Fork device and handling robot

Abstract

The present application relates to the technical field of warehouse logistics apparatuses. Disclosed are a fork device and a handling robot, which are configured to solve the technical problem of existing handling robots, when adjusting the position of a telescopic mechanism to eliminate transverse errors between the telescopic mechanism and a target storage position, experiencing excessive time consumption during the adjustment process and causing low operational efficiency. The fork device comprises a base plate, a displacement compensation mechanism and a telescopic mechanism, wherein the telescopic mechanism comprises two telescopic assemblies, the two telescopic assemblies being arranged on two sides of the base plate opposite each other in a first direction; the displacement compensation mechanism is connected to both telescopic assemblies; and the displacement compensation mechanism is configured to slide relative to the base plate in the first direction and change the position of the telescopic mechanism relative to the base plate in the first direction. The fork device and the handling robot provided in the present application can rapidly eliminate "transverse errors" between a target storage position and the telescopic mechanism, improving operational efficiency.

Description

Fork device and carrying robot

[0001] The present application claims priority to the Chinese patent application No. 202420812664.7, filed on April 18, 2024, and entitled "Fork device and carrying robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse logistics equipment, in particular to a fork device and a carrying robot. BACKGROUND

[0003] With the development of the logistics industry, carrying robots are gradually applied to the work of carrying goods, which can improve the carrying efficiency of goods. Therefore, carrying robots have become a research hotspot in the logistics industry.

[0004] The carrying robot comprises a fork device, and the fork device comprises a fork body and a telescopic mechanism arranged on the fork body. The telescopic mechanism comprises two telescopic assemblies arranged opposite to each other. The telescopic assemblies are used to grab a container and transfer the container between the carrying robot and a warehouse shelf, so as to realize the out-of-warehouse and in-warehouse of the container.

[0005] However, when the carrying robot carries out the out-of-warehouse or in-warehouse of a high-position container on the warehouse shelf, there is a "lateral error" between the telescopic mechanism and the target storage position. The carrying robot needs to be moved as a whole to adjust the position of the telescopic mechanism and eliminate the "lateral error". This adjustment process takes a long time and results in low work efficiency. SUMMARY

[0006] In view of the above problems, the present application provides a fork device and a carrying robot, which can quickly eliminate the "lateral error" between the target storage position and the telescopic mechanism, and improve the work efficiency.

[0007] In order to achieve the above purpose, the present application provides the following technical solutions:

[0008] The first aspect of the present application provides a fork device, comprising a base plate, a displacement compensation mechanism and a telescopic mechanism. The telescopic mechanism comprises two telescopic assemblies arranged opposite to each other along a first direction on both sides of the base plate. The displacement compensation mechanism is connected with the two telescopic assemblies respectively. The displacement compensation mechanism is configured to slide along the first direction relative to the base plate and change the position of the telescopic mechanism along the first direction relative to the base plate.

[0009] In an alternative embodiment, the displacement compensation mechanism comprises a carrier frame and a front beam; the carrier frame is slidingly mounted on the base plate and slides relative to the base plate along a first direction; the front beam is arranged on the carrier frame and moves with the carrier frame; two ends of the front beam are respectively connected with two telescopic assemblies.

[0010] In an alternative embodiment, the displacement compensation mechanism further comprises a driving mechanism and a transmission assembly;

[0011] The driving mechanism is connected with the transmission assembly, and the transmission assembly is configured to drive the two telescopic assemblies to move synchronously along the first direction.

[0012] In an alternative embodiment, the telescopic assembly comprises an outer side wall plate; the transmission assembly comprises a driving wheel, a driven wheel and a synchronous belt; the driving mechanism and the driving wheel are respectively arranged on one of the outer side wall plates, and the driving mechanism is connected with the driving wheel; the driven wheel is arranged on the other outer side wall plate, and the driven wheel is oppositely arranged with the driving wheel along the first direction; the base plate is provided with a tooth plate fixing assembly, one end of the synchronous belt is connected with the tooth plate fixing assembly, and the other end of the synchronous belt is wound around the driving wheel, the driven wheel and connected to the tooth plate fixing assembly.

[0013] In an alternative embodiment, the displacement compensation mechanism comprises two front beams; along a second direction, the two front beams are arranged at two sides of the carrier frame; each of the front beams extends along the first direction, and two ends of the front beam are respectively connected with two outer side wall plates.

[0014] In an alternative embodiment, the displacement compensation mechanism further comprises a slide rail and a plurality of sliding blocks; the slide rail is slidingly mounted on the sliding blocks, and the slide rail extends along the first direction; the slide rail is connected with the bottom of the carrier frame, and the sliding blocks are connected with the base plate.

