and the limiting rod 34, and the distance between the second wall 322 and the limiting rod 34 is greater than the maximum distance between any two points at the same height on the cross section of the second crossbeam 13.

[0079] Preferably, the third groove 341 is formed on a side of the limiting rod 34 away from the vertical rod 32 .

[0080] The limit rod 34 is used to limit the swing angle of the upright 32 during the operation of the unmanned forklift, reduce the vibration of the fork 3, and reduce the movement tendency of the fork 3 to separate from the fork frame 1.

[0081] 7 , the fork 3 further includes a second groove 312 opening downward. The length direction of the second groove 312 is perpendicular to the length direction of the fork rod 33, and the cross-section of the second groove 312 is hemispherical. The ends of the first elastic member 22 and the second elastic member 24 are inserted into the interior of the second groove 312, and the ends of the first elastic member 22 and the second elastic member 24 are hemispherical.

[0082] When the fork 3 pitches up and down, the fork 3 rotates around the axis of the second groove 312 ; when the fork 3 swings left and right, the first elastic member 22 and the second elastic member 24 move along the length direction of the second groove 312 .

[0083] Preferably, the second groove 312 is formed on the hanger 31 .

[0084] 7 , the fork 3 further includes a third groove 341 opening away from the upright 32 . The length direction of the third groove 341 is parallel to the length direction of the fork rod 33 , and the cross-section of the third groove 341 is hemispherical. The end of the third elastic member 26 is inserted into the interior of the third groove 341 , and the end of the third elastic member 26 is hemispherical.

[0085] When the fork 3 pitches up and down, the third elastic member 26 moves along the length direction of the third groove 341 ; when the fork 3 swings left and right, the fork 3 rotates around the end of the third elastic member 26 .

[0086] The fork frame 1 should provide each fork 3 with one degree of freedom of lateral movement. This purpose can be achieved by a servo screw slide installed on the fork frame 1 and connected to the fork 3, so that each fork 3 can adaptively move laterally the required distance, so that each fork 3 corresponds to the fork hole 52 that it needs to enter and exit.

[0087] For details, please refer to Figures 5 and 6.

[0088] The driving system 2 further includes a fourth driver 27 , which is connected to the first driver 21 , the second driver 23 and the third driver 25 via a slider 28 . The fourth driver 27 is used to drive the slider 28 to move along the length direction of the first crossbar.

[0089] The fourth driver 27 adopts a servo screw slide.

[0090] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the spirit and scope of protection of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the embodiments of the present invention.

Claims

1. A fork adjustment system for an intelligent handling robot, characterized in that: include: A fork frame (1), a fork (3) and a machine vision system; The fork frame (1) is installed on an unmanned forklift, the fork (3) is connected to the fork frame (1), a machine vision system is installed on the fork frame (1) and moves synchronously with the fork (3), and the machine vision system is used to collect a 3D image of a fork hole (52) of random height goods and calculate the height and horizontal offset of the fork hole (52).

2. The fork adjustment system of the intelligent handling robot according to claim 1, characterized in that: An obstacle avoidance device is installed on the side of the cargo fork (3), and the obstacle avoidance device is used to work when the cargo fork (3) enters and exits the fork hole (52), and to send a signal when approaching or touching an object; The obstacle avoidance device adopts any one of a proximity sensor, a pressure sensor or a contact displacement sensor, and the obstacle avoidance device is installed at any one or several locations around the fork (3).

3. The fork adjustment system of the intelligent handling robot according to claim 2, characterized in that: The obstacle avoidance device comprises a pressure strip (4), wherein the pressure strip (4) is slidably connected or elastically connected to the cargo fork (3), so that the pressure strip (4) can move or deform toward the cargo fork (3) when squeezed, and when the cargo fork (3) contacts the cargo, the pressure strip (4) is completely immersed below the top surface of the cargo fork (3), and the cargo fork (3) is fixedly connected to a pressure sensor, which is installed in the direction of movement or deformation of the pressure strip (4), and the sensing end of the pressure sensor is connected to or abuts against the pressure strip (4).

4. A fork adjustment system for an intelligent handling robot according to any one of claims 1 to 3, characterized in that: The fork frame (1) comprises: a frame (11), a first crossbeam (12) and a second crossbeam (13) which are fixedly connected; The first crossbeam (12) and the second crossbeam (13) are both arranged horizontally, and the first crossbeam (12) is located above the second crossbeam (13); The cargo fork (3) comprises: a hanger (31), a vertical rod (32) and a fork rod (33) which are formed into an integral part; The hanger (31) comprises a first groove (311) opening downwards, and the hanger (31) is The first groove (311) is mounted on the first crossbeam (12), and the width of the first groove (311) is greater than the maximum distance between any two points on the cross section of the first crossbeam (12), so that the hanger (31) can rotate and move radially relative to the center line of the first crossbeam (12); The vertical rod (32) is arranged vertically, and the upper and lower ends of the vertical rod (32) are respectively connected to the hanger (31) and the fork rod (33), and the fork rod (33) extends straightly in a direction away from the fork frame (1). When the vertical rod (32) abuts against the second cross beam (13), the top surface of the fork rod (33) is in a horizontal state; The fork frame (1) is connected to the forks (3) via a drive system (2), and each fork (3) is moved by one of the drive systems (2), wherein the drive system (2) comprises: a first drive (21), a second drive (23) and a third drive (25); The first driver (21) and the second driver (23) are connected to two sides of the fork (3) in the width direction through a first elastic member (22) and a second elastic member (24), respectively, and the actuators of the first driver (21) and the second driver (23) are close to the top of the fork (3), and the first driver (21) and the second driver (23) are used to drive the fork (3) to rise, fall or swing around the center line of the fork rod (33); The third driver (25) is connected to the fork (3) via a third elastic member (26), and the actuator of the third driver (25) is close to the bottom of the fork (3). The third driver (25) is used to drive the fork (3) to rotate around the center line of the first crossbeam (12) so that the distal end of the fork rod (33) is lifted or drooped; When the cargo is lifted by the cargo fork (3), the first elastic member (22), the second elastic member (24) and the third elastic member (26) are compressed until the cargo fork (3) and the cargo fork frame (1) are in rigid contact.

5. The fork adjustment system of the intelligent handling robot according to claim 4, characterized in that: The first elastic member (22), the second elastic member (24) and the third elastic member (26) are all oil pressure buffers.

6. The fork adjustment system of the intelligent handling robot according to claim 4, characterized in that: A side of the vertical rod (32) facing the second cross beam (13) comprises a first wall (321) and a second wall (322), wherein the first wall (321) is located above the second wall (322), and the distance between the first wall (321) and the second cross beam (13) is smaller than the distance between the second wall (322) and the second cross beam (13); When the first cross beam (12) contacts the top wall of the first groove (311), the second cross beam (13) contacts the first wall (321), and the top of the fork rod (33) is horizontal; When the first cross beam (12) is separated from the top wall of the first groove (311), the first wall (321) is located above the second cross beam (13).

7. The fork adjustment system of the intelligent handling robot according to claim 6, characterized in that: The cargo fork (3) comprises: a limiting rod (34) which is formed as an integral part with the vertical rod (32); The limiting rod (34) is arranged vertically, the second cross beam (13) is arranged between the vertical rod (32) and the limiting rod (34), and the distance between the second wall (322) and the limiting rod (34) is greater than the maximum distance between any two points at the same height on the cross section of the second cross beam (13).

8. The fork adjustment system of the intelligent handling robot according to claim 4, characterized in that: The cargo fork (3) further comprises a second groove (312) opening downward, the length direction of the second groove (312) being perpendicular to the length direction of the fork rod (33), and the cross section of the second groove (312) being in a hemispherical shape, the ends of the first elastic member (22) and the second elastic member (24) being inserted into the interior of the second groove (312), and the ends of the first elastic member (22) and the second elastic member (24) being in a hemispherical shape; The fork (3) further comprises a third groove (341) opening away from the upright rod (32), the length direction of the third groove (341) being parallel to the length direction of the fork rod (33), and the cross section of the third groove (341) being hemispherical, the end of the third elastic member (26) being inserted into the interior of the third groove (341), and the end of the third elastic member (26) being hemispherical.

9. The fork adjustment system of the intelligent handling robot according to claim 4, characterized in that: The driving system (2) further comprises a fourth driver (27), wherein the fourth driver (27) is connected to the first driver (21), the second driver (23) and the third driver (25) via a slider (28), and the fourth driver (27) is used to drive the slider (28) to move along the length direction of the first beam (12).

10. A fork adjustment system for an intelligent handling robot. It is characterized in that It comprises: a fork frame (1) and a fork (3); The fork frame (1) comprises: a frame (11), a first crossbeam (12) and a second crossbeam (13) which are fixedly connected; The first crossbeam (12) and the second crossbeam (13) are both arranged horizontally, and the first crossbeam (12) is located above the second crossbeam (13); The cargo fork (3) comprises: a hanger (31), a vertical rod (32) and a fork rod (33) which are formed into an integral part; The hanger (31) comprises a first groove (311) opening downward, and the hanger (31) is mounted on the first crossbeam (12) through the first groove (311), and the width of the first groove (311) is greater than the maximum distance between any two points on the cross section of the first crossbeam (12), so that the hanger (31) can rotate and move radially relative to the center line of the first crossbeam (12); The vertical rod (32) is arranged vertically, and the upper and lower ends of the vertical rod (32) are respectively connected to the hanger (31) and the fork rod (33), and the fork rod (33) extends straightly in a direction away from the fork frame (1). When the vertical rod (32) abuts against the second cross beam (13), the top surface of the fork rod (33) is in a horizontal state; The fork frame (1) is connected to the forks (3) via a drive system (2), and each fork (3) is moved by one of the drive systems (2), wherein the drive system (2) comprises: a first drive (21), a second drive (23) and a third drive (25); The first driver (21) and the second driver (23) are connected to two sides of the fork (3) in the width direction through a first elastic member (22) and a second elastic member (24), respectively, and the actuators of the first driver (21) and the second driver (23) are close to the top of the fork (3), and the first driver (21) and the second driver (23) are used to drive the fork (3) to rise, fall or swing around the center line of the fork rod (33); The third driver (25) is connected to the fork (3) via a third elastic member (26), and The actuator of the third driver (25) is close to the bottom of the fork (3), and the third driver (25) is used to drive the fork (3) to rotate around the center line of the first crossbeam (12) so that the distal end of the fork rod (33) is lifted up or drooped; When the cargo is lifted by the cargo fork (3), the first elastic member (22), the second elastic member (24) and the third elastic member (26) are compressed until the cargo fork (3) and the cargo fork frame (1) are in rigid contact.

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