Fork mechanism, goods storage and retrieval device, and warehousing and logistics system

Abstract

A fork mechanism, a goods storage and retrieval device, and a warehousing and logistics system. The fork mechanism (FM) comprises: a mounting rack (10); a hook assembly (20) movably arranged on the mounting rack (10), wherein the hook assembly (20) comprises a hook body (21), and the hook body (21) is provided with a hooking and pulling portion (211) for hooking and pulling goods (GS); and a first driving assembly (30), which is in driving connection with the hook assembly (20) and is configured to drive the hook assembly (20) to move in a first direction (dr1), so as to achieve a hooking and pulling effect on the goods (GS) in the first direction (dr1) by means of the hooking and pulling portion (211).

Description

Fork mechanism, cargo storage and retrieval device and warehousing logistics system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on and claims priority to the Chinese patent application with application number 202311836799.3 and application date December 28, 2023. The disclosed content of the Chinese patent application is hereby introduced as a whole into this application. Technical Field

[0003] The present disclosure relates to the field of logistics, and in particular to a cargo fork mechanism, a cargo storage and retrieval device, and a warehousing and logistics system. Background Art

[0004] In a bin loading and unloading system, access forks are used to transfer bins between the forks and shelf locations. In some related technologies, access forks include clamping forks and lifting forks. Clamping forks extend fork plates on both sides of the cargo, and swing arms on the fork plates clamp the cargo between them, applying lateral push or pull forces to transfer the cargo. Lifting forks use a lifting mechanism to support and lift the cargo, working in conjunction with a lateral drive mechanism to transfer the cargo.

[0005] Summary of the Invention

[0006] After research, the inventors found that the clamping forks and lifting forks in the related art have requirements for the spacing between the material boxes stored on the shelves or the shelf height, which makes it difficult to achieve a higher shelf storage density. In addition, the forks have a slow speed in accessing the goods and low efficiency.

[0007] In view of this, the embodiments of the present disclosure provide a fork mechanism, a cargo storage and retrieval device, and a warehousing and logistics system, which are conducive to achieving a higher shelf storage density.

[0008] In one aspect of the present disclosure, there is provided a fork mechanism comprising:

[0009] Mounting rack;

[0010] A hook assembly is movably disposed on the mounting frame, the hook assembly comprising a hook body having a hooking portion for hooking and pulling goods; and

[0011] The first driving assembly is drivingly connected to the hook assembly and is configured to drive the hook assembly to move along the first direction, so as to achieve a hooking and pulling effect on the goods in the first direction through the hooking and pulling part.

[0012] In some embodiments, the hook body further has a pushing portion for pushing the goods, and the first driving assembly is further configured to drive the hook assembly to move along the second direction, so as to achieve a pushing effect on the goods in the second direction through the pushing portion.

[0013] In some embodiments, the hooking portion and the pushing portion are located on opposite sides of the hook body in the first direction, and the second direction is the opposite direction of the first direction.

[0014] In some embodiments, the hook assembly includes a bracket and at least one set of hooks connected to the bracket, each set of hooks including a single hook or a plurality of hooks located on the same side of the bracket.

[0015] In some embodiments, the at least one group of hooks includes a first group of hooks and a second group of hooks, the first group of hooks is located on a side of the bracket away from the second group of hooks along the first direction, and the second group of hooks is located on a side of the bracket away from the first group of hooks along the second direction;

[0016] Wherein, the first drive component is configured as:

[0017] driving the hook assembly to move in the first direction, so as to achieve a hooking and pulling effect on the goods in the first direction through the hooking and pulling parts of the first set of hook bodies, or to achieve a pushing effect on the goods in the first direction through the pushing parts of the second set of hook bodies; and / or

[0018] The driving hook assembly moves along the second direction to achieve a pushing effect on the goods in the second direction through the pushing portion of the first group of hook bodies, or to achieve a hooking and pulling effect on the goods in the second direction through the hooking and pulling portion of the second group of hook bodies.

[0019] In some embodiments, the at least one set of hooks comprises a single set of hooks;

[0020] Wherein, the first drive component is configured as:

[0021] The hook assembly is driven to move in a first direction so as to achieve a hooking and pulling action on the goods in the first direction by the hooking and pulling portion of the single hook body in the first rotational position, or to achieve a pushing action on the goods in the first direction by the pushing portion of the single hook body in the second rotational position, wherein the single hook body is switched between the first rotational position and the second rotational position by rotating, and the single hook body in the first rotational position and the single hook body in the second rotational position are symmetrical about each other; and / or

[0022] The hook assembly is driven to move in the second direction to push the goods in the second direction through the pushing portion of the single set of hooks in the third rotation position, or to pull the goods in the second direction through the pulling portion of the single set of hooks in the fourth rotation position, wherein the single set of hooks is switched between the third rotation position and the fourth rotation position by rotating, and the single set of hooks in the third rotation position and the single set of hooks in the fourth rotation position are symmetrical about the center.

[0023] In some embodiments, the hook portion is configured to enter or leave the hookable portion of the cargo in a direction that intersects both the first direction and the second direction.

[0024] In some embodiments, the hook portion is configured to enter a hookable portion of the cargo in a vertically upward direction.

[0025] In some embodiments, the first drive assembly includes:

[0026] a hook seat connected to the hook assembly; and

[0027] The first power element is connected to the hook seat through a first linear transmission structure, and is configured to drive the hook seat to move along the first direction or the second direction through the first linear transmission structure.

[0028] In some embodiments, the first linear transmission structure includes:

[0029] a transmission wheel assembly, disposed on the mounting frame and connected to the first power element; and

[0030] The transmission belt is wound around the transmission wheel set and is fixedly connected to the hook seat.

[0031] In some embodiments, the first drive assembly further comprises:

[0032] The first linear guide structure is disposed between the hook seat and the mounting frame, and is configured to guide the hook seat to move relative to the mounting frame in a first direction or a second direction.

[0033] In some embodiments, the first linear guide structure includes:

[0034] a first slide rail, disposed on the mounting frame and extending along a first direction; and

[0035] The first sliding block is arranged on the hook seat and is slidably matched with the first sliding rail.

[0036] In some embodiments, the fork mechanism further comprises:

[0037] a second driving assembly, drivingly connected to the hook assembly or the first driving assembly, and configured to drive the hook assembly to move in a third direction or in an opposite direction to the third direction;

[0038] The third direction is perpendicular to the first direction.

[0039] In some embodiments, the first direction is parallel to a horizontal plane, and the third direction is parallel to a vertical direction.

[0040] In some embodiments, the first drive assembly includes a hook seat connected to the hook assembly, and the second drive assembly includes:

[0041] The second power element is drivingly connected to the hook assembly and is configured to drive the hook assembly to move relative to the hook seat.

[0042] In some embodiments, the second power element comprises:

[0043] The first lead screw passes through the motor and has a first motor housing fixedly connected to the hook seat and a first lead screw passing through the first motor housing. One end of the first lead screw is connected to the hook assembly, and the other end passes through the hook seat.

[0044] In some embodiments, the second drive assembly further comprises:

[0045] The second linear guide structure is provided between the hook seat and the hook assembly, and is configured to guide the movement of the hook assembly relative to the hook seat in the third direction or in the opposite direction of the third direction.

[0046] In some embodiments, the second linear guide structure includes:

[0047] a second slide rail disposed on the hook assembly and extending along a third direction; and

[0048] The second sliding block is arranged on the hook seat and is slidably matched with the second sliding rail.

[0049] In some embodiments, the fork mechanism further comprises:

[0050] The transport assembly is disposed on the mounting frame and is configured to transport goods along a first direction or a second direction.

[0051] In some embodiments, the time ranges during which the transport component and the hook component act on the cargo are configured not to overlap.

[0052] In some embodiments, the time ranges during which the transport component and the hook component act on the cargo are configured to at least partially overlap.