[0015] In an alternative embodiment, the displacement compensation mechanism further comprises a photoelectric sensor and a photoelectric sensing sheet; the photoelectric sensor is arranged on the carrier frame and moves with the carrier frame along the first direction; the photoelectric sensing sheet is arranged on the base plate, extends along the first direction and is located in the moving path of the photoelectric sensor, and the photoelectric sensing sheet is provided with a zero point; the photoelectric sensor is configured to scan the photoelectric sensing sheet, and when the photoelectric sensor moves to the zero point, the telescopic mechanism is located at the initial position.

[0016] In an optional embodiment, the fork device further comprises a bracket and a drag chain; the drag chain has a deflection and is used for passing a cable; the drag chain is installed on the bracket, and the bracket is fixed on the base plate.

[0017] In an optional embodiment, the fork device further comprises a bearing mechanism and a rotating mechanism; the rotating mechanism is arranged between the bearing mechanism and the base plate, the rotating mechanism is rotationally connected with the base plate, and the rotating mechanism is configured to drive the base plate to rotate relative to the bearing mechanism.

[0018] The second aspect of the embodiments of the present application provides a carrying robot, comprising a portal, a moving base, at least one storage position and the fork device of the first aspect; the portal is installed on the moving base along a third direction, the fork device is slidingly installed on the portal along the third direction; the storage position is used for carrying a container, and the storage position and the fork device are oppositely arranged on two sides of the portal along a second direction; the extension direction of the extension mechanism of the fork device is consistent with the second direction.

[0019] In an optional embodiment, the carrying robot comprises a lifting mechanism and a plurality of the storage positions; the lifting mechanism is arranged on the portal and drives the fork device to move along the third direction; and the plurality of storage positions are arranged on the portal along the third direction.

[0020] In an optional embodiment, when the extension mechanism is in an initial position, the center line of the extension mechanism is opposite to the center line of the storage position along the first direction.

[0021] Compared with the related art, the fork device and the carrying robot provided by the embodiments of the present application have the following advantages:

[0022] The fork device provided by the embodiments of the present application adjusts the position of the extension mechanism relative to the base plate along the first direction through the displacement compensation mechanism arranged on the base plate, the displacement compensation mechanism connected with the extension mechanism, so as to eliminate the "lateral error" between the extension mechanism and the target storage position along the first direction, so that the extension mechanism can be opposite to the target storage position, and further transfer the container between the carrying robot and the storage rack to realize the container out-of-warehouse and in-warehouse.

[0023] In the related art, the position of the extension mechanism is adjusted by moving the carrying robot as a whole, so as to eliminate the "lateral error" between the target storage position and the extension mechanism; in this adjustment process, since the fork device is in a high position, the shaking of the whole carrying robot is uncontrollable, and the specific movement amount cannot be calculated, so the carrying robot needs to be continuously moved and adjusted, and this adjustment process consumes a long time and has a low efficiency.

[0024] However, in the embodiment of the present application, the displacement compensation mechanism is used to drive the telescopic mechanism to move to eliminate the "lateral error". The displacement compensation mechanism arranged on the fork device adjusts the position of the telescopic mechanism. The adjustment process is less affected by the shaking of the carrying robot. The telescopic mechanism can be moved according to the specific error, and the position of the telescopic mechanism can be quickly adjusted to improve the efficiency of the material box in and out of the warehouse.

[0025] In addition to the technical problems solved by the above-described embodiments of the present application, the technical features constituting the technical solutions, and the beneficial effects brought by these technical features, other technical problems solved by the fork device and the carrying robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are included to provide a further understanding of the present application, form a part of the present application and illustrate the illustrative embodiments of the present application and its description are used to explain the present application and do not constitute an improper limitation on the present application.

[0027] FIG. 1 is a schematic diagram of the overall structure of the carrying robot provided by the embodiment of the present application;

[0028] FIG. 2 is a schematic diagram of the structure of the carrying mechanism of the fork device provided by the embodiment of the present application when the carrying mechanism is a rotary carrying plate;

[0029] FIG. 3 is a schematic diagram of the structure of the carrying mechanism of the fork device provided by the embodiment of the present application when the carrying mechanism is a rotary carrying frame;

[0030] FIG. 4 is a schematic diagram of the structure of the fork device shown in FIG. 3 from another angle;

[0031] FIG. 5 is a schematic diagram of the arrangement of the displacement compensation mechanism in the fork device shown in FIG. 4;

[0032] FIG. 6 is an enlarged schematic diagram of A in FIG. 5;

[0033] FIG. 7 is a schematic diagram of the structure of the fork device shown in FIG. 2 after the telescopic motor is installed;

[0034] FIG. 8 is a schematic diagram of the structure of the fork device shown in FIG. 3 after the telescopic motor is installed;

