Fork assembly, transfer robot, and warehousing system

Abstract

A fork assembly (100), a transfer robot (200), and a warehousing system. The fork assembly (100) comprises a base (110), a mounting plate (120), a telescopic mechanism (130), a guide structure (140), a first driving mechanism (150), and a pickup mechanism (170); the mounting plate (120) is arranged on the base (110); one end of the telescopic mechanism (130) is pivotally connected to the mounting plate (120); the pickup mechanism (170) is arranged on the end of the telescopic mechanism (130) away from the mounting plate (120); the guide structure (140) comprises a first guide rail (141) and a second guide rail (142), the second guide rail (142) extends in a first direction (X), the first guide rail (141) extends in a second direction (Y), and the first guide rail (141) is slidably connected to the second guide rail (142); the telescopic mechanism (130) is slidably connected to the first guide rail (141); the first driving mechanism (150) is used for driving the first guide rail (141) to move along the second guide rail (142) so as to drive the telescopic mechanism (130) to stretch and retract.

Description

Fork assemblies, handling robots and warehousing systems

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 18, 2024, with application number 202410077332.3 and application name “Fork assembly, handling robot and storage system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of forks, and in particular to a fork assembly, a handling robot, and a warehousing system. Background Art

[0003] With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence level of logistics has also been continuously improved. Equipment such as handling robots is one of the equipment to realize intelligent logistics, which can reduce the heavy physical labor of humans.

[0004] In related technologies, the handling robot includes a fork assembly, which includes a telescopic mechanism and a picking mechanism. The picking mechanism is arranged at one end of the telescopic mechanism. The telescopic mechanism can be telescopically moved along the picking direction of the material box, so that the picking mechanism pulls the material box on the shelf back to the fork or places the material box on the shelf to realize the picking and placing of the material box.

[0005] However, in the related art, the telescopic mechanism in the fork assembly is prone to shaking during telescoping, and has insufficient telescoping accuracy and poor stability. Summary of the Invention

[0006] In view of the above problems, the embodiments of the present application provide a fork assembly, a handling robot, and a warehousing system, which can improve the telescopic stability and the accuracy of the telescopic route of the telescopic mechanism in the fork assembly and reduce shaking.

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] A first aspect of an embodiment of the present application provides a fork assembly, comprising:

[0009] base;

[0010] A mounting plate, disposed on the base;

[0011] The telescopic mechanism includes a first telescopic unit and at least one second telescopic unit pivotally connected in sequence, wherein the first telescopic unit includes two first telescopic frames, one end of each of the first telescopic frames is pivotally connected to the mounting plate; the second telescopic unit includes two second telescopic frames, the two second telescopic frames are cross-arranged and pivotally connected to each other;

[0012] The guide structure includes a first guide rail and a second guide rail, wherein the second guide rail is connected to the base, the second guide rail extends along a first direction, the first guide rail extends along a second direction, and the first guide rail and the second guide rail are slidably connected; the second telescopic unit is slidably connected to the first guide rail; wherein the first direction and the second direction are perpendicular to each other;

[0013] a first driving mechanism connected to the first guide rail, the first driving mechanism being configured to drive the first guide rail to move along the second guide rail so that the second telescopic unit slides along the first guide rail to drive the telescopic mechanism to telescope along the first direction;

[0014] The picking mechanism is arranged on a side of the second telescopic unit facing away from the first telescopic unit.

[0015] Compared with the related art, the fork assembly provided by the embodiment of the present application has at least the following advantages:

[0016] The fork assembly provided in the embodiment of the present application includes: a base, a mounting plate, a telescopic mechanism, a guide structure, a first drive mechanism and a picking mechanism, the mounting plate is arranged on the base, the telescopic mechanism includes a first telescopic unit and at least one second telescopic unit pivoted in sequence, the first telescopic unit includes two first telescopic frames, one end of the two first telescopic frames is respectively pivoted to the mounting plate, the second telescopic unit includes two second telescopic frames, the two second telescopic frames are cross-arranged and pivoted to each other; the guide structure includes a first guide rail and a second guide rail, the second guide rail extends along the first direction, the first guide rail extends along the second direction, and the first guide rail and the second guide rail are slidably connected, and the second telescopic unit is slidably connected to the first guide rail; the first drive mechanism is connected to the first guide rail, and the first drive mechanism is configured to drive the first guide rail to move along the second guide rail so that the second telescopic unit slides along the first guide rail to drive the telescopic mechanism to extend and retract along the first direction; the picking mechanism is arranged on the side of the second telescopic unit away from the first telescopic unit. In the above scheme, by setting up a guide structure, the guide structure can guide the telescopic movement of the telescopic mechanism in the first direction, avoiding the telescopic mechanism from deviating to both sides during telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism during telescoping, reducing shaking, and thus improving the reliability of the picking mechanism when picking up the material box.

[0017] A second aspect of an embodiment of the present application provides a transport robot, comprising: a robot body and a fork assembly as provided in the above embodiment, wherein the fork assembly is arranged on the robot body and can be raised and lowered relative to the robot body.

[0018] A third aspect of an embodiment of the present application provides a warehousing system, including the handling robot provided in the above embodiment.

[0019] The handling robot and warehousing system provided in the embodiments of the present application have the same beneficial effects as the fork assembly provided in the above embodiments, which will not be repeated here.

[0020] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the fork assembly, handling robot and warehousing system provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 is a schematic structural diagram of a fork assembly provided in an embodiment of the present application;

[0023] FIG2 is a schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application;

[0024] FIG3 is a schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application from another perspective;

[0025] FIG4 is a partial enlarged view of point A in FIG3 ;

[0026] FIG5 is a schematic structural diagram of another part of the fork assembly provided in an embodiment of the present application;

[0027] FIG6 is an exploded schematic diagram of another portion of the fork assembly provided in an embodiment of the present application;

[0028] FIG7 is a schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application from another perspective;

[0029] FIG8 is a partial enlarged view of point B in FIG7;

[0030] FIG9 is a schematic diagram of a partial structure of a fork assembly provided in an embodiment of the present application from another perspective;

[0031] FIG10 is a partial enlarged view of point C in FIG9 ;

[0032] FIG11 is a schematic structural diagram of a transport robot provided in an embodiment of the present application.

[0033] Reference numerals:

[0034] 100-fork assembly; 110-base; 120-mounting plate; 130-telescopic mechanism;

[0035] 131-first telescopic unit; 1311-first telescopic frame;

[0036] 1311a-first connecting rod; 1311b-first connecting rib;

[0037] 132-second telescopic unit; 1312-second telescopic frame;

[0038] 1312a - second connecting rod; 1312b - second connecting rib; 134 - pivot axis;

[0039] 140-guide structure; 141-first guide rail; 142-second guide rail; 143-slider;

[0040] 150 - first driving mechanism; 151 - first driving motor; 152 - flexible component; 1521 - driving wheel;

[0041] 1522-driven wheel; 1523-transmission belt; 153-connecting piece; 1531-connecting body;

[0042] 1532-connecting portion; 1533-sliding portion;

[0043] 160-fixed plate; 161-second drive mechanism; 1611-second drive motor;

[0044] 1612-lifting unit; 1612a-driving pulley; 1612b-driven pulley; 1612c-conveyor belt;

[0045] 162-support member; 170-cargo pickup mechanism; 180-tray; 191-first bearing; 192-second bearing;

[0046] X-first direction; Y-second direction; Z-third direction;

[0047] 200- handling robot; 210- robot body; 211- chassis; 212- support frame; 213- cargo pallet. DETAILED DESCRIPTION

[0048] In related art, a handling robot includes a fork assembly, which includes a telescopic mechanism and a gripping mechanism. The gripping mechanism is located at one end of the telescopic mechanism and can be telescoped in the direction of picking up the bin. This allows the gripping mechanism to pull the bin from the shelf back onto the fork or place the bin on the shelf, thereby enabling the bin to be picked up and placed. However, the telescopic mechanism in the fork assembly in related art is prone to shaking during extension and retraction, resulting in insufficient telescopic accuracy and poor stability.

[0049] In order to at least partially solve the above problems, the present application provides a fork assembly, a handling robot and a warehousing system. By designing a guide structure in the fork assembly, the guide structure can guide the telescopic movement of the telescopic mechanism in the first direction, avoiding the telescopic mechanism from deviating to both sides during telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism during telescoping, reducing shaking, and thereby improving the reliability of the picking mechanism when picking up the material box.

[0050] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0051] Referring to Figures 1 to 5 , an embodiment of the present application provides a fork assembly 100, comprising: a base 110, a mounting plate 120, a telescopic mechanism 130, a guide structure 140, a first drive mechanism 150, and a pickup mechanism 170. The mounting plate 120 is disposed on the base 110, for example, at one end of the base 110. One end of the telescopic mechanism 130 is pivotally connected to the mounting plate 120. Exemplarily, the telescopic mechanism 130 includes a first telescopic unit 131 and at least one second telescopic unit 132, which are pivotally connected in sequence. The pickup mechanism 170 is disposed at an end of the telescopic mechanism 130 away from the mounting plate 120. The guide structure 140 includes a first guide rail 141 and a second guide rail 142. The second guide rail 142 is, for example, arranged on one side of the telescopic mechanism 130 and connected to the base 110. The second guide rail 142 extends along the first direction, the first guide rail 141 extends along the second direction, and one end of the first guide rail 141 is slidably connected to the second guide rail 142. The second telescopic unit 132 is slidably connected to the first guide rail 141. The first driving mechanism 150 is connected to the first guide rail 141. The first driving mechanism 150 is configured to drive the first guide rail 141 to move along the second guide rail 142, so that the second telescopic unit 132 slides along the first guide rail 141 to drive the telescopic mechanism 130 to telescope along the first direction. In this way, the guide structure 140 can guide the telescopic mechanism 130 in the telescopic direction to prevent the telescopic mechanism 130 from deviating to both sides during telescoping, thereby improving the stability of the telescopic mechanism 130 during telescoping and the accuracy of the telescopic route, reducing the shaking of the telescopic mechanism 130 during telescoping, and thereby improving the reliability of the picking mechanism 170 when picking up the material box.

[0052] It should be noted that the first direction is, for example, the telescopic direction of the telescopic mechanism 130, such as the X direction in Figure 1, the second direction is a direction perpendicular to the first direction, such as the Y direction in Figure 1, and the lifting direction of the picking mechanism 170 is along the third direction, such as the Z direction in Figure 1.

[0053] In some embodiments, the first telescopic unit 131 includes two first telescopic frames 1311, and the ends of one end of the two first telescopic frames 1311 are respectively pivotally connected to the mounting plate 120, so that the two first telescopic frames 1311 move toward or away from the mounting plate 120 with the pivot point pivotally connected to the mounting plate 120 as the rotation center.

[0054] In some embodiments, the ends of the two first telescopic frames 1311 near one end of the mounting plate 120 are pivotally connected to each other and to the mounting plate 120. For example, a hinge is provided on the mounting plate 120, and the ends of the two first telescopic frames 1311 near one end of the mounting plate 120 are pivotally connected to each other and to the hinge on the mounting plate 120. In this way, there is no need to provide a slide rail mechanism on the mounting plate 120, and the ends of the two first telescopic frames 1311 do not need to be slidably connected to the slide rail mechanism on the mounting plate 120 through, for example, a hinge slider, thereby eliminating the need for a hinge slider and a slide rail mechanism. In this way, the installation of the telescopic mechanism 130 on the mounting plate 120 reduces the thickness of the hinge slider and the slide rail mechanism, thereby reducing the length of the telescopic mechanism 130 in the initial state in the telescopic direction. Since the overall length of the fork assembly 100 affects the width of the aisle in the storage space, the space utilization rate of the storage space is improved.

[0055] In addition, the second telescopic unit 132 includes two second telescopic frames 1312, which are arranged crosswise and pivotally connected to each other. For example, the middle portions of the two second telescopic frames 1312 are pivotally connected to each other. For example, the two ends of each second telescopic frame 1312 are symmetrical with each other about the pivot point as the center of symmetry, and the same ends of the two second telescopic frames 1312 are pivotally connected to adjacent structures. For example, the ends of the two second telescopic frames 1312 closest to the first telescopic unit 131 are pivotally connected to the ends of the two corresponding first telescopic frames 1311. In this way, when the telescopic mechanism 130 is extended or retracted, under the action of an external driving force, the two second telescopic frames 1312 in the second telescopic unit 132 rotate about the pivot point as the rotation center, so as to rotate toward or away from each other, thereby achieving the purpose of extension and retraction.

[0056] In one embodiment, the telescopic mechanism 130 includes one, two, or more second telescopic units 132. By way of example and not limitation, as shown in FIG1 , the second telescopic unit 132 closest to the mounting plate 120 (i.e., the leftmost side) has one end pivotally connected to one end of the first telescopic unit 131 and the other end pivotally connected to one end of the adjacent right second telescopic unit 132. The second telescopic unit 132 closest to the pickup mechanism 170 has one end connected to the pickup mechanism 170 and the other end pivotally connected to one end of the adjacent left second telescopic unit 132. The middle second telescopic unit 132 has its ends pivotally connected to the adjacent second telescopic units 132.

[0057] It can be understood that the middle parts of the two second telescopic frames 1312 in the same second telescopic unit 132 are pivotally connected to each other, that is, they form a cross scissors-like shape. In this way, the first telescopic unit 131 and at least one second telescopic unit 132 that are pivotally connected to each other in sequence form a telescopic mechanism 130 similar to a scissors-shaped structure. Therefore, as long as one telescopic frame in a telescopic unit is driven to move in the first direction, the entire telescopic mechanism 130 can be telescoped in the first direction. The telescopic structure is simple and the cost is low.

[0058] For example, as shown in FIG2 , the ends of the two first telescopic frames 1311 are rotatably connected to each other (e.g., pivotally connected) and pivotally connected to the hinge on the mounting plate 120. In this way, the two first telescopic frames 1311 can rotate relative to each other, so that the angle between the two first telescopic frames 1311 varies between 0° and 180°. The two second telescopic frames 1312 in each second telescopic unit 132 are arranged crosswise. For example, the two second telescopic frames 1312 are symmetrically arranged crosswise, that is, the intersection position of the two second telescopic frames 1312 is the symmetric center of the two second telescopic frames 1312. That is, the middle parts of the two second telescopic frames 1312 are pivotally connected to each other, and the ends of the two second telescopic frames 1312 are respectively pivotally connected to their adjacent structures. In this way, the telescopic mechanism 130 forms a telescopic mechanism 130 with a scissor-fork structure, for example. When the first driving mechanism 150 drives any one of the second telescopic frames 1312 to move along the first direction through the first guide rail 141, the entire telescopic mechanism 130 can be telescopically moved along the first direction. The driving method and the telescopic structure are simple and the cost is low.

[0059] Among them, the length of the first telescopic frame 1311 is, for example, half the length of the second telescopic frame 1312. In this way, the ends of the two first telescopic frames 1311 are pivotally connected to each other and to the mounting plate 120, which can reduce the initial length of the telescopic mechanism 130 while avoiding mutual interference between adjacent telescopic frames.

[0060] In order to improve the guiding stability of the telescopic mechanism 130, in the embodiment of the present application, the guide structure 140 may include two second guide rails 142, and the two second guide rails 142 are respectively arranged on opposite sides of the telescopic mechanism 130. In this way, the two ends of the first guide rail 141 are respectively slidably connected to the two second guide rails 142, and the same end of the second telescopic unit 132 is respectively slidably connected to the first guide rail 141. For example, the same end of the two second telescopic frames 1312 in the second telescopic unit 132 (for example, one end close to or away from the mounting plate 120) is respectively slidably connected to the first guide rail 141. In this way, when the first driving mechanism 150 drives the first guide rail 141 to move, the two ends of the first guide rail 141 slide along the two second guide rails 142 respectively, and the telescopic mechanism 130 slides along the first guide rail 141 to achieve telescopic movement. In this way, the accuracy of the route of the telescopic mechanism 130 driven by the first guide rail 141 to move in the first direction can be further improved.

[0061] Among them, the picking mechanism 170 is arranged on the side of the second telescopic unit 132 away from the first telescopic unit 131. For example, in Figure 1, the picking mechanism 170 is arranged on the side of the second telescopic unit 132 on the far right. In this way, the picking mechanism 170 can move with the telescopic movement of the telescopic mechanism 130, thereby taking the material box out from the corresponding storage location of the shelf or placing the material box on the fork assembly 100 on the corresponding storage location.

[0062] In some embodiments, the picking mechanism 170 is a structure such as a hook, a suction cup or a clamp. For example, in Figure 1, the picking mechanism 170 is a hook, and the material box can be provided with a structure such as a hook ring or a groove that matches the hook, as long as it can be hooked with the hook. In this way, when the telescopic mechanism drives the hook to move, the material box on the storage location can be taken out.

[0063] In other embodiments, the picking mechanism 170 may be a suction cup that can capture the container by, for example, generating a negative pressure between the suction cup and the container. Alternatively, the picking mechanism 170 may be a clamping member, for example, comprising two clamping arms that are opposed to each other and can be opened and closed. When the container needs to be captured, the two clamping arms are located on opposite sides of the container to clamp the container and capture it. Of course, the picking mechanism 170 may also be other structures that can capture the container, and this is not a specific limitation.

[0064] In some embodiments, as shown in FIG1 , the fork assembly further includes a fixed plate 160, which is disposed at an end of the telescopic mechanism 130 away from the mounting plate 120 and is pivotally connected to the telescopic mechanism 130. A pickup mechanism 170 can be movably disposed on a side of the fixed plate 160 facing away from the telescopic mechanism 130, such that the pickup mechanism 170 can be raised and lowered relative to the fixed plate 160. Thus, when the pickup mechanism 170, such as a hook, is hooking a material box, it can first be raised and lowered until the hook moves to a position corresponding to an opening of a hook ring or groove on the material box, and then raised and lowered in the opposite direction so that the hook is hooked into the hook ring or groove, thereby allowing the hook to hook the material box onto the fork when the telescopic mechanism 130 retracts.

[0065] In one embodiment, the hook of the picking mechanism 170 may be bent upwards. In some other embodiments, the hook of the picking mechanism 170 may be bent downwards.

[0066] Thus, it can be seen that in the fork assembly 100 provided in the embodiment of the present application, on the one hand, the first driving mechanism 150 drives the first guide rail 141 to move along the second guide rail 142, so that the telescopic mechanism 130 can slide relative to the first guide rail 141 and the second guide rail 142, thereby driving the telescopic mechanism 130 to extend and retract, simplifying the overall structure of driving the telescopic mechanism 130 to extend and retract, and reducing costs; on the other hand, one end of the two first telescopic frames 1311 is rotatably connected to each other and pivotally connected to the mounting plate 120. In this way, the length of the telescopic mechanism 130 in the initial state in the telescopic direction can be reduced, thereby reducing the overall length of the fork assembly 100, avoiding the impact of the fork length on the width of the aisle in the storage space, and thus improving the utilization rate of the storage space; on the other hand, by providing the guide structure 140, the guide structure 140 can guide the telescopic movement of the telescopic mechanism 130 in the first direction, preventing the telescopic mechanism 130 from deviating to the sides during extension and retraction, thereby improving the stability, reliability and accuracy of the telescopic mechanism 130 during extension and retraction, and thus improving the reliability of the picking mechanism 170 when hooking the material box.

[0067] In some embodiments, as shown in Figures 4 to 6, the first telescopic unit 131 and the second telescopic unit 132 are pivotally connected to each other via a pivot shaft 134. For example, two first telescopic frames 1311 in the first telescopic unit 131, at one end away from the mounting plate 120, are each pivotally connected to an adjacent second telescopic frame 1312 via a pivot shaft 134. When there are at least two second telescopic units 132, adjacent second telescopic units 132 are also pivotally connected to each other via a pivot shaft 134.

[0068] In some embodiments, please continue to refer to Figure 3, the two first telescopic frames 1311 each include two first connecting rods 1311a, and the two first connecting rods 1311a are spaced apart and opposite to each other along the second direction; the two second telescopic frames 1312 include two second connecting rods 1312a, and the two second connecting rods 1312a are spaced apart and opposite to each other along the second direction; wherein, the same end of the two first connecting rods 1311a can be connected by a pivot shaft 134, that is, the two first connecting rods 1311a are respectively rotatably connected to the pivot shaft 134; in addition, the same end of the two second connecting rods 1312a (that is, both are close to or away from the mounting plate 120) can also be pivoted to each other through the pivot shaft 134. In addition, the two first connecting rods 1311a and the two adjacent second connecting rods 1312a are pivoted through a pivot shaft 134, so that the first telescopic frame 1311 and the adjacent second telescopic frame 1312 can rotate relative to each other.

[0069] In addition, when the telescopic mechanism 130 includes at least two second telescopic units 132, the two second connecting rods 1312a in the second telescopic frame 1312 and the two second connecting rods 1312a in the adjacent second telescopic frame 1312 are pivotally connected through the same pivot shaft 134, so that the two adjacent second telescopic units 132 can rotate relative to each other, thereby achieving the purpose of telescoping.

[0070] In some embodiments, a first connecting rib 1311b is further provided between the two first connecting rods 1311a in one of the two first telescopic frames 1311, so as to connect the two first connecting rods 1311a together through the first connecting rib 1311b, wherein the first connecting rib 1311b and its corresponding two first connecting rods 1311a can be connected by bonding, welding, riveting, threaded connection, etc.; and the first connecting rib 1311b can be one, two or more. For example, in Figure 2, there are two first connecting ribs 1311b, and the two first connecting ribs 1311b are respectively provided at positions close to the two ends of the two first connecting rods 1311a, so as to improve the overall strength of the first telescopic frame 1311 through the first connecting rib 1311b.

[0071] In other embodiments, the two first connecting rods 1311a provided with the first connecting rib 1311b can be formed into an integral structure with the first connecting rib 1311b by casting or injection molding, that is, the two first connecting rods 1311a and the first connecting rib 1311b provided between the two first connecting rods 1311a are formed into an integral structure. In this way, the installation process between the first connecting rib 1311b and the first connecting rod 1311a can be reduced, thereby reducing the installation cost.

[0072] The other of the two first telescopic frames 1311 includes two mutually independent first connecting rods 1311 a , so as to facilitate the installation between the two first telescopic frames 1311 and facilitate the disassembly, assembly and replacement of the first telescopic unit 131 .

[0073] In addition, in some embodiments, in the two second telescopic frames 1312 in each second telescopic unit 132, the two second connecting rods 1312a in one second telescopic frame 1312 are an integrated structure, and the two second connecting rods 1312a in the other second telescopic frame 1312 are independent structures. This facilitates the disassembly, assembly and replacement of the two second telescopic frames 1312.

[0074] In one example, a second connecting rib 1312b is provided between the two second connecting rods 1312a in a second telescopic frame 1312, so that the two second connecting rods 1312a are connected into an integral structure through the second connecting rib 1312b, wherein the two ends of the second connecting rib 1312b can be detachably connected or fixedly connected to the corresponding second connecting rod 1312a, for example, the two ends of the second connecting rib 1312b are respectively bonded, welded, riveted, threaded, etc. to the corresponding second connecting rod 1312a, so that the two second connecting rods 1312a are connected through the second connecting rib 1312b to form an integral structure.

[0075] Alternatively, the second connecting rib 1312b may be formed into an integral structure with its corresponding two second connecting rods 1312a by casting or injection molding, thereby reducing the installation process and lowering the process cost.

[0076] The number of second connecting ribs 1312b between the two second connecting rods 1312a can be one, two, or more. For example, in FIG2 , two second connecting ribs 1312b are provided between the two second connecting rods 1312a, and the two second connecting ribs 1312b are spaced apart between the two second connecting rods 1312a to increase the strength of the second telescopic frame 1312.

[0077] In order to improve the smoothness of rotation and increase the strength of the first link 1311a and the second link 1312a when they are pivoted with their corresponding pivot shafts 134, in an embodiment of the present application, please refer to Figure 6, and a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and at least one of the corresponding first link 1311a and the second link 1312a, that is, when the first link 1311a and the second link 1312a are pivoted through the pivot shaft 134, for example, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and the corresponding first link 1311a; or, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and the corresponding second link 1312a; or, a first bearing 191 and a second bearing 192 are arranged between the pivot shaft 134 and the corresponding first link 1311a and the second link 1312a.

[0078] Illustratively, when at least one of a first link 1311a and a second link 1312a is connected to the corresponding pivot shaft 134 through a first bearing 191 and a second bearing 192, respectively, the first bearing 191 and the second bearing 192 are sequentially sleeved on the pivot shaft 134. For example, the first bearing 191 is located below the second bearing 192, or the first bearing 191 is located above the second bearing 192. The specific setting can be adaptively made according to actual needs, wherein the first bearing 191 is used to bear axial force, and the second bearing 192 is used to bear radial force.

[0079] Preferably, the first bearing 191 and the second bearing 192 may be provided only between the links in the first link 1311a and the second link 1312a close to the outside of the telescopic mechanism 130 and the corresponding pivot shaft 134. For example, in Figure 6, the second link 1312a is located on the outside of the first link 1311a. In this way, the first bearing 191 and the second bearing 192 are provided only between the second link 1312a and its corresponding pivot shaft 134. In this way, the cost can be reduced while ensuring the smoothness of the telescopic movement.

[0080] In some embodiments, the first bearing 191 is a deep groove ball bearing and the second bearing 192 is a needle roller bearing, wherein the needle roller bearing includes an outer ring of the bearing and a needle roller assembly arranged on the circumference of the outer ring of the bearing, and the needle roller assembly is located between the outer ring of the bearing and the pivot shaft 134, that is, the needle roller bearing only has an outer ring and a needle roller assembly, and no inner ring is provided, and is used in conjunction with a deep groove ball bearing, the deep groove ball bearing and the needle roller bearing are sequentially sleeved on the pivot shaft 134, and the corresponding first connecting rod 1311a or the second connecting rod 1312a is then sleeved on the outside of the needle roller bearing and the deep groove ball bearing. Since the needle roller bearing can withstand a large radial force, the deep groove ball bearing mainly withstands axial force, and the needle roller bearing without an inner ring can have a large rated load while ensuring a small radial dimension, thereby not increasing the radial dimension of the corresponding first connecting rod 1311a or the second connecting rod 1312a, while enabling the pivot point to withstand a large radial load, thereby improving the reliability of the telescopic mechanism 130 when pushing and pulling the material box.

[0081] In addition, no sleeves are used between the deep groove ball bearing and the needle roller bearing and the pivot shaft 134 respectively. This is because the friction between the needle roller bearing or the deep groove ball bearing and the pivot shaft 134 is rolling, while the friction between the sleeve and the pivot shaft 134 is sliding. Moreover, the material commonly used for the bearing has better wear resistance than the material of the sleeve. Therefore, by not using a sleeve, the friction resistance at the pivot joint can be reduced.

[0082] It should be noted that the first connecting rod 1311a and the second connecting rod 1312a can be respectively provided with a first bearing 191 and a second bearing 192 at the pivotal joints with their corresponding pivot shafts 134. The specific adaptive design can be carried out according to actual needs and is not limited here.

[0083] Of course, when there are at least two second telescopic units 132, two adjacent second telescopic units 132 are also pivotally connected via the pivot shaft 134, and a first bearing 191 and a second bearing 192 are provided between the pivot shaft 134 and the second connecting rod 1312a in at least one of the two second telescopic units 132. Preferably, the first bearing 191 and the second bearing 192 may be provided only between the second connecting rod 1312a located closer to the outside of the telescopic mechanism 130 among two adjacent second connecting rods 1312a along the telescopic direction of the telescopic mechanism 130 and the corresponding pivot shaft 134. In this way, smooth telescopic operation can be ensured while reducing costs.

[0084] In addition, the second telescopic unit 132 and the fixing plate 160 are also pivotally connected via the pivot shaft 134 , and a first bearing 191 and a second bearing 192 may be disposed between at least one of the second telescopic unit 132 and the fixing plate 160 and the corresponding pivot shaft 134 .

[0085] That is, the structures of the pivot shaft 134 (and the bearing) between two adjacent second telescopic units 132 and between the second telescopic unit 132 and the fixing plate 160 are the same as the pivot shaft 134 (and the bearing) described above, and are not repeated here.

[0086] In some embodiments, referring to Figures 3 and 4 , the guide structure 140 further includes a slider 143, which may be one or two sliders 143. When there is one slider 143, the slider 143 is connected to a corresponding pivot shaft 134 at one end of the second telescopic unit 132. When there are two sliders 143, the two sliders 143 are respectively connected to two corresponding pivot shafts 134 at the same end of the second telescopic unit 132 (i.e., the end closer to or farther from the mounting plate 120). Specifically, one slider 143 is provided on each pivot shaft 134, and both sliders 143 are slidably connected to the first guide rail 141. Thus, when the first driving mechanism 150 drives the first guide rail 141 to move in the first direction, the slider 143 drives the pivot shaft 134 connected thereto to move in the first direction, and the slider 143 slides on the corresponding first guide rail 141, thereby causing the telescopic mechanism 130 to extend and retract.

[0087] Illustratively, in FIG. 4 , a sliding groove matching the first guide rail 141 is provided on a side of the slider 143 facing the first guide rail 141 , and the first guide rail 141 is located in the sliding groove so that the slider 143 can slide along the first guide rail 141 .

[0088] In some embodiments, please continue to refer to Figure 3, the first driving mechanism 150 includes a first driving motor 151 and a flexible component 152. The flexible component 152 is, for example, located on one side of the telescopic mechanism 130 and is arranged on the base 110. In this way, the first driving motor 151 is connected to the flexible component 152, and the flexible component 152 is connected to the first guide rail 141. The first driving motor 151 transmits power to the first guide rail 141 through the flexible component 152, so that the first guide rail 141 can be telescopically moved along the first direction.

[0089] In some embodiments, the first driving mechanism 150 may include two flexible components 152, which are respectively located on opposite sides of the telescopic mechanism 130 and are arranged on the base 110. The two flexible components 152 are respectively connected to the first driving motor 151. In this way, the first driving motor 151 can simultaneously drive the first guide rail 141 to move along the first direction through two sets of flexible components 152, thereby improving the movement reliability of the first guide rail 141, and then improving the telescopic reliability of the telescopic mechanism.

[0090] For example, referring to FIG7 , each flexible assembly 152 includes, for example, a driving wheel 1521, a driven wheel 1522, and a transmission belt 1523. The driving wheel 1521 and the driven wheel 1522 are spaced apart in a first direction, and the transmission belt 1523 is sleeved on the driving wheel 1521 and the driven wheel 1522. Thus, when the first drive motor 151 drives the driving wheel 1521 to rotate, the driving wheel 1521 can drive the transmission belt 1523 to move, and the transmission belt 1523 drives the driven wheel 1522 to rotate around its own axis. The forward and reverse rotation of the first drive motor 151 can cause the movement direction of the flexible assembly 152 to be opposite, thereby causing the movement direction of the transmission belt 1523 to be opposite. The first guide rail 141 is connected to the transmission belt 1523, thereby achieving the movement purpose of extending or contracting the telescopic mechanism 130.

[0091] For example, in Figure 3, the first drive motor 151 is located in the middle position of the base 110 near one end of the mounting plate 120. The first drive motor 151 transmits its power to two groups of flexible components 152 located on opposite sides of the first drive motor 151 through the output shafts at both ends to provide power to the flexible components 152, so that the flexible components 152 drive the telescopic mechanism 130 to move telescopically along the first direction. In this way, only one drive motor is needed to achieve the telescopic movement of the telescopic mechanism 130, with a simple structure and low cost.

[0092] Among them, the first drive motor 151 is, for example, a 400W servo motor. When the first drive motor 151 is running, the first drive motor 151 drives the pivot shaft 134 at one end of one of the second telescopic units 132 to move along the first direction through the transmission belt 1523 in the flexible components 152 on both sides. During the movement, the angle between the two telescopic frames in each telescopic unit continues to increase or decrease, and the pivot shafts 134 on both sides will passively move toward the middle or to both ends, so that the telescopic mechanism 130 slides along the second guide rails 142 on both sides through the two ends of the first guide rail 141, thereby realizing the telescopic mechanism 130.

[0093] In some embodiments, please refer to Figures 4 and 7, the first guide rail 141 includes a guide rod extending in the second direction, a guide shaft, a structure with a guide protrusion or a guide groove, etc., and the pivot shaft 134 at the same end of a second telescopic unit 132 is slidably connected through a slider 143 matching the first guide rail 141. For example, in Figure 4, the first guide rail 141 is a guide rod, and a guide protrusion extending in the second direction is provided on the side of the guide rod facing the slider 143. The slider 143 has a slide groove matching the guide protrusion, and the guide protrusion is located in the slide groove, so that when the first guide rail 141 moves in the first direction under the action of the driving force, the slider 143 slides along the first guide rail 141. In addition, the second guide rail 142 includes a guide rod, a guide shaft, or a structure having a guide protrusion or a guide groove extending along the first direction. The structure of one end of the first guide rail 141 matches the second guide rail 142, so that the first guide rail 141 and the second guide rail 142 are slidably connected. For example, the second guide rail 142 is a guide rod, and one end of the first guide rail 141 has a guide groove matching the guide rod. In this way, the guide rod is located in the guide groove, so that the first guide rail 141 can slide along the second guide rail 142 under the action of an external driving force.

[0094] In some embodiments, please continue to refer to Figures 3, 4, 9 and 10, and also include a connecting member 153, which is connected to the first guide rail 141 and fixedly connected to the transmission belt 1523, wherein the connecting member 153 is, for example, a connecting block or a connecting plate, which is fixedly connected to the first guide rail 141 through the connecting member 153, and fixedly connected to the transmission belt 1523 through threaded connectors such as bolts, so that when the transmission belt 1523 moves, it can drive the first guide rail 141 to move along the second guide rail 142, thereby making the telescopic mechanism 130 telescopic.

[0095] In some embodiments, please refer to Figure 10, the connecting member 153 is slidingly connected to the second guide rail 142, that is, the first guide rail 141 is fixedly connected to the transmission belt 1523 through the connecting member 153, and is slidingly connected to the second guide rail 142 through the connecting member 153, so that when the transmission belt 1523 moves, it drives the first guide rail 141 to move along the second guide rail 142 through the connecting member 153.

[0096] In some embodiments, please continue to refer to Figure 10, the connecting member 153 includes a connecting body 1531 and a connecting portion 1532 and a sliding portion 1533 arranged on the connecting body 1531, the connecting body 1531 is connected to the first guide rail 141, the connecting portion 1532 is fixedly connected to the transmission belt 1523 through a threaded connection, and the sliding portion 1533 is provided with a sliding groove matching the second guide rail 142 on the side facing the second guide rail 142, and the sliding portion 1533 is slidably connected to the second guide rail 142 through the sliding groove.

[0097] In some embodiments, please refer to Figure 4, the connecting member 153 is slidingly connected to the second guide rail 142. For example, the second guide rail 142 is a guide rod, and the connecting member 153 is provided with a guide groove matching the guide rod on the side facing the second guide rail 142. In this way, the connecting member 153 is slidingly connected to the second guide rail 142 through the guide groove, thereby improving the reliability of the sliding connection between the first guide rail 141 and the second guide rail 142.

[0098] In some embodiments, the connector 153 and the first guide rail 141 can be detachably connected by means of a snap connection, a threaded connection, etc., so that the connector 153 can be disassembled for maintenance or better, thereby improving the interchangeability of parts in the fork assembly 100.

[0099] In some embodiments, please refer to Figures 7 and 8, and further include a second driving mechanism 161. The second driving mechanism 161 is arranged on the side of the fixed plate 160 away from the telescopic mechanism 130. The second driving mechanism 161 is configured to drive the picking mechanism 170 to move up and down relative to the fixed plate 160. Among them, the picking mechanism 170 is, for example, an upwardly bent picking mechanism 170; the picking mechanism 170 can be lifted and lowered relative to the fixed plate 160 along the third direction, so that when the telescopic mechanism 130 drives the picking mechanism 170 to extend to the position of the corresponding material box to be picked up, the second driving mechanism 161 drives the picking mechanism 170 to move downward, so that the picking mechanism 170 moves to the notch of the groove corresponding to the picking mechanism 170 on the material box, and then the second driving mechanism 161 drives the picking mechanism 170 to move upward, so that the picking mechanism 170 is hooked into the groove of the material box, and then the first driving mechanism 150 drives the telescopic mechanism 130 to retract to pull the material box onto the fork; wherein, the third direction is perpendicular to the first direction and the second direction respectively.

[0100] In some embodiments, the second driving mechanism 161 includes a second driving motor 1611 and a lifting unit 1612. The lifting unit 1612 is connected to the second driving motor 1611, and the picking mechanism 170 is connected to the lifting unit 1612. The second driving motor 1611 is configured to provide power to the lifting unit 1612, and the lifting unit 1612 is configured to drive the picking mechanism 170 to move up and down relative to the fixed plate 160. For example, as shown in FIG. 8, the lifting unit 1612 includes, for example, a driving pulley 1612a, a driven pulley 1612b, and a conveyor belt 1612c. The driving pulley 1612a and the driven pulley 1612b are spaced apart along a third direction (for example, along the Z direction) on a side of the fixed plate 160 away from the telescopic mechanism 130, and the conveyor belt 1612c is sleeved on the driving pulley 1612a and the driven pulley 1612b, and the output shaft of the second drive motor 1611 is connected to the driving pulley 1612a to drive the driving pulley 1612a to rotate, thereby driving the conveyor belt 1612c to move up and down through the driving pulley 1612a, and the picking mechanism 170 is connected to the conveyor belt 1612c so that the picking mechanism 170 can move up and down.

[0101] In addition, the telescopic mechanism 130 begins to extend from the initial contracted state, and the extended length can be, for example, about 1.1 meters. After the telescopic mechanism 130 is extended, the end of the telescopic mechanism 130 (i.e., the end close to the picking mechanism 170) may sag slightly.

[0102] In order to ensure that the height of the end of the telescopic mechanism 130 is consistent with the head end of the telescopic mechanism 130 (for example, the end close to the mounting plate 120), in the embodiment of the present application, please refer to Figures 7 and 8, the fork assembly 100 also includes a support member 162, which is arranged at the bottom of the fixed plate 160. In this way, the support member 162 can abut against the bearing surface corresponding to the material box to be picked up, so as to provide a supporting force to the end of the telescopic mechanism 130 close to the fixed plate 160 through the support member 162, so as to avoid the phenomenon of the end of the telescopic mechanism 130 sagging, and to avoid the poor hooking effect of the picking mechanism 170 and the groove on the material box due to the sagging of the end of the telescopic mechanism 130, thereby improving the reliability and accuracy of the fork assembly 100 when hooking the material box.

[0103] In some embodiments, the support member 162 can be a swivel support member, the swivel axis of the swivel support member extends along the second direction, and connecting parts are provided on both opposite sides of the fixed plate 160 near the bottom. The two ends of the swivel support member 162 are respectively rotatably connected to the connecting parts opposite thereto, so that the swivel support member can rotate around its own axis. For example, the support member 162 is a roller. In this way, when the telescopic mechanism 130 drives the fixed plate 160 at the end to telescope, the support member 162 can roll relative to the bearing surface of the supporting fixed plate 160, thereby reducing the friction resistance between the bearing member and the bearing surface.

[0104] It can be understood that the fork assembly 100 also includes a pallet 180, which is arranged on the base 110 and is located below the telescopic mechanism 130. There is a preset distance between the pallet 180 and the telescopic mechanism 130. The pallet 180 is configured to receive the material box hooked by the picking mechanism 170, that is, when the picking mechanism 170 hooks the material box, as the telescopic mechanism 130 retracts, the material box is pulled onto the pallet 180.

[0105] In the embodiment of the present application, a corresponding distance is set between the pallet 180 and the telescopic mechanism 130. In this way, when it is necessary to hook the material box, only the telescopic mechanism 130 needs to enter the storage position corresponding to the material box, and the pallet 180 does not need to enter the storage position. In this way, the total height of the fork assembly 100 entering the storage position corresponding to the material box can be reduced, thereby reducing the upper clearance of the shelf, that is, the height of the storage position only needs to be able to place the material box therein, thereby improving the space utilization rate of the storage space; in addition, since the pallet 180 and the telescopic mechanism 130 are designed separately, when hooking the material box, the pallet 180 does not need to enter the storage position of the shelf, so that the pallet 180 can always remain flush with the shelf layer. After the picking mechanism 170 hooks the material box, it can be directly pulled back all the way to the pallet 180, thereby reducing the picking and placing time and improving the picking and placing efficiency.

[0106] In addition, since both the first drive motor 151 and the second drive motor 1611 need to be energized, the wiring path between the head end and the tail end of the fork assembly 100 can be routed along the route of the adjacent telescopic frames in the telescopic mechanism 130, for example, in a Z-shape, so that the wiring at the head end and the tail end has a certain redundancy. In this way, the wiring can be prevented from being affected by the extension and retraction of the telescopic mechanism 130, thereby improving the reliability of the wiring.

[0107] Figure 11 is a structural schematic diagram of a handling robot provided in an embodiment of the present application; please refer to Figure 11, an embodiment of the present application also provides a handling robot 200, the handling robot 200 includes a robot body 210 and a fork assembly 100 arranged on the robot body 210, wherein the robot body 210, for example, includes a chassis 211, a support frame 212 arranged on the chassis, a cargo plate 213 arranged on the support frame 212, and a lifting assembly (not shown in the figure), the lifting assembly and the fork assembly 100 are respectively arranged on the support frame 212, and the lifting assembly can drive the fork assembly 100 to move up and down relative to the support frame 212, so that the fork assembly 100 can place the material box on the shelf storage location at different heights, or take out the material box on the shelf storage location at different heights.

[0108] It can be understood that the chassis can be moved on the ground, for example, so that the transport robot 200 can reach different locations to meet the transport needs. In addition, the support frame 212 is the supporting base for structures such as the fork assembly 100, the lifting assembly, and the cargo pallet 213. There can be multiple cargo pallets 213, and multiple cargo pallets 213 are arranged on the support frame 212 at intervals along the vertical direction of the support frame 212. The cargo pallets 213 are used to temporarily store material boxes, so that the transport robot 200 can transport multiple material boxes in one transport process, thereby improving the transport efficiency.

[0109] The lifting assembly may include, for example, a drive motor and a conveyor belt assembly connected to the drive motor, without specific limitation.

[0110] In addition, the structure and working principle of the fork assembly 100 have been described in detail in the above embodiments and will not be repeated here.

[0111] An embodiment of the present application also provides a warehousing system, including shelves and the handling robot provided in the above embodiment.

[0112] The shelf, for example, includes multiple storage locations, and the transport robot, for example, is the transport robot provided in the above embodiment.

[0113] The fork assembly, handling robot and warehousing system provided in the embodiments of the present application have a guide structure in the fork assembly, and the guide structure can guide the telescopic movement of the telescopic mechanism in a first direction, avoiding the telescopic mechanism from deviating to both sides during telescoping, thereby improving the stability, reliability and accuracy of the telescopic mechanism during telescoping, reducing shaking, and further improving the reliability of the picking mechanism when picking up the material box.

[0114] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0115] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A forklift tine assembly, characterized in that, Comprising: A base; A mounting plate disposed on the base; A telescopic mechanism including a first telescopic unit and at least one second telescopic unit pivotally connected in sequence. The first telescopic unit includes two first telescopic frames, and one ends of the two first telescopic frames are respectively pivotally connected to the mounting plate; the second telescopic unit includes two second telescopic frames, and the middles of the two second telescopic frames are pivotally connected to each other; A guiding structure including a first guide rail and a second guide rail. The second guide rail is connected to the base, the second guide rail extends along a first direction, the first guide rail extends along a second direction, and the first guide rail is slidably connected to the second guide rail; the second telescopic unit is slidably connected to the first guide rail; wherein, the first direction and the second direction are perpendicular to each other; A first driving mechanism connected to the first guide rail, the first driving mechanism being configured to drive the first guide rail to move along the second guide rail so that the second telescopic unit slides along the first guide rail to drive the telescopic mechanism to telescopically extend along the first direction; A goods picking mechanism disposed on a side of the second telescopic unit away from the first telescopic unit.

2. The forklift tine assembly according to claim 1, characterized in that, One ends of the two first telescopic frames close to the mounting plate are pivotally connected to each other.

3. The forklift tine assembly according to claim 2, wherein One end of each of the first telescopic frames away from the mounting plate is respectively pivotally connected to an adjacent second telescopic frame through a pivot shaft.

4. The forklift tine assembly according to claim 3, characterized in that The first telescopic frame includes two first connecting rods, the two first connecting rods are spaced and opposite to each other along a third direction, and one ends of the two first connecting rods are respectively connected through the pivot shaft; The second telescopic frame includes two second connecting rods, the two second connecting rods are spaced and opposite to each other along the third direction, and one ends of the two second connecting rods are respectively connected through corresponding pivot shafts.

5. The forklift tine assembly according to claim 4, characterized in that, One of the first telescopic frames in the first telescopic unit further includes a first connecting rib, the connecting rib is connected between the two first connecting rods, and the first connecting rib and the two corresponding first connecting rods are of an integral structure.

6. The forklift tine assembly according to claim 4, characterized in that, One of the second telescopic frames in each of the second telescopic units further includes a second connecting rib, the second connecting rib is connected between the two second connecting rods, and the second connecting rib and the two corresponding second connecting rods are of an integral structure.

7. The forklift tine assembly according to claim 4, characterized in that, A first bearing and a second bearing are disposed between the pivot shaft and at least one of the corresponding first connecting rod and second connecting rod, the first bearing and the second bearing are sequentially sleeved on the pivot shaft, the first bearing is used for bearing axial force, and the second bearing is used for bearing radial force.

8. The forklift tine assembly according to claim 7, wherein, The first bearing is a deep groove ball bearing, and the second bearing is a needle bearing or a ball bearing.

9. The forklift tine assembly according to any one of claims 3-8, characterized in that, The guiding structure further includes a slider, the slider is connected to the pivot shaft corresponding to one end of the second telescopic unit, and the slider is slidably connected to the first guide rail.

10. The forklift tine assembly according to claim 9, wherein, The first driving mechanism includes a first driving motor and a flexible component, the first driving motor is connected to the flexible component, the flexible component is connected to the first guide rail, and the first driving motor is configured to drive the first guide rail to move along the first direction through the flexible component.

11. The forklift tine assembly according to claim 10, wherein, The flexible component includes a driving wheel, a driven wheel and a transmission belt. The driving wheel and the driven wheel are respectively arranged at intervals in the first direction. The transmission belt is sleeved on the driving wheel and the driven wheel. The first driving motor is connected to the driving wheel, and the first guide rail is connected to the transmission belt so that the first guide rail moves along the first direction following the transmission belt.

12. The forklift tine assembly according to claim 11, wherein, It further includes: a connecting member, which is connected to the first guide rail and fixedly connected to the transmission belt.

13. The forklift tine assembly according to claim 12, wherein, The connecting member is slidably connected to the second guide rail.

14. The forklift tine assembly according to claim 10, characterized in that, The guiding structure includes two second guide rails, which are respectively arranged on opposite sides of the telescopic mechanism, and the first guide rail is slidably connected to the two second guide rails.

15. The forklift tine assembly according to claim 14, wherein The first driving mechanism includes two flexible components, which are respectively located on both sides of the telescopic mechanism and are respectively connected to the first driving motor, and both ends of the first guide rail are respectively connected to the two flexible components so that the two flexible components synchronously drive the first guide rail to move relative to the second guide rail.

16. The forklift tine assembly according to any one of claims 1-8, characterized in that, It further includes a fixing plate, which is arranged at one end of the telescopic mechanism away from the mounting plate and is pivotally connected to the telescopic mechanism. The goods picking mechanism is arranged on the side of the fixing plate facing away from the telescopic mechanism.

17. The forklift tine assembly according to claim 16, characterized in that, The goods picking mechanism is movably arranged on the fixing plate so that the goods picking mechanism can move up and down relative to the fixing plate.

18. The forklift tine assembly according to claim 17, wherein, The goods picking mechanism includes one of a hook claw, a suction cup or a clamping member.

19. The forklift tine assembly according to claim 17, wherein It further includes a second driving mechanism, which is arranged on the side of the fixing plate facing away from the telescopic mechanism. The second driving mechanism is configured to drive the goods picking mechanism to move up and down relative to the fixing plate.

20. The forklift tine assembly according to claim 19, wherein The second driving mechanism includes a second driving motor and a lifting unit. The lifting unit is connected to the second driving motor, and the goods picking mechanism is connected to the lifting unit. The second driving motor is configured to provide power to the lifting unit, and the lifting unit is configured to drive the goods picking mechanism to move up and down relative to the fixing plate.

21. The forklift tine assembly according to claim 16, wherein, It further includes a support member, which is arranged at the bottom of the fixing plate. The support member is configured to abut against the bearing surface corresponding to the box to be picked up to provide a supporting force to one end of the telescopic mechanism close to the fixing plate.

22. The forklift tine assembly according to claim 21, characterized in that, The support member is a slewing bearing, and the slewing axis of the slewing bearing extends along the second direction. Connecting parts are arranged on opposite sides of the fixing plate near the bottom, and both ends of the slewing bearing are respectively rotatably connected to the corresponding connecting parts so that the slewing bearing can rotate around its own axis.

23. The forklift tine assembly according to claim 22, wherein, The support member is a roller or a wheel.

24. The forklift tine assembly according to any one of claims 1-8, characterized in that, It further includes a tray, which is arranged on the base and is located below the telescopic mechanism. There is a preset distance between the tray and the telescopic mechanism. The tray is configured to receive the box obtained by the goods picking mechanism.

25. A handling robot, characterized in that, It includes: a robot body and a forklift component as described in any one of claims 1-24, and the forklift component is arranged on the robot body.

26. A warehousing system, characterized in that, It includes the handling robot as described in claim 25.

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