[0053] In some embodiments, the transmission assembly is located on the upper side of the mounting frame, and the fork mechanism further comprises:

[0054] The second drive assembly is drivingly connected to the hook assembly or the first drive assembly and is configured to drive the hook assembly to move along the third direction or the opposite direction of the third direction to extend and retract the hook assembly relative to the transmission surface of the transmission assembly.

[0055] In some embodiments, the transmission component includes: a pair of transmission members arranged at intervals and a transmission drive element for driving the pair of transmission members to operate, and the hook component is located between the pair of transmission members or on the side of at least one transmission member in the pair of transmission members away from the other transmission member.

[0056] In some embodiments, the fork mechanism further comprises:

[0057] bracket;

[0058] The mounting frame is fixedly, detachably or movably arranged on the bracket.

[0059] In some embodiments, the fork mechanism further comprises:

[0060] The third driving assembly is disposed on the bracket and is drivingly connected to the mounting frame, and is configured to drive the mounting frame to move relative to the bracket in the first direction or in the opposite direction of the first direction.

[0061] In some embodiments, the third drive assembly includes:

[0062] The third power element is connected to the mounting bracket and is configured to drive the mounting bracket to move relative to the bracket.

[0063] In some embodiments, the third power element comprises:

[0064] The second lead screw passes through the motor and has a second motor housing fixedly connected to the bracket and a second lead screw passing through the second motor housing. Both ends of the second lead screw are connected to the mounting frame.

[0065] In some embodiments, the third drive assembly further comprises:

[0066] The third linear guide structure is provided between the bracket and the mounting bracket and is configured to guide the mounting bracket to move relative to the bracket in the first direction or in a direction opposite to the first direction.

[0067] In some embodiments, the third linear guide structure includes:

[0068] a third slide rail, disposed on the mounting frame and extending along the first direction; and

[0069] The third sliding block is arranged on the bracket and is slidably matched with the third sliding rail.

[0070] In one aspect of the present disclosure, there is provided a cargo storage and retrieval device, comprising:

[0071] The aforementioned fork mechanism.

[0072] In some embodiments, the cargo access device further comprises:

[0073] At least two first tracks, spaced apart in at least one direction; and

[0074] at least two second rails, movably arranged along the at least two first rails via a running mechanism;

[0075] The fork mechanism is movably arranged along at least two second rails.

[0076] In one aspect of the present disclosure, a warehousing logistics system is provided, comprising:

[0077] Shelves; and

[0078] The aforementioned cargo storage and retrieval device is arranged on a shelf.

[0079] Therefore, according to the disclosed embodiment, the first drive assembly is drivably connected to the hook assembly, driving the hook assembly to move in the first direction so that the hooking portion of the hook body in the hook assembly can pull the cargo in the first direction. In this way, the hook body can pull the cargo on the side facing the cargo to move the cargo in the first direction. Compared to the clamping forks and lifting forks in the related art, the hook assembly does not need to clamp or lift the cargo, thereby reducing the requirements for the spacing and height of the cargo within the cargo space, thereby facilitating the realization of higher shelf storage density. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0081] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0082] FIG1 is a schematic structural diagram of some embodiments of a warehousing and logistics system according to the present disclosure;

[0083] FIG2 is a schematic diagram of the installation structure of a cargo storage and retrieval device on a shelf according to an embodiment of the warehousing and logistics system disclosed herein;

[0084] FIG3 is a schematic structural diagram of some embodiments of a cargo storage and retrieval device according to the present disclosure;

[0085] FIG4 is a schematic structural diagram of some embodiments of the fork mechanism according to the present disclosure;

[0086] FIG5 is a schematic diagram of the structure of a fork mechanism carrying cargo according to an embodiment of the present disclosure;

[0087] FIG6 is a schematic structural diagram of cargo used in an embodiment of a fork mechanism according to the present disclosure;

[0088] FIG7 is a schematic diagram showing the principle of hooking and pulling cargo in a first direction according to an embodiment of the cargo fork mechanism disclosed herein;

[0089] FIG8 is a schematic diagram showing the principle of pushing cargo in the second direction according to an embodiment of the cargo fork mechanism disclosed herein;

[0090] FIG9 is a schematic diagram of the installation structure of the hook assembly, the first drive assembly, and the second drive assembly according to an embodiment of the fork mechanism of the present disclosure;

[0091] FIG10 is a schematic structural diagram of the installation structure shown in FIG9 with some structures omitted;

[0092] FIG11 is a schematic diagram of the installation structure of the mounting frame and the first drive assembly according to an embodiment of the fork mechanism of the present disclosure;

[0093] FIG12 is a schematic diagram of the installation structure of the hook assembly and the second drive assembly according to an embodiment of the fork mechanism of the present disclosure;

[0094] 13 is a schematic diagram of the second drive assembly driving the hook assembly to extend along the third direction in the installation structure shown in FIG. 12 ;

[0095] FIG14 is a schematic diagram of the installation structure of the bracket and the third drive assembly according to an embodiment of the fork mechanism of the present disclosure;

[0096] FIG15 is a schematic diagram of the rotation of a single hook in an embodiment of the fork mechanism of the present disclosure;

[0097] FIG16 and FIG17 are schematic diagrams of the fork mechanism according to the embodiment of the present disclosure entering the hookable portion of the cargo in different directions;

[0098] 18 and 19 are schematic diagrams showing different relative positions between a pair of transmission members and a hook assembly according to an embodiment of the fork mechanism of the present disclosure;

[0099] FIG20( a ) to ( d ) are three-dimensional schematic diagrams of the fork mechanism according to the embodiment of the present disclosure, respectively, hooking and pushing cargo in the first direction, and hooking and pushing cargo in the second direction;

[0100] Figures 21(a) to (f) are schematic diagrams of the process of transferring cargo from a cargo position to the cargo fork mechanism according to an embodiment of the cargo fork mechanism disclosed herein;

[0101] Figure 22 (a) to (e) are schematic diagrams of the process of transferring the cargo on the fork mechanism to the cargo position according to the embodiment of the fork mechanism disclosed in the present invention.

[0102] It should be understood that the size of each part shown in the drawings is not drawn according to the actual proportional relationship.In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0103] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0104] The terms "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The terms "include" or "comprises" and similar terms mean that the elements before the term include the elements listed after the term, and do not exclude the possibility of also including other elements. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0105] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0106] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0107] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0108] In some related technologies, access forks include clamping forks and lifting forks. Clamping forks extend fork plates on either side of the cargo, and use swing arms on the fork plates to clamp the cargo between them, thereby applying a lateral push or pull force to the cargo to achieve cargo transfer. Lifting forks use a lifting mechanism to support and lift the cargo, cooperating with a lateral drive mechanism to achieve cargo transfer.

[0109] After research, the inventors found that the clamping forks and lifting forks in the related art have requirements for the spacing between the material boxes stored on the shelves or the shelf height, which makes it difficult to achieve a higher shelf storage density. In addition, the forks have a slow speed in accessing the goods and low efficiency.

[0110] In view of this, the embodiments of the present disclosure provide a fork mechanism, a cargo storage and retrieval device, and a warehousing and logistics system, which are conducive to achieving a higher shelf storage density.

[0111] In one aspect of the present disclosure, a fork mechanism is provided, comprising: a mounting frame; a hook assembly movably disposed on the mounting frame, the hook assembly comprising a hook body having a hooking portion for hooking and pulling cargo; and a first drive assembly drivingly connected to the hook assembly and configured to drive the hook assembly to move in a first direction, so as to achieve a hooking and pulling effect on the cargo in the first direction through the hooking portion.

[0112] In this embodiment, the first drive assembly is drivably connected to the hook assembly, driving the hook assembly to move in a first direction so that the hooking portion of the hook assembly can pull the cargo in the first direction. The hook assembly can then pull the cargo from the side facing the cargo, causing the cargo to move in the first direction. Compared to clamping and lifting forks in related technologies, the hook assembly does not require gripping or lifting the cargo, thus reducing the spacing and height requirements for cargo within a shelf, thereby facilitating higher shelf storage density.

[0113] FIG1 is a schematic structural diagram of some embodiments of a warehousing and logistics system according to the present disclosure. Referring to FIG1 , an embodiment of the present disclosure provides a warehousing and logistics system, including a shelf SR and a cargo storage and retrieval device. The shelf SR can be arranged into a single-layer or multi-layer structure, and each layer of the shelf SR can be provided with one or more cargo spaces (i.e., cargo storage spaces) for storing goods GS. The multiple cargo spaces can be separated from each other or interconnected. The multiple cargo spaces on each layer can be arranged along at least one direction, such as in a direction parallel to the horizontal plane or in two directions orthogonal to each other.

[0114] The cargo storage and retrieval device is provided on the shelf SR and can be used to take out the cargo GS from the designated cargo position of the shelf SR, and can also be used to deliver the cargo GS to the designated cargo position of the shelf SR. The cargo storage and retrieval device can move relative to the shelf SR, for example, to a position of the shelf SR adjacent to the site, so as to pick up the cargo GS from the temporary storage position of the shelf SR (for example, the lower cargo position on the shelf SR) or from the transfer vehicle TV operating on the site, or deliver the cargo GS taken out from the shelf SR to the temporary storage position of the shelf SR (for example, the lower cargo position on the shelf SR) or to the transfer vehicle TV operating on the site. The transfer vehicle TV can deliver the cargo GS it transports to the temporary storage position of the shelf SR, or remove the cargo GS from the temporary storage position of the shelf SR and transport it away.

[0115] A warehouse logistics system may include a single rack (SR) or multiple racks (SR) as shown in Figure 1. Multiple racks (SR) may be arranged in intervals, with space for cargo storage and retrieval devices to operate between adjacent racks (SR). One or more cargo storage and retrieval devices may be installed between adjacent racks (SR). Multiple cargo storage and retrieval devices may be installed on one side of adjacent racks (SR) or on all adjacent racks (SR).

[0116] Figure 2 is a schematic diagram of the installation structure of a cargo storage and retrieval device on a shelf in accordance with an embodiment of a warehousing and logistics system disclosed herein. Figure 3 is a schematic diagram of the structure of certain embodiments of the cargo storage and retrieval device disclosed herein. Referring to Figures 2 and 3, embodiments disclosed herein provide a cargo storage and retrieval device including a fork mechanism FM. In embodiments of the warehousing and logistics system disclosed herein, the cargo storage and retrieval device may be installed on a shelf SR. In other embodiments, the cargo storage and retrieval device may be used, but is not limited to, in warehousing and logistics systems.

[0117] With reference to Figures 2 and 3 , in some embodiments, the cargo storage and retrieval device may further include: at least two first rails TR1 and at least two second rails TR2. The at least two first rails TR1 are spaced apart in at least one direction, and the at least two second rails TR2 are movably disposed along the at least two first rails TR1 via a traveling mechanism TM. A fork mechanism FM is movably disposed along the at least two second rails TR2.

[0118] In Figures 2 and 3, the cargo storage and retrieval device may include two transversely extending first rails TR1 and two vertically extending second rails TR2. The two first rails TR1 are spaced apart in the vertical direction. The first rails TR1 may be mounted on the frame of the rack SR or formed by the frame of the rack SR. For example, in Figure 2, the frame beams of the highest level of the rack SR and the frame beams of the level of the rack SR adjacent to the site may serve as the two first rails TR1.

[0119] The two second rails TR2 are spaced apart in the transverse direction. The fork mechanism FM may have ends movably connected to the two rails TR2 and located on the side of the operating plane formed by the two second rails TR away from the rack SR. Furthermore, the fork mechanism FM may be located between the two second rails TR2 to facilitate the passage of goods GS through the gap between the two second rails TR2.

[0120] Figure 4 is a schematic diagram of the structure of some embodiments of the fork mechanism of the present disclosure. Figure 5 is a schematic diagram of the structure of a fork mechanism carrying cargo according to an embodiment of the present disclosure. Figure 6 is a schematic diagram of the structure of cargo used in accordance with an embodiment of the fork mechanism of the present disclosure. Figure 7 is a schematic diagram of the principle of hooking and pulling cargo in a first direction according to an embodiment of the fork mechanism of the present disclosure.

[0121] Referring to Figures 4, 5, and 7, embodiments of the present disclosure provide a fork mechanism FM. In embodiments of the cargo storage and retrieval device disclosed herein, the cargo storage and retrieval device includes the fork mechanism FM. In other embodiments, the fork mechanism FM may be used, but is not limited to, in cargo storage and retrieval devices.

[0122] In the disclosed embodiment, the fork mechanism FM includes a mounting frame 10, a hook assembly 20, and a first drive assembly 30. The hook assembly 20 is movably mounted on the mounting frame 10 and includes a hook body 21 having a hooking portion 211 for hooking and pulling the cargo GS. The first drive assembly 30 is drivingly connected to the hook assembly 20 and is configured to drive the hook assembly 20 in a first direction dr1, thereby hooking and pulling the cargo GS in the first direction dr1 via the hooking portion 211.

[0123] The mounting frame 10 may adopt a frame structure to facilitate the installation of the hook assembly 20 and the first drive assembly 30 and reduce or eliminate the risk of interference between the hook assembly 20 and the mounting frame 10 during operation. In other embodiments, the mounting frame 10 may also adopt other structural forms, such as a plate structure or a box structure.

[0124] The hook body 21 in the hook assembly 20 is capable of hooking and pulling the goods GS. Accordingly, the hook body 21 has a hooking portion 211. The hook body 21 can be L-shaped, U-shaped, or other shapes. The hooking portion 211 can enter the hookable portion HP of the goods GS from at least one side of the hookable portion HP to reach a position suitable for hooking the goods GS.

[0125] Figure 6 shows a cargo box GS, which has an interior space suitable for holding whole or loose items. A hooking groove, serving as a hookable portion HP, can be provided on the outer wall of the cargo GS. This allows the hooking portion 211 of the hook body 21 to hook the cargo GS by engaging the inner wall of the hooking groove. The hooking groove can be fixed to the side of the cargo using sheet metal or plastic components, or it can be integrally injection-molded with the cargo box.

[0126] 7 , the hook body 21 can move along the first direction dr1 under the drive of the first driving assembly 30. Accordingly, the hook portion 211 of the hook body 21 can apply a force F in the first direction dr1 to the hookable portion HP of the cargo GS, so that the cargo GS moves along the first direction dr1 at a certain speed and acceleration.

[0127] Referring to the rack shown in Figure 2 , the fork mechanism FM can pull goods GS from a storage location onto the fork mechanism FM via the hook portion 211 of the hook body 21. The hook body 21 can then pull the goods GS from the side facing the goods GS, eliminating the need to move the goods GS from the left or right sides, rear, or bottom of the goods GS, as with clamping and lifting forks in the related art. This reduces the spacing and height requirements for goods within a storage location, thereby facilitating higher shelf storage density.

[0128] In a warehousing and logistics business scenario, the first direction dr1 may be a direction from the shelf to the fork mechanism, and the direction may be parallel to the horizontal plane or form a preset angle with the horizontal plane.

[0129] Figure 8 is a schematic diagram illustrating the principle of pushing cargo in the second direction according to an embodiment of the fork mechanism disclosed herein. Referring to Figure 8 , in some embodiments, the hook assembly 21 further includes a pushing portion 212 for pushing cargo GS. The first drive assembly 30 is further configured to drive the hook assembly 20 in the second direction dr2, thereby enabling the pushing portion 212 to push the cargo GS in the second direction dr2.

[0130] In this embodiment, the first drive assembly 30 can drive the hook assembly 20 to move along the second direction dr2. In some embodiments, the second direction dr2 can be opposite to the first direction dr1, that is, the second direction dr2 is parallel to and opposite to the first direction dr1. In other embodiments, the second direction dr2 can intersect the first direction dr1 at an acute angle, an obtuse angle, or a right angle.

[0131] Driven by the first drive assembly 30 on the hook assembly 20, the pushing portion 212 of the hook body 21 can propel the cargo GS. Referring to Figure 8 , the pushing portion 212 can act on the exterior of the hookable portion HP of the cargo GS. By applying a force F in the second direction dr2, the cargo GS can be moved along the second direction dr2 at a predetermined speed and acceleration. The pushing portion 212 can, but is not limited to, act on the exterior of the hookable portion HP; it can also be located elsewhere on the cargo GS, facing the pushing portion.

[0132] For embodiments where the second direction dr2 is opposite to the first direction dr1, the pull portion 211 and the push portion 212 can be located on opposite sides of the hook body 21 in the first direction dr1. Referring to Figures 7 and 8, the left side surface of the bent structure of the L-shaped hook body can serve as the push portion 212, while the right side surface can serve as the pull portion 211. This allows the hook body to push and pull the structure adjacent to the hook body, facilitating the removal and placement of goods GS from the shelf, further reducing the spacing and height requirements for goods within the shelf, and thus facilitating higher shelf storage density.

[0133] Figure 9 is a schematic diagram of the mounting structure of the hook assembly, the first drive assembly, and the second drive assembly according to an embodiment of the fork mechanism disclosed herein. Figure 10 is a schematic diagram of the mounting structure shown in Figure 9 with some components omitted. Figure 11 is a schematic diagram of the mounting structure of the mounting bracket and the first drive assembly according to an embodiment of the fork mechanism disclosed herein.

[0134] 9-11 , in some embodiments, the first drive assembly 30 includes a hook base 31 and a first power element 32. The hook base 31 is connected to the hook assembly 20. The first power element 32 is connected to the hook base 31 via a first linear transmission structure 33 and is configured to drive the hook base 31 to move in the first direction dr1 or the second direction dr2 via the first linear transmission structure 33.

[0135] The hook assembly 20 is connected to the hook base 31. When the hook base 31 moves under the drive of the first power element 32 through the first linear transmission structure 33, the hook base 31 also drives the hook assembly 20 to move accordingly. The first power element 32 can include but is not limited to an electric motor or a pneumatic motor.

[0136] 10 and 11 , in some embodiments, the first linear transmission structure 33 includes a transmission wheel assembly 331 and a transmission belt 332. The transmission wheel assembly 331 is mounted on the mounting frame 10 and connected to the first power element 32. The transmission belt 332 is wound around the transmission wheel assembly 331 and fixedly connected to the hook base 31.

[0137] The first power element 32 can output torque to some of the transmission wheels in the transmission wheel assembly 331 to drive the transmission wheels to rotate. Driven by the transmission wheels, the transmission belt 332 rotates around the transmission wheel assembly 331, and the hook seat 31, which is fixedly connected to the transmission belt 332, also moves accordingly. The first power element 32 can be arranged outside the first linear transmission structure 33 to avoid interference with the hook seat 31 and the hook assembly 20.

[0138] In other embodiments, the first linear transmission structure 33 may also adopt other transmission forms, such as a rack and pinion transmission structure or a ball screw transmission structure.

[0139] 10 , in some embodiments, the first drive assembly 30 further includes a first linear guide structure 34. The first linear guide structure 34 is disposed between the hook base 31 and the mounting frame 10 and is configured to guide the hook base 31 to move relative to the mounting frame 10 in the first direction dr1 or the second direction dr2.

[0140] The first linear guide structure 34 can assist the first linear transmission structure 33 to enable the hook seat 31 to move stably and linearly along the first direction d1 or the second direction dr2 , thereby reducing the risk of the cargo GS falling due to instability during movement.

[0141] Referring to Figures 10 and 11 , in some embodiments, the first linear guide structure 34 includes a first rail 341 and a first slider 342. The first rail 341 is disposed on the mounting frame 10 and extends along a first direction dr1. The first slider 342 is disposed on the hook seat 31 and slidably engages with the first rail 341.

[0142] A continuous sliding guide can be formed between the first slide rail 341 and the first slider 342, so that the hook seat 31 moves more smoothly and stably relative to the mounting bracket 10. In other embodiments, the first linear guide structure 34 can adopt other structural forms, such as a guide structure with an optical axis sleeve.

[0143] 4 , in some embodiments, the fork mechanism FM further includes a second drive assembly 40. The second drive assembly 40 is drivingly connected to the hook assembly 20 or the first drive assembly 30 and is configured to drive the hook assembly 20 to move in a third direction dr3 or a direction opposite to the third direction dr3; wherein the third direction dr3 is perpendicular to the first direction dr1.

[0144] The hook assembly 20 can move in the third direction dr3 or in a direction opposite to dr3, directly driven by the second drive assembly 40 or indirectly driven by the second drive assembly 40 via the first drive assembly 30. Movement of the hook assembly 20 in the third direction dr3 or in a direction opposite to dr3 allows for avoidance of the cargo GS. Referring to Figure 5 , when the cargo GS reaches directly above the fork mechanism FM, the hook assembly 20 can move to the underside of the cargo GS to avoid interfering with its support and movement.

[0145] In some embodiments, the first direction dr1 is parallel to the horizontal plane, and the third direction dr3 is parallel to the vertical direction. In other words, the hook assembly 20 can achieve a horizontal hooking and pulling action and vertically reach or leave a position capable of hooking and pulling the cargo GS. In conjunction with the first drive assembly 30 driving the hook assembly 20, the vertical position of the hook assembly 20 can also be adjusted, thereby adjusting the orientation and distance of the hook assembly 20 relative to the cargo GS.

[0146] Figure 12 is a schematic diagram of the installation structure of the hook assembly and the second drive assembly in an embodiment of a fork mechanism according to the present disclosure. Figure 13 is a schematic diagram of the installation structure shown in Figure 12, wherein the second drive assembly drives the hook assembly to extend in a third direction. Referring to Figures 4, 12, and 13, in some embodiments, the first drive assembly 30 includes a hook seat 31 drivingly connected to the hook assembly 20, and the second drive assembly 40 includes a second power element 41. The second power element 41 is drivingly connected to the hook assembly 20 and is configured to drive the hook assembly 20 relative to the hook seat 31.

[0147] The second power element 41 may include an electric motor or a pneumatic motor, and drives the hook assembly 20 to move the hook assembly 20 relative to the hook seat 31 along the third direction dr3 or in the opposite direction of the third direction dr3.

[0148] 12 and 13 , in some embodiments, the second power element 41 includes a first lead screw through-motor. The first lead screw through-motor includes a first motor housing 411 fixedly connected to the hook base 31 and a first lead screw 412 extending through the first motor housing 411. One end of the first lead screw 412 is connected to the hook assembly 20, and the other end extends through the hook base 31.

[0149] When the first lead screw through the motor rotates forward or reverse, the first lead screw 412 can move forward or backward along the extension direction of the first lead screw 412. By fixing the first motor housing 411 of the first lead screw through the motor to the hook seat 43 and connecting one end of the first lead screw 412 to the hook assembly 20, the hook assembly 20 can be driven away from or close to the hook seat 43 when the first lead screw 412 moves relative to the first motor housing 411. The extension direction of the first lead screw 412 is parallel to the third direction dr3. The length of the lead screw between the hook seat 43 and the hook assembly 20 of this lead screw through the motor can be reduced as the length of the lead screw passing through the hook seat 31 increases, which is conducive to achieving a more compact structure. In addition, the first motor housing 411 can also form a supporting and limiting function for the hook assembly 20.

[0150] In order to enable the hook assembly 20 to move more stably relative to the hook base 31 in the third direction dr3 or the direction opposite to the third direction dr3, with reference to Figures 12 and 13, in some embodiments, the second drive assembly 40 further includes a second linear guide structure 42. The second linear guide structure 42 is disposed between the hook base 31 and the hook assembly 20 and is configured to guide the movement of the hook assembly 20 relative to the hook base 31 in the third direction dr3 or the direction opposite to the third direction dr3.

[0151] In Figure 12 , the second linear guide structure 42 includes a second slide rail 421 and a second slider 422. The second slide rail 421 is disposed on the hook assembly 20 and extends along the third direction dr3. The second slider 422 is disposed on the hook seat 31 and slidably engages with the second slide rail 421. The second slide rail 421 can be disposed on a bracket of the hook assembly 20 extending along the third direction dr3, or it can be fixedly connected to the hook assembly 20 to serve as a bracket for the hook assembly 20.

[0152] The second slide rail 421 and the second slider 422 can form a continuous sliding guide, making the hook assembly 20 move more smoothly and stably relative to the hook seat 31. In other embodiments, the second linear guide structure 42 can adopt other structural forms, such as a guide structure with an optical axis sleeve.

[0153] 12 and 13 respectively show different relative positions of the second slide rail 421 and the second slider 422 under the guidance of the second linear guide structure 42 , and different relative distances between the hook seat 31 and the hook assembly 20 .

[0154] Referring to Figure 4 , in some embodiments, the fork mechanism FM further includes a transport assembly 50. The transport assembly 50 is mounted on the mounting frame 10 and is configured to transport the cargo GS in the first direction dr1 or the second direction dr2. Both the hook assembly 20 and the transport assembly 50 can act on the cargo GS to move it. This allows for the hook assembly 20 and the transport assembly 50 to be appropriately configured according to actual needs, enabling more complex operational processes and improving adaptability to cargo storage and retrieval in various scenarios.

[0155] In some embodiments, the timeframes during which the transport assembly 50 and hook assembly 20 act on the goods GS are configured to be non-overlapping. For example, the hook assembly 20 may first pull the goods GS, and after a predetermined distance, the transport assembly 50 may continue to transport the goods GS. Another example is the transport assembly 50 may first transport the goods GS, and after a predetermined distance, the hook assembly 30 may push the goods GS. This configuration effectively reduces the risk of interference between the transport assembly 50 and hook assembly 20.

[0156] In other embodiments, the timeframes during which the transport assembly 50 and the hook assembly 20 act on the cargo GS are configured to at least partially overlap. For example, during at least a portion of the process in which the hook assembly 20 pulls the cargo GS, the transport assembly 50 transports the cargo GS in the same direction. Another example is that during at least a portion of the process in which the transport assembly 50 transports the cargo GS, the hook assembly 30 pushes the cargo GS in the same direction. This configuration allows the transport assembly 50 and the hook assembly 20 to act on the cargo GS in the same direction, increasing the driving force on the cargo GS and thus meeting the needs of driving heavier cargo GS. This configuration also facilitates the connection between the transport assembly 50 and the hook assembly 20 acting separately on the cargo GS, thereby improving efficiency.

[0157] 4 and 5 , in some embodiments, the transport assembly 50 is located on an upper side of the mounting frame 10, and the fork mechanism FM further includes a second drive assembly 40. The second drive assembly 40 is drivingly coupled to the hook assembly 20 or the first drive assembly 30 and is configured to drive the hook assembly 20 to move in a third direction dr3 or a direction opposite to the third direction dr3, thereby extending and retracting the hook assembly 20 relative to the transport surface of the transport assembly 50.

[0158] The transmission assembly 50 can utilize rollers, belts, or other suitable transmission structures. In Figures 4 and 5 , the transmission assembly 50 utilizes two parallel conveyor belts. Located above the mounting frame 10, the transmission assembly 50 not only transports the goods GS but also supports them. This includes the mobile support provided by the transmission assembly 50 when the hook assembly 20 engages the goods GS. The hook assembly 20 can be moved by the second drive assembly 40 in the third direction dr3 or opposite to the third direction dr3, extending and retracting relative to the transmission surface of the transmission assembly 50.

[0159] When the hook assembly 20 is extended relative to the conveying surface of the conveyor assembly 50, it can hook or push the cargo GS. When the hook assembly 20 is retracted relative to the conveying surface of the conveyor assembly 50, the cargo GS can run on the conveying surface without interfering with the hook assembly 20. Furthermore, the second drive assembly 40 can cooperate with the first drive assembly 30 to move the hook assembly 20 under the conveying surface of the conveyor assembly 50 to adjust its position when extended.

[0160] Figure 14 is a schematic diagram of the mounting structure of the bracket and third drive assembly in an embodiment of the fork mechanism according to the present disclosure. Referring to Figures 4 and 14 , in some embodiments, the fork mechanism FM further includes a bracket 60. The mounting frame 10 is fixedly, removably, or movably mounted on the bracket 60. In embodiments of the cargo storage and retrieval device, the bracket 60 can be movably mounted relative to the second track TR2. In Figure 14 , the bracket 60 may include two L-shaped vertical plates 61 and at least one horizontal plate 62 connecting the two L-shaped vertical plates 61 and positioned between the two L-shaped vertical plates 61. In Figure 14 , the two horizontal plates 62 are spaced apart along the first direction dr1.

[0161] The mounting frame 10 can be fixedly connected to the bracket 60 (including the case where the two are integrally formed), so that the mounting frame 10 can move synchronously with the movement of the bracket 60. The mounting frame 10 can also be detachable relative to the bracket 60, so that the mounting frame 10 and the structure thereon can be removed from the bracket 60, thereby facilitating maintenance and replacement. The mounting frame 10 can also be movable relative to the bracket 60, so that when the bracket 60 moves, the mounting frame 10 can be moved to a position at a preset distance from the shelf, preventing interference between the fork mechanism FM and the shelf during movement. When goods need to be picked up and placed, the mounting frame can be moved to a position adjacent to the shelf, reducing the docking gap and reducing the risk of goods getting stuck or falling during the picking and placing process.

[0162] 4 and 14 , in some embodiments, the fork mechanism FM further includes a third drive assembly 70. The third drive assembly 70 is disposed on the bracket 60 and is drivingly connected to the mounting frame 10. The third drive assembly 70 is configured to drive the mounting frame 10 to move relative to the bracket 60 in the first direction dr1 or in a direction opposite to the first direction dr1.

[0163] The mounting frame 10 can be moved in the first direction dr1 or in the opposite direction of the first direction dr1 by the third driving assembly 70. In this way, the mounting frame 10 can be adjusted in the same direction as or in the opposite direction of the movement of the cargo GS to facilitate the transfer of the cargo GS between the cargo position and the fork mechanism.

[0164] 14 , in some embodiments, the third driving assembly 70 includes a third power element 71 . The third power element 71 is connected to both the mounting frame 10 and the bracket 60 and is configured to drive the mounting frame 10 to move relative to the bracket 60 .

[0165] The third power element 71 may include an electric motor or a pneumatic motor, and drives the mounting bracket 10 to move the mounting bracket 10 relative to the bracket 60 in the first direction dr1 or in the opposite direction of the first direction dr1 .

[0166] 14 , the third power element 71 may include a second screw-through motor having a second motor housing 711 fixedly connected to the bracket 60 and a second screw 712 passing through the second motor housing 711 , with both ends of the second screw 712 connected to the mounting bracket 10 .

[0167] When the second lead screw through the motor rotates forward or reverse, the second lead screw 712 can move forward or backward along the extension direction of the second lead screw 712. By fixedly connecting the second motor housing 711 of the second lead screw through the motor to the cross plate 62 of the bracket 60, and connecting both ends of the second lead screw 712 to the mounting bracket 10, the second lead screw 712 moves relative to the second motor housing 711, driving the mounting bracket 10 to translate on the bracket 60. The extension direction of the second lead screw 712 is parallel to the first direction dr1.

[0168] In order to enable the mounting frame 10 to move more stably relative to the bracket 60 in the first direction dr1 or the direction opposite to the first direction dr1, with reference to Figures 11 and 14, in some embodiments, the third drive assembly 70 further includes a third linear guide structure 72. The third linear guide structure 72 is disposed between the bracket 60 and the mounting frame 10 and is configured to guide the movement of the mounting frame 10 relative to the bracket 60 in the first direction dr1 or the direction opposite to the first direction dr1.

[0169] In Figures 11 and 14 , the third linear guide structure 72 includes a third rail 721 and a third slider 722. The third rail 721 is disposed on the mounting frame 10 and extends along the first direction dr1. The third slider 722 is disposed on the bracket 60 and slidably engages with the third rail 721. Multiple third sliders 722 may be provided, distributed across at least two transverse plates 62. The third rail 721 may be disposed on the bottom surface of the mounting frame 10.

[0170] A continuous sliding guide can be formed between the third slide rail 721 and the third slider 722, so that the movement of the mounting frame 10 relative to the bracket 60 is smoother and more stable. In other embodiments, the third linear guide structure 72 can adopt other structural forms, such as a guide structure with an optical axis sleeve.

[0171] In the above embodiment, the hook assembly 20 may include a bracket 22 and at least one set of hook bodies 21 connected to the bracket 22. Each set of hook bodies 21 may include a single hook body 21 or multiple hook bodies 21 located on the same side of the bracket 22. The arrangement of the hook bodies 21 may enable storage of goods on one side or on opposite sides.

[0172] Referring to Figure 12, in some embodiments, at least one group of hooks 21 includes a first group of hooks 21a and a second group of hooks 21b. The first group of hooks 21a is located on a side of the bracket 22 away from the second group of hooks 21b along a first direction dr1, and the second group of hooks 21b is located on a side of the bracket 22 away from the first group of hooks 21a along a second direction dr2. In Figure 12, the first group of hooks 21a includes two hooks 21a spaced apart along a fourth direction dr4, and the second group of hooks 21b includes two hooks 21b spaced apart along the fourth direction dr4. Here, the fourth direction dr4 is perpendicular to the third direction dr3 and perpendicular to the first direction dr1 or the second direction dr2.

[0173] The first driving assembly 30 can drive the hook assembly 20 to move along the first direction dr1, so as to achieve a hooking and pulling effect on the goods GS in the first direction dr1 through the hooking portion 211 of the first group of hook bodies 21a, or to achieve a pushing effect on the goods GS in the first direction dr1 through the pushing portion 212 of the second group of hook bodies 21b.

[0174] The first driving assembly 30 can also drive the hook assembly 20 to move along the second direction dr2, so as to push the goods GS in the second direction dr2 through the pushing portion 212 of the first group of hook bodies 21a, or to pull the goods GS in the second direction dr2 through the pulling portion 211 of the second group of hook bodies 21b.

[0175] In the embodiment where the first direction dr1 is opposite to the second direction dr2, the first drive assembly 30 can drive the hook assembly 20 to move in the first direction dr1, or in the opposite direction of the first direction dr1, and realize a hooking, pulling or pushing action on the goods GS in the moving direction of the hook assembly 20, so that the fork mechanism can perform goods storage and retrieval operations on opposite sides between adjacent shelves.

[0176] Figure 15 is a schematic diagram illustrating the rotation of a single hook assembly in an embodiment of a forklift mechanism according to the present disclosure. Referring to Figure 15 , in some embodiments, at least one hook assembly 21 comprises a single hook assembly 21. Accordingly, the first drive assembly 30 is capable of driving the hook assembly 20 in a first direction dr1 to pull the cargo GS in the first direction dr1 via the pull portion 211 of the single hook assembly 21 in a first rotational position, or to push the cargo GS in the first direction dr1 via the push portion 212 of the single hook assembly 21 in a second rotational position. The single hook assembly 21 rotates to switch between the first and second rotational positions, and the single hook assembly 21 in the first and second rotational positions are symmetrical.

[0177] The first drive assembly 30 can also drive the hook assembly 20 to move in the second direction dr2, so as to push the goods GS in the second direction dr2 through the pushing portion 212 of the single set of hook bodies 21 in the third rotation position, or to pull the goods GS in the second direction dr2 through the pulling portion 211 of the single set of hook bodies 21 in the fourth rotation position, wherein the single set of hook bodies 21 switches between the third rotation position and the fourth rotation position by rotating, and the single set of hook bodies 21 in the third rotation position and the single set of hook bodies 21 in the fourth rotation position are symmetrical about each other.

[0178] In Figure 15 , the solid line of the hook 21 shows the rotational position of the single hook 21 on the left side of the bracket 22, enabling the hooking and pulling or pushing of the cargo GS on the left side. After rotating 180°, the dashed line of the single hook 21 shows the rotational position on the right side of the bracket 22, enabling the hooking and pulling or pushing of the cargo GS on the right side.

[0179] In the above embodiment, the hook portion 211 can enter or exit the hookable portion HP of the cargo GS in a direction intersecting both the first direction dr1 and the second direction dr2. The direction in which the hook portion 211 enters the hookable portion HP can be perpendicular to the first direction dr1 or the second direction dr2, or can form an acute or obtuse angle with the first direction dr1 or the second direction dr2.

[0180] In Figures 7 and 8 , the direction in which the hook portion 211 enters the hookable portion HP of the cargo GS is the third direction dr3, and the direction in which it exits the hookable portion HP is the direction opposite to the third direction dr3. In other words, in some embodiments, the hook portion 211 is configured to enter the hookable portion HP of the cargo GS in a vertically upward direction. This allows the hook assembly 20 to enter the hookable portion HP by extending upward relative to the conveying surface of the conveying assembly 50, and exit the hookable portion HP by retracting downward relative to the conveying surface of the conveying assembly 50, simplifying the operation and improving efficiency.

[0181] Figures 16 and 17 are schematic diagrams illustrating different directions of access to the hookable portion of a cargo GS according to embodiments of the fork mechanism disclosed herein. Figure 16 shows two opposing hooking portions 211 of the hook body 21 entering the hookable portion HP of a cargo GS along a fourth direction dr4 and a direction opposite to the fourth direction dr4. Here, the fourth direction dr4 is perpendicular to the third direction dr3 and perpendicular to either the first direction dr1 or the second direction dr2.

[0182] FIG. 17 shows a situation where the hook portion 211 of the hook body 21 enters the hookable portion HP of the cargo GS in the opposite direction to the third direction dr3 . Here, the third direction dr3 may be a vertically upward direction.

[0183] Figures 18 and 19 illustrate different relative positions between the paired transmission members and the hook assembly in embodiments of the fork mechanism according to the present disclosure. Referring to Figures 4 and 18 , in some embodiments, the transmission assembly 50 includes a pair of transmission members 51 spaced apart and a transmission drive element 52 for driving the paired transmission members 51. The hook assembly 20 is positioned between the paired transmission members 51. This allows the hook assembly 20 to operate between the paired transmission members 51 without interfering with their operation.

[0184] Referring to Figure 19, in other embodiments, the transmission assembly 50 includes a pair of transmission members 51 arranged at intervals and a transmission drive element 52 for driving the pair of transmission members 51 to operate, and the hook assembly 20 is located on a side of at least one transmission member 51 in the pair of transmission members 51 away from the other transmission member 51. For example, the two hook assemblies 20 are respectively located on both sides of the pair of transmission members 51 shown in Figure 19 in the fourth direction dr4.

[0185] In the above embodiments, in order to improve operational stability, referring to FIG4 , the number of hook bodies included in each group of hook bodies included in the hook assembly can be arranged in pairs and spaced apart along the fourth direction dr4, the combination of the rotating wheel group and the transmission belt included in the first driving assembly can be arranged in pairs and spaced apart along the fourth direction dr4, the transmission members included in the transmission assembly can also be arranged in pairs and spaced apart along the fourth direction dr4, and the slide rail sliders included in the first, second, and third linear guide structures can also be arranged in pairs and spaced apart along the fourth direction dr4, which will not be repeated here.

[0186] Figures 20(a)-20(d) are three-dimensional schematic diagrams of a fork mechanism according to an embodiment of the present disclosure, respectively, hooking and pushing cargo in a first direction, and hooking and pushing cargo in a second direction. To facilitate understanding of the hooking and pushing effects of the fork mechanism according to an embodiment of the present disclosure on cargo, Figures 20(a)-20(d) illustrate several scenarios.

[0187] In (a) of Figure 20, the fork mechanism performs a hooking and pulling operation on the cargo GS located on the left side of the fork mechanism. At this time, the first group of hook bodies 21a of the hook assembly has entered the hookable part of the cargo GS and, driven by the first drive assembly 30, moves the cargo GS along the first direction dr1 so that the cargo GS reaches the top of the conveying mechanism 50.

[0188] In (b) of Figure 20, the fork mechanism pushes the cargo GS located on the left side of the fork mechanism. At this time, the first group of hooks 21a of the hook assembly pushes the outer side of the hookable part of the cargo GS, and under the drive of the first drive assembly 30, the cargo GS moves along the second direction dr2 to move the cargo GS away from the conveying mechanism 50.

[0189] In (c) of Figure 20, the fork mechanism performs a hooking and pulling operation on the cargo GS located on the right side of the fork mechanism. At this time, the second group of hook bodies 21b of the hook assembly has entered the hookable part of the cargo GS and, driven by the first drive assembly 30, moves the cargo GS along the second direction dr1 so that the cargo GS reaches the top of the conveying mechanism 50.

[0190] In (d) of Figure 20, the fork mechanism pushes the cargo GS located on the right side of the fork mechanism. At this time, the second group of hooks 21b of the hook assembly pushes the outer side of the hookable part of the cargo GS, and under the drive of the first drive assembly 30, the cargo GS moves along the first direction dr1 to move the cargo GS away from the conveying mechanism 50.

[0191] Figures 21(a)-21(f) are schematic diagrams illustrating the process of transferring cargo from a storage location to a fork mechanism according to an embodiment of the disclosed fork mechanism. To facilitate understanding of how cargo GS within a storage location on a shelf SR is transferred to the fork mechanism according to an embodiment of the disclosed fork mechanism, Figures 21(a)-21(f) illustrate the process.

[0192] In Figure 21(a), the fork mechanism has moved to a position adjacent to the cargo area where the goods GS are to be picked up. At this point, the conveying surface of the conveyor mechanism 50 is substantially flush with the bottom surface of the cargo area. At this point, the hook assembly 20 is below the conveying surface of the conveyor mechanism 50 and moving toward the cargo GS.

[0193] In FIG21( b ), the hook assembly 20 has moved to a position adjacent to the cargo GS. In this position, the hook assembly 20 is substantially aligned laterally with the hooking groove on the right side of the cargo GS. The hook assembly 20 has translated upward, with a portion of the hook assembly 20 exposed above the conveying surface of the conveyor mechanism 50.

[0194] In FIG. 21( c ), the hook assembly 20 continues to translate upward, and the hook portion enters the hooking slot of the cargo GS.

[0195] In Figure 21(d), the hook assembly 20 moves rightward, driving the cargo GS to move rightward as well, causing a portion of the cargo GS to reach the conveyor 50. The hook assembly 20 can move from the left end of the fork mechanism's travel to the right end of its travel, while a portion of the cargo GS still remains on the conveyor 50.

[0196] In (e) of FIG. 21 , the hook assembly 20 moves downward and retracts below the transmission surface of the transmission mechanism 50 . At this time, the transmission mechanism 50 continues to transmit the goods GS to the right.

[0197] In FIG. 21( f ), the entirety of the goods GS is located on the conveying mechanism 50 through the conveying action of the conveying mechanism 50 , thereby completing the action of taking the goods out of the shelf.

[0198] Figures 22(a)-22(e) are schematic diagrams illustrating the process of transferring cargo from a fork mechanism to a storage location according to an embodiment of the disclosed fork mechanism. To facilitate understanding of how cargo GS is transferred from a fork mechanism to a storage location on a shelf SR in an embodiment of the disclosed fork mechanism, Figures 22(a)-22(e) illustrate the process.

[0199] In FIG22( a ), the fork mechanism moves to a position adjacent to the cargo space where the goods GS are stored, and the transport surface of the transport mechanism 50 is substantially flush with the bottom surface of the cargo space.

[0200] In FIG. 22( b ), the goods GS are transported to the right by the transport mechanism 50 , so that part of the goods GS enters the cargo position.

[0201] In (c) of Figure 22, the hook assembly 20 has moved to the left side of the cargo GS and moved upward, entering the space left on the left side after the cargo GS moved to the right. At this time, the hook assembly 20 is exposed above the transmission surface of the transmission mechanism 50, and the hook pulling part enters the hook groove on the left surface of the cargo GS.

[0202] In FIG. 22( d ), the hook assembly 20 moves to the right, pushing the cargo GS to move to the right as well, thereby allowing the entire cargo GS to enter the cargo space.

[0203] In (e) of FIG. 22 , the hook assembly 20 retracts downward to an initial position below the transport surface of the transport mechanism 50 , thereby completing the storage of the goods into the shelf.

[0204] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0205] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A forklift tine mechanism (FM), comprising: A mounting bracket (10); A hook assembly (20) movably disposed on the mounting bracket (10), the hook assembly (20) including a hook body (21) having a hooking portion (211) for hooking goods (GS); and A first driving assembly (30) drivingly connected to the hook assembly (20) and configured to drive the hook assembly (20) to move in a first direction (dr1) so as to achieve the hooking effect on the goods (GS) in the first direction (dr1) through the hooking portion (211).

2. The forklift tine mechanism (FM) according to claim 1, wherein, The hook body (21) further has a pushing portion (212) for pushing the goods (GS), and the first driving assembly (30) is further configured to drive the hook assembly (20) to move in a second direction (dr2) so as to achieve the pushing effect on the goods (GS) in the second direction (dr2) through the pushing portion (212).

3. The fork mechanism (FM) according to claim 2, wherein, The hooking portion (211) and the pushing portion (212) are located on opposite sides of the hook body (21) in the first direction (dr1), and the second direction (dr2) is the opposite direction of the first direction (dr1).

4. The forklift tine mechanism (FM) according to claim 2 or 3, wherein, The hook assembly (20) includes a bracket (22) and at least one set of hook bodies (21) connected to the bracket (22), and each set of hook bodies (21) includes a single hook body (21) or multiple hook bodies (21) located on the same side of the bracket (22).

5. The forklift tine mechanism (FM) according to claim 4, wherein, The at least one set of hook bodies (21) includes a first set of hook bodies (21a) and a second set of hook bodies (21b), the first set of hook bodies (21a) is located on a side of the bracket (22) away from the second set of hook bodies (21b) in the first direction (dr1), and the second set of hook bodies (21b) is located on a side of the bracket (22) away from the first set of hook bodies (21a) in the second direction (dr2); Wherein, the first driving assembly (30) is configured to: Drive the hook assembly (20) to move in the first direction (dr1) so as to achieve the hooking effect on the goods (GS) in the first direction (dr1) through the hooking portion (211) of the first set of hook bodies (21a), or to achieve the pushing effect on the goods (GS) in the first direction (dr1) through the pushing portion (212) of the second set of hook bodies (21b); and / or Drive the hook assembly (20) to move in the second direction (dr2) so as to achieve the pushing effect on the goods (GS) in the second direction (dr2) through the pushing portion (212) of the first set of hook bodies (21a), or to achieve the hooking effect on the goods (GS) in the second direction (dr2) through the hooking portion (211) of the second set of hook bodies (21b).

6. The forklift tine mechanism (FM) according to claim 4, wherein, The at least one set of hook bodies (21) includes a single set of hook bodies (21); Wherein, the first driving assembly (30) is configured to: Drive the hook assembly (20) to move along the first direction (dr1), so as to realize the pulling effect on the goods (GS) in the first direction (dr1) through the pulling part (211) of the single set of hook bodies (21) in the first rotation position, or realize the pushing effect on the goods (GS) in the first direction (dr1) through the pushing part (212) of the single set of hook bodies (21) in the second rotation position, wherein the single set of hook bodies (21) rotates to switch between the first rotation position and the second rotation position, and the single set of hook bodies (21) in the first rotation position and the single set of hook bodies (21) in the second rotation position are centrosymmetric; and / or Drive the hook assembly (20) to move along the second direction (dr2), so as to realize the pushing effect on the goods (GS) in the second direction (dr2) through the pushing part (212) of the single set of hook bodies (21) in the third rotation position, or realize the pulling effect on the goods (GS) in the second direction (dr2) through the pulling part (211) of the single set of hook bodies (21) in the fourth rotation position, wherein the single set of hook bodies (21) rotates to switch between the third rotation position and the fourth rotation position, and the single set of hook bodies (21) in the third rotation position and the single set of hook bodies (21) in the fourth rotation position are centrosymmetric.

7. The forklift tine mechanism (FM) according to any one of claims 2-6, wherein, The pulling part (211) is configured to enter or leave the pullable part (HP) of the goods (GS) in a direction intersecting both the first direction (dr1) and the second direction (dr2).

8. The fork mechanism (FM) according to claim 7, wherein, The pulling part (211) is configured to enter the pullable part (HP) of the goods (GS) in the vertically upward direction.

9. The fork mechanism (FM) according to any one of claims 2-8, wherein, The first driving assembly (30) includes: A hook seat (31), connected to the hook assembly (20); and A first power element (32), connected to the hook seat (31) through a first linear transmission structure (33), and configured to drive the hook seat (31) to move along the first direction (dr1) or the second direction (dr2) through the first linear transmission structure (33).

10. The fork mechanism (FM) according to claim 9, wherein, The first linear transmission structure (33) includes: A transmission pulley group (331), arranged on the mounting frame (10) and connected to the first power element (32); and A transmission belt (332), wound around the transmission pulley group (331) and fixedly connected to the hook seat (31).

11. The fork mechanism (FM) according to claim 9 or 10, wherein, The first driving assembly (30) further includes: A first linear guiding structure (34), arranged between the hook seat (31) and the mounting frame (10), and configured to guide the movement of the hook seat (31) relative to the mounting frame (10) in the first direction (dr1) or the second direction (dr2).

12. The forklift tine mechanism (FM) according to claim 11, wherein, The first linear guiding structure (34) includes: A first slide rail (341), arranged on the mounting frame (10) and extending along the first direction (dr1); and The first slider (342) is arranged on the hook seat (31) and is in sliding fit with the first slide rail (341).

13. The forklift tine mechanism (FM) according to any one of claims 1-12 further comprises: A second drive assembly (40) is drivingly connected to the hook assembly (20) and is configured to drive the hook assembly (20) to move along the third direction (dr3) or the opposite direction of the third direction (dr3); Wherein, the third direction (dr3) is perpendicular to the first direction (dr1).

14. The forklift tine mechanism (FM) according to claim 13, wherein, The first direction (dr1) is parallel to the horizontal plane, and the third direction (dr3) is parallel to the vertical direction.

15. The forklift tine mechanism (FM) according to claim 13 or 14, wherein, The first drive assembly (30) includes a hook seat (31) connected to the hook assembly (20), and the second drive assembly (40) includes: A second power element (41) is connected to at least one of the hook seat (31) and the hook assembly (20) and is configured to drive the hook assembly (20) to move relative to the hook seat (31).

16. The fork mechanism (FM) according to claim 15, wherein, The second power element (41) includes: A first lead screw through motor, having a first motor housing (411) fixedly connected to the hook seat (31) and a first lead screw (412) passing through the first motor housing (411), one end of the first lead screw (412) is connected to the hook assembly (20), and the other end passes through the hook seat (31).

17. The fork mechanism (FM) according to claim 15 or 16, wherein, The second drive assembly (40) further includes: A second linear guiding structure (42) is arranged between the hook seat (31) and the hook assembly (20) and is configured to guide the hook assembly (20) to move relative to the hook seat (31) in the third direction (dr3) or the opposite direction of the third direction (dr3).

18. The fork mechanism (FM) according to claim 17, wherein, The second linear guiding structure (42) includes: A second slide rail (421) is arranged on the hook assembly (20) and extends along the third direction (dr3); and A second slider (422) is arranged on the hook seat (31) and is in sliding fit with the second slide rail (421).

19. The forklift tine mechanism (FM) according to any one of claims 2-12 further comprises: A transmission assembly (50) is arranged on the mounting bracket (10) and is configured to transport goods (GS) along the first direction (dr1) or the second direction (dr2).

20. The fork mechanism (FM) according to claim 19, wherein, The time ranges in which the transmission assembly (50) and the hook assembly (20) act on the goods (GS) are configured not to overlap.

21. The forklift tine mechanism (FM) according to claim 19, wherein, The time ranges in which the transmission assembly (50) and the hook assembly (20) act on the goods (GS) are configured to at least partially overlap.

22. The fork mechanism (FM) according to any one of claims 19-21, wherein, The transmission assembly (50) is located above the mounting bracket (10), and the forklift tine mechanism (FM) further includes: A second drive assembly (40) is drivingly connected to the hook assembly (20) or the first drive assembly (30) and is configured to drive the hook assembly (20) to move along the third direction (dr3) or the opposite direction of the third direction (dr3) so that the hook assembly (20) extends out and retracts relative to the transmission surface of the transmission assembly (50).

23. The fork mechanism (FM) according to any one of claims 19-22, wherein, The transmission component (50) includes: a pair of transmission members (51) arranged at intervals and a transmission driving element (52) for driving the pair of transmission members (51) to operate. The hook component (20) is located between the pair of transmission members (51) or on one side of at least one of the transmission members (51) away from the other transmission member (51).

24. The forklift mechanism (FM) according to any one of claims 1-23 further includes: A bracket (60); Wherein, the mounting bracket (10) is fixedly, detachably or movably arranged on the bracket (60).

25. The forklift mechanism (FM) according to claim 24 further includes: A third driving component (70), arranged on the bracket (60) and drivingly connected to the mounting bracket (10), configured to drive the mounting bracket (10) to move relative to the bracket (60) along the first direction (dr1) or the opposite direction of the first direction (dr1).

26. The forklift tine mechanism (FM) according to claim 25, wherein, The third driving component (70) includes: A third power element (71), connected to the mounting bracket (10), configured to drive the mounting bracket (10) to move relative to the bracket (60).

27. The fork mechanism (FM) according to claim 26, wherein, The third power element (71) includes: A second lead screw through motor, having a second motor housing (711) fixedly connected to the bracket (60) and a second lead screw (712) passing through the second motor housing (711). Both ends of the second lead screw (712) are connected to the mounting bracket (10).

28. The fork mechanism (FM) according to claim 26 or 27, wherein, The third driving component (70) further includes: A third linear guiding structure (72), arranged between the bracket (60) and the mounting bracket (10), configured to guide the mounting bracket (10) to move relative to the bracket (60) in the first direction (dr1) or the opposite direction of the first direction (dr1).

29. The fork mechanism (FM) according to claim 28, wherein, The third linear guiding structure (72) includes: A third slide rail (721), arranged on the mounting bracket (10) and extending along the first direction (dr1); and A third slider (722), arranged on the bracket (60) and slidably engaged with the third slide rail (721).

30. A goods access device, including: The forklift mechanism (FM) according to any one of claims 1-29.

31. The goods access device according to claim 30 further includes: At least two first tracks (TR1), arranged at intervals in at least one direction; At least two second tracks (TR2), movably arranged along the at least two first tracks (TR1) through a traveling mechanism (TM) ; Wherein, the forklift mechanism (FM) is movably arranged along the at least two second tracks (TR2).

32. A warehousing and logistics system, including: A shelf (SR); The goods access device according to claim 30 or 31, arranged on the shelf (SR).

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