[0035] FIG. 9 is a schematic diagram of the structure of the fork device shown in FIG. 4 after the telescopic motor is installed;

[0036] FIG. 10 is a schematic diagram of the structure of the fork device shown in FIG. 9 in the extended state of the telescopic mechanism;

[0037] FIG. 11 is a schematic diagram of the structure of the fork device shown in FIG. 9 from another angle;

[0038] Fig. 12 is a structural schematic diagram of the fork device shown in Fig. 9 with one side of the telescopic mechanism removed;

[0039] Fig. 13 is a structural schematic diagram of the fork device shown in Fig. 12 in an extended state of the telescopic mechanism;

[0040] Fig. 14 is a structural schematic diagram of the fork device shown in Fig. 9 with the other side of the telescopic mechanism removed;

[0041] Fig. 15 is a structural schematic diagram of the fork device shown in Fig. 14 in an extended state of the telescopic mechanism;

[0042] Fig. 16 is a schematic diagram of the working process of the displacement compensation mechanism driving the telescopic mechanism of the carrying robot in an embodiment of the present application;

[0043] Fig. 17 is a schematic diagram of the working process of the telescopic mechanism of the carrying robot transferring the container to the target position.

[0044] Reference signs: 10 - substrate; 20 - telescopic mechanism; 21 - outer wall plate; 211 - first sliding rail; 22 - telescopic wall plate; 221 - first-stage telescopic fork plate; 2211 - second sliding rail; 222 - second-stage telescopic fork plate; 23 - telescopic driving wheel; 24 - telescopic driven wheel; 25 - telescopic synchronous belt; 26 - telescopic motor; 27 - transmission tooth plate; 28 - telescopic transmission shaft; 29 - guide mounting plate; 30 - displacement compensation mechanism; 31 - bearing frame; 311 - first bearing beam; 312 - second bearing beam; 32 - driving mechanism; 321 - driving motor; 322 - speed reducer; 33 - transmission assembly; 331 - driving wheel; 332 - driven wheel; 333 - synchronous belt; 34 - tooth plate fixing assembly; 35 - photoelectric sensor; 36 - photoelectric sensing sheet; 37 - front cross beam; 38 - sliding assembly; 381 - sliding rail; 382 - sliding block; 40 - drag chain; 41 - support; 51 - rotary bearing plate; 52 - rotary bearing frame; 53 - rotary motor; 54 - rotary speed reducer; 60 - image acquisition device; 70 - front shift fork; 80 - rear shift fork; 100 - fork device; 200 - storage position; 300 - gantry; 400 - moving base; 500 - container. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the present application clearer, further detailed description will be made below with reference to the drawings and examples. Obviously, the described examples are only some of the examples of the present application, but not all. Based on the examples in the present application, all other examples obtained by those skilled in the art are within the scope of the present application.

[0046] In the related art, when the transfer robot discharges or stores the high-position container located on the storage shelf, the telescopic mechanism has a "lateral error" with the target storage position, and the transfer robot needs to be moved as a whole to adjust the position of the telescopic mechanism, so as to eliminate the "lateral error". This adjustment process takes a long time and results in low work efficiency.

[0047] The inventor found that the reason for this problem is that, in the process of moving the transfer robot as a whole to eliminate the "lateral error", since the fork device is at a high position and the whole transfer robot shakes uncontrollably, the specific movement amount cannot be calculated, and the transfer robot needs to be continuously moved and adjusted. This process takes a long time and has low work efficiency.

[0048] To solve the above technical problems, the embodiment of the present application provides a fork device, which comprises a base plate 10, a displacement compensation mechanism 30 and a telescopic mechanism 20; the telescopic mechanism 20 comprises two telescopic components, which are arranged on both sides of the base plate 10 in a relative manner along a first direction;

[0049] The displacement compensation mechanism 30 is connected with the two telescopic components respectively, and is configured to slide along the first direction relative to the base plate 10 and change the position of the telescopic mechanism 20 along the first direction relative to the base plate 10.

[0050] By providing the displacement compensation mechanism 30 on the base plate 10, the displacement compensation mechanism 30 is connected with the telescopic mechanism 20, and the displacement compensation mechanism 30 can drive the telescopic mechanism 20 to slide along the first direction relative to the base plate 10, so as to adjust the position of the telescopic mechanism 20 along the first direction relative to the base plate 10, and eliminate the "lateral error", so that the telescopic mechanism 20 can be directly opposite to the target storage position, and the container can be further transferred between the transfer robot and the storage shelf, so as to realize the discharge and storage of the container.

[0051] In this way, in the embodiment of the present application, the displacement compensation mechanism 30 drives the telescopic mechanism 20 to move to eliminate the "lateral error", and the adjustment process is less affected by the shaking of the transfer robot. The telescopic mechanism can be moved according to the specific error, the position of the telescopic mechanism can be quickly adjusted, and the discharge and storage efficiency of the container is improved.

[0052] 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 described clearly and completely below with reference to 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 the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0053] To facilitate the description of the embodiments of the present application, first define the coordinate system of the handling robot in the state shown in FIG. 1 and FIG. 2, wherein the X-axis direction is the first direction, the first direction is defined as the relative arrangement direction of the two telescopic assemblies; the Y-axis direction is the second direction, the second direction is defined as the extension or retraction direction of the telescopic mechanism, that is, the picking direction; the Z-axis direction is the third direction, the third direction is defined as the height direction of the handling robot.

[0054] Referring to FIG. 1, FIG. 1 is a schematic diagram of the overall structure of the handling robot provided by the embodiments of the present application; in FIG. 1, the X-axis direction is consistent with the left-right direction of the handling robot, and the Y-axis direction is consistent with the forward or backward direction of the handling robot.

[0055] As shown in FIG. 1, the handling robot provided by the embodiments of the present application includes a mobile base 400, a walking mechanism (not shown in the figure), a lifting mechanism (not shown in the figure), a portal 300, a fork device 100, and at least one storage location 200, wherein the walking mechanism is arranged below the mobile base 400 and is used to drive the mobile base 400 to move. The walking mechanism includes a plurality of walking wheels and a driving device, and the driving device is used to provide driving force to the walking wheels to enable the walking wheels to rotate relative to the ground.

[0056] For example, the driving device includes a driving motor connected with at least one walking wheel, and the driving motor provides driving force to the walking wheel, which can enable the mobile base 400 to move forward, backward, and turn, etc.; so as to enable the handling robot to move to a storage rack or other working position, thereby completing the transfer of goods. It should be noted that the goods in the embodiments of the present application can be a material box 500 containing materials, which is taken as an example for description.

[0057] The portal 300 is installed on the mobile base 400 in a vertical state along the third direction. The portal 300 includes two upright columns, which are arranged at intervals along the first direction and can be vertically connected to the mobile base 400. The portal 300 is used to install the storage location 200 and the fork device 100, wherein the storage location 200 and the fork device 100 are arranged opposite to each other on both sides of the portal 300 along the second direction, and when the fork device 100 is opposite to the corresponding storage location 200, the material box 500 can be temporarily stored in the storage location 200, that is, the storage location 200 is used to temporarily store the material box 500.

[0058] For example, the handling robot in the embodiments of the present application includes a plurality of storage locations 200, which can be formed by a horizontal storage plate installed on the portal 300. The plurality of storage locations 200 are arranged at intervals along the third direction on one side of the portal 300, and the accommodation space of the material box 500 is formed between the adjacent two storage locations 200. In this way, the handling robot can transfer a plurality of material boxes 500 in a single stroke through the plurality of storage locations 200, thereby improving the working efficiency of the handling robot.

[0059] The fork device 100 is used for transferring the bin 500 between the carrying robot and the storage shelf. The fork device 100 is slidably installed on the portal 300 in the third direction. A lifting mechanism is arranged on the portal 300, and the lifting mechanism is connected with the fork device 100 and provides driving force to the fork device 100, so that the fork device 100 can move up and down along the height direction of the portal 300. In this way, the working height of the fork device 100 can be adjusted, and the bin 500 at different heights on the storage shelf can be taken and placed.

[0060] Referring to FIGS. 2-4 and 7-9, FIG. 2 is a structural schematic diagram of a bearing mechanism of the fork device according to an embodiment of the present application, wherein the bearing mechanism is a rotary bearing plate; FIG. 3 is a structural schematic diagram of a bearing mechanism of the fork device according to an embodiment of the present application, wherein the bearing mechanism is a rotary bearing frame; FIG. 4 is a structural schematic diagram of the fork device shown in FIG. 3 from another angle; FIG. 7 is a structural schematic diagram of the fork device shown in FIG. 2 after a telescopic motor is installed; FIG. 8 is a structural schematic diagram of the fork device shown in FIG. 3 after a telescopic motor is installed; and FIG. 9 is a structural schematic diagram of the fork device shown in FIG. 4 after a telescopic motor is installed.

[0061] As shown in FIGS. 2-4 and 7-9, the fork device 100 according to an embodiment of the present application comprises a base plate 10, a displacement compensation mechanism 30 and a telescopic mechanism 20, wherein the base plate 10 is used for bearing the displacement compensation mechanism 30 and the telescopic mechanism 20, the telescopic mechanism 20 comprises two telescopic assemblies, the two telescopic assemblies are oppositely arranged on two sides of the base plate 10 along a first direction, and the interval of the two telescopic assemblies along the first direction is matched with the bin 500, so that the telescopic mechanism 20 can take and place the bin 500.

[0062] Further, the telescopic direction of the telescopic mechanism 20 is consistent with the second direction, that is, the telescopic mechanism 20 telescopes along the second direction; when discharging, the telescopic mechanism 20 can be extended into the storage position of the storage shelf, and the bin 500 is transferred from the storage shelf to the storage position 200; when storing, the telescopic mechanism 20 can be extended into the storage position 200, and the bin 500 is transferred from the storage position 200 to the storage shelf.

[0063] The displacement compensation mechanism 30 is connected with the two telescopic assemblies respectively, the displacement compensation mechanism 30 is slidably installed on the base plate 10, and the displacement compensation mechanism 30 can move along the first direction relative to the base plate 10. When the displacement compensation mechanism 30 acts, it can drive the telescopic mechanism 20 to move integrally along the first direction, and change the position of the telescopic mechanism 20 relative to the base plate 10 along the first direction.

[0064] For example, the two telescopic assemblies can be connected together through the displacement compensation mechanism 30, so that the telescopic assemblies move synchronously in the first direction relative to the base plate 10, and the telescoping function of each telescopic assembly in the second direction does not affect each other.

[0065] For example, as shown in FIG. 2 and FIG. 4, each telescopic assembly respectively comprises an outer side wall plate 21 and at least one telescopic wall plate 22, wherein the telescopic wall plate 22 is arranged on the inner side of the outer side wall plate 21, the outer side wall plate 21 is fixed relative to the displacement compensation mechanism 30, the telescopic wall plate 22 can be extended or retracted relative to the outer side wall plate 21 along the second direction, and the two outer side wall plates 21 are connected together through the displacement compensation mechanism 30; when the displacement compensation mechanism 30 acts, the two outer side wall plates 21 move synchronously along the first direction.

[0066] When the telescopic mechanism 20 and the target position exist misalignment in the first direction (that is, there exists a "lateral error" between the telescopic mechanism 20 and the target position) when the high-position bin is put in or out of the warehouse by the carrying robot provided in the embodiments of the present application, the displacement compensation mechanism 30 can drive the telescopic mechanism 20 to slide integrally along the first direction relative to the base plate 10 to adjust the position of the telescopic mechanism 20 relative to the base plate 10 along the first direction, thereby eliminating the "lateral error" between the telescopic mechanism 20 and the target position in the first direction, so that the telescopic mechanism 20 can be opposite to the target position, and further transferring the bin 500 between the carrying robot and the storage rack to realize the put-in and put-out of the bin 500.

[0067] In the related art, the position of the telescopic mechanism is adjusted by moving the whole carrying robot to eliminate the "lateral error" between the target position and the telescopic mechanism; during this adjustment process, the whole carrying robot shakes uncontrollably, and the specific movement amount cannot be calculated, so it needs to be moved and adjusted constantly, which consumes a long time and affects the efficiency.

[0068] However, in the embodiments of the present application, the telescopic mechanism 20 is moved by the displacement compensation mechanism 30 to eliminate the "lateral error", which is less affected by the shaking of the carrying robot, and the telescopic mechanism 20 can be moved according to the specific error, which can quickly adjust the position of the telescopic mechanism 20 and improve the efficiency of the put-in and put-out of the bin 500.

[0069] On the basis of the above-mentioned embodiments, as shown in FIG. 4, the displacement compensation mechanism 30 provided in the embodiments of the present application comprises a bearing frame 31 and a front cross beam 37 (which can be called a support rod), and the bearing frame 31 is a frame structure, also called a bearing frame. The bearing frame 31 is slidingly installed on the base plate 10, and the bearing frame 31 can slide along the first direction relative to the base plate 10. The front cross beam 37 is arranged on the bearing frame 31, and the front cross beam 37 is used to connect the telescopic assemblies located on both sides of the base plate, that is, the two ends of the front cross beam 37 are connected with the outer side wall plates 21 of the two telescopic assemblies respectively.

[0070] Specifically, referring to FIG. 5 and FIG. 12, FIG. 5 is a schematic diagram of the displacement compensation mechanism in the fork device shown in FIG. 4, and FIG. 12 is a schematic diagram of the structure of the fork device shown in FIG. 9 with the telescopic mechanism on one side removed. As shown in FIG. 5 and FIG. 12, the carrier 31 is used to carry the container. For example, when the container 500 is transferred to the carrier 31 through the telescopic mechanism 20 and then to the storage position 200 when the container is delivered. The carrier 31 can be a cross-shaped frame, which includes two first carrying beams 311 and two second carrying beams 312. The two first carrying beams 311 are arranged above the two second carrying beams 312, and the first carrying beams 311 and the second carrying beams 312 are fixedly connected.

[0071] Further, the two first carrying beams 311 are arranged in parallel and spaced apart along the first direction, and each first carrying beam 311 extends along the second direction. The two second carrying beams 312 are arranged in parallel and spaced apart along the second direction, and each second carrying beam 312 extends along the first direction. Each second carrying beam 312 is slidably connected to the base plate 10 through a corresponding sliding assembly 38, so that the entire carrier 31 slides relative to the base plate 10 along the first direction.

[0072] The displacement compensation mechanism includes two front cross beams 37 arranged on both sides of the carrier 31 along the second direction, and each front cross beam 37 is located below the first carrying beam 311 and connected to the two first carrying beams 311 through fasteners, respectively. Along the first direction, the two ends of the front cross beam 37 are connected to the outer side wall plates 21 of the two telescopic assemblies, respectively, so that the front cross beam 37 can move together with the carrier and drive the two telescopic assemblies to move synchronously.

[0073] In an embodiment, referring to FIG. 6, which is an enlarged schematic view of position A in FIG. 5, each second carrying beam 312 is provided with a set of sliding assemblies 38. Each sliding assembly 38 includes a sliding rail 381 and a plurality of sliding blocks 382 matched with the sliding rail 381. Along the first direction, the plurality of sliding blocks 382 are fixedly arranged on the base plate 10, and the plurality of sliding blocks 382 collectively carry one sliding rail 381. The sliding rail 381 is slidably installed on the plurality of sliding blocks 382 and extends along the first direction. The second carrying beam 312 is fixedly connected to the sliding rail 381, i.e., the sliding rail 381 is connected to the bottom of the carrier 31. When the displacement compensation mechanism 30 is actuated, a driving force is applied to the carrier 31 to make the carrier 31 slide relative to the base plate 10 along the first direction. In this way, the contact area between the carrier 31 and the sliding assembly 38 can be increased, and the reliability and stability of the sliding of the carrier 31 relative to the base plate 10 can be improved.

[0074] It should be noted that the sliding assembly 38 provided by the embodiments of the present application is not limited to the cooperation mode of the slide rail 381 and the plurality of sliding blocks 382. For example, the slide rail 381 is fixed on the base plate 10, the sliding block 382 is slidingly installed on the slide rail 381, and the sliding block 382 is connected with the bottom of the second bearing beam 312. The embodiments of the present application are not limited in this regard.

[0075] As shown in FIG. 5, the displacement compensation mechanism 30 provided by the embodiments of the present application further includes a driving mechanism 32 and a transmission assembly 33. The driving mechanism 32 is connected with the transmission assembly 33, and the driving mechanism 32 is configured to provide a driving force to the transmission assembly 33. The transmission assembly 33 is configured to drive the two telescopic assemblies to move in the first direction synchronously under the action of the driving force.

[0076] Exemplarily, as shown in FIG. 3 and FIG. 5, the transmission assembly 33 includes a driving wheel 331, a driven wheel 332 and a synchronous belt 333. The driving mechanism 32 is connected with the driving wheel 331, and the driving mechanism 32 and the driving wheel 331 are both arranged on the outer side wall plate 21 of one telescopic assembly and located outside the outer side wall plate 21. The driven wheel 332 is arranged on the outer side wall plate 21 of the other telescopic assembly, and the driven wheel 332 is located outside the outer side wall plate 21.

[0077] Further, the driven wheel 332 and the driving wheel 331 in the embodiments of the present application are relatively arranged in the first direction, and the synchronous belt 333 is wound around the driven wheel 332 and the driving wheel 331.

[0078] As shown in FIG. 5, the base plate 10 is further provided with a tooth plate fixing assembly 34. The first end of the synchronous belt 333 is connected with the tooth plate fixing assembly 34, the second end of the synchronous belt 333 is wound around the driving wheel 331 and the driven wheel 332, and is connected to the tooth plate fixing assembly 34. That is, the first end and the second end of the synchronous belt 333 are respectively connected to the tooth plate fixing assembly 34. When the driving mechanism 32 acts, the entire two telescopic mechanisms 20 can be driven to move in the first direction relative to the base plate 10 through the synchronous belt 333.

[0079] As shown in FIG. 3 to FIG. 5, the ends of the driving motor 321 and the driven wheel 332 of the transmission assembly 33 are respectively fixed on the outer side wall plates 21 on the left and right sides, the synchronous belt 333 is sleeved on the driving wheel 331 and the driven wheel 332, and the synchronous belt 333 is clamped into a ring shape by the tooth plate fixing assembly 34. The tooth plate fixing assembly 34 is fixed on the base plate 10. In this way, the driving motor 321 rotates to drive the synchronous belt 333 to move, so as to drive the telescopic mechanism 20 and the bearing frame 31 to move on the slide rail 381.

[0080] For the convenience of describing the embodiments of the present application, the two telescopic assemblies are defined as a first telescopic assembly and a second telescopic assembly, wherein the outer side wall plate 21 of the first telescopic assembly is defined as a first outer side wall plate, and the outer side wall plate 21 of the second telescopic assembly is defined as a second outer side wall plate.

[0081] Referring to FIGS. 4 and 5, as shown in FIGS. 4 and 5, the driving mechanism 32 comprises a driving motor 321 and a speed reducer 322 connected with the driving motor 321, wherein the driving motor 321, the speed reducer 322 and a driving wheel 331 are all arranged outside the first outer side wall plate, the driving motor 321 and the speed reducer 322 are installed above the driving wheel 331 through a mounting seat, the driving wheel 331 is installed on the first outer side wall plate through a mounting plate, and the driving motor 321 is connected with the driving wheel 331 through the speed reducer 322.

[0082] Further, a driven wheel 332 is connected outside the second outer side wall plate through a mounting plate, the driven wheel 332 is opposite to the driving wheel 331 along a first direction, and the driven wheel 332 is at the same height as the driving wheel 331. The tooth plate fixing assembly 34 comprises a tooth plate clamping piece and a fixing seat, the fixing seat is fixedly connected on the base plate 10, and the tooth plate clamping piece is connected on the fixing seat. A first end of a synchronous belt 333 is connected on the tooth plate clamping piece and clamped by the tooth plate clamping piece; a second end of the synchronous belt 333 is wound around the driving wheel 331 and the driven wheel 332, and the second end of the synchronous belt 333 is further connected to the tooth plate clamping piece and clamped by the tooth plate clamping piece.

[0083] It can be understood that the transmission assembly in the embodiments of the present application can also be a ball screw, which is driven to rotate by the driving motor, and is in transmission connection with the first outer side wall plate and the second outer side wall plate respectively, so as to realize synchronous movement.

[0084] Preferably, the displacement compensation mechanism in the embodiments of the present application adopts a synchronous belt transmission mode. Compared with the ball screw driving the telescopic mechanism to move in the related art, the displacement compensation mechanism in the embodiments of the present application has simple structure, is convenient for layout, and has good applicability.

[0085] As shown in FIG. 6, the fork device 100 in the embodiments of the present application further comprises a photoelectric sensor 35 and a photoelectric sensing sheet 36.

[0086] The photoelectric sensor 35 is arranged on the bearing frame 31 and moves along the first direction with the bearing frame 31. The photoelectric sensing sheet 36 is arranged on the base plate 10 and located on the moving path of the photoelectric sensor 35. The photoelectric sensing sheet 36 extends along the first direction, and the extending direction is consistent with the moving direction of the photoelectric sensor 35.

[0087] For example, the carrier frame 31 comprises two first carrier beams 311 arranged in a cross shape and two second carrier beams 312 arranged in a cross shape, the first carrier beams 311 are arranged along the second direction, and the second carrier beams 312 are arranged along the first direction. The photosensitive sensor 35 can be mounted on one side of the first carrier beam 311 and arranged close to the photoelectric sensing sheet 36.

[0088] The sensing direction of the photosensitive sensor 35 is consistent with the second direction, the photoelectric sensing sheet 36 extends in the first direction, and the extending direction of the photoelectric sensing sheet 36 is opposite to the sensing direction of the photosensitive sensor 35.

[0089] For example, the sensing direction of the photosensitive sensor 35 is perpendicular to the extending direction of the photoelectric sensing sheet 36. It can be understood that the extending length of the photoelectric sensing sheet 36 in the first direction is greater than or equal to the “lateral error” between the telescopic mechanism 20 and the target storage position, so as to meet the adjustment requirement of the telescopic mechanism 20.

[0090] Further, the photoelectric sensing sheet 36 is provided with a zero point, when the photosensitive sensor 35 is aligned with the zero point, the telescopic mechanism 20 moves to the initial position. At this time, the telescopic mechanism 20 is opposite to the storage position 200, and the two are centered along the first direction, that is, when the telescopic mechanism 20 is in the initial position, along the first direction, the center line of the telescopic mechanism 20 is opposite to the center line of the storage position 200, or in some states, at this time, the telescopic mechanism 20 is opposite to the target storage position.

[0091] It can be understood that, referring to FIG. 10, FIG. 10 is a structural schematic diagram of the telescopic mechanism of the fork device shown in FIG. 9 in the extended state; as shown in FIG. 10, the carrying robot in the embodiment of the present application further comprises a control unit and an image acquisition device 60 connected thereto, the image acquisition device 60 can be arranged on the carrier frame 31, along the second direction, the image acquisition device 60 is located at the front end of the carrier frame 31.

[0092] For example, the image acquisition device 60 comprises a camera module, which is mounted on the two first carrier beams 311 through a mounting seat. The image acquisition device 60 is located between the two first carrier beams 311, and the camera module can take a photo of the target storage position, so as to obtain the “lateral error” between the target storage position and the telescopic mechanism 20, and transmit it to the control unit. The control unit controls the displacement compensation mechanism 30 to act according to the “lateral error” and the initial position of the telescopic mechanism 20, so as to adjust the position of the telescopic mechanism 20.

[0093] The control unit is in signal connection with the photoelectric sensor 35 and the photoelectric sensing sheet 36. During the movement of the telescopic mechanism 20, the photoelectric sensor 35 is configured to scan the photoelectric sensing sheet 36, so that the control unit can obtain the movement displacement of the photoelectric sensor 35. The movement displacement can be the distance between the zero point and the terminal position of the photoelectric sensor 35. When the telescopic mechanism 20 completes the goods taking, the telescopic mechanism 20 needs to further return to the zero point. That is, when the photoelectric sensor 35 is aligned with the zero point, the telescopic mechanism 20 stops moving to realize resetting, so as to facilitate subsequent adjustment of the telescopic mechanism 20 again.

[0094] In this way, the fork device 100 in the embodiment of the application is provided with the photoelectric sensor 35 and the photoelectric sensing sheet 36. For the “lateral error” between the telescopic mechanism 20 and the target storage position, the displacement compensation mechanism can be used for accurate adjustment, which can quickly eliminate the lateral error and improve the adjustment efficiency and the operation efficiency.

[0095] As shown in FIG. 3, the fork device 100 in the embodiment of the application is provided with signal lines and other cables. In order to avoid winding of the signal lines and the cables and tidy wiring, the fork device 100 in the embodiment of the application further includes a bracket 41 and a drag chain 40. The drag chain 40 has a deflection and can be bent and deformed. The drag chain 40 is used for penetrating the cables or fixing the cables on the drag chain 40. The bracket 41 is used for fixing the drag chain 40. The bracket 41 is installed on the base plate 10, and the bracket 41 is connected with the drag chain 40, so that the drag chain 40 is fixed on the base plate 10 through the bracket 41.

[0096] In order to further improve the operation efficiency of the carrying robot, the fork device 100 provided in the embodiment of the application further includes a bearing mechanism and a rotating mechanism. The rotating mechanism is arranged between the bearing mechanism and the base plate 10, and the base plate 10 is rotationally connected with the rotating mechanism. The rotating mechanism can drive the base plate 10 to rotate relative to the bearing mechanism.

[0097] Exemplarily, the bearing mechanism can be a rotating bearing plate 51, and the rotating mechanism includes a rotating disc. The base plate 10 is arranged above the rotating bearing plate 51, and the base plate 10 is rotationally connected with the rotating bearing plate 51 through the rotating disc. It should be noted that the rotating mechanism further includes, but is not limited to, a driving motor and a transmission mechanism connected with the driving motor, and the transmission mechanism is connected with the rotating disc to drive the base plate 10 to rotate, so that the rotation of the entire fork device 100 can be realized.

[0098] Referring to FIG. 11, which is a structural schematic diagram of the fork device shown in FIG. 9 from another angle; as shown in FIG. 11, in some other embodiments, the carrying mechanism can also be a rotary carrying frame 52 according to the installation requirement, and the embodiments of the present application do not limit the structure of the carrying mechanism. The rotary carrying frame 52 is configured as the carrying structure of the entire fork device 100, the rotary mechanism is arranged on one side of the rotary carrying frame 52, and the other side of the rotary carrying frame 52 is slidingly installed on the gantry 300, so as to drive the entire fork device 100 to move up and down along the third direction under the action of the lifting mechanism.

[0099] The rotary mechanism includes a rotating disc 54; the base plate 10 is arranged above the rotary carrying frame 52 and is rotationally connected with the rotary carrying frame 52 through the rotating disc 54. It should be noted that the rotary mechanism also includes, but is not limited to, a rotary motor 53, a rotary speed reducer 55, and a transmission mechanism connected therewith, for example, a synchronous wheel and a synchronous belt, and is connected with the rotating disc 54 through the transmission mechanism and the rotary speed reducer 55, so as to drive the base plate 10 to rotate, thereby realizing the rotation of the entire fork device 100.

[0100] When the carrying robot provided by the embodiments of the present application takes and places the high-positioned material box, the so-called high-positioned material box can be a material box with a relatively high distance from the ground, for example, a material box with a taking height greater than 7 m. The taking and placing process of the carrying robot will be described in detail:

[0101] Under the action of the lifting mechanism, the fork device 100 is lifted along the gantry 300 to the height of the target storage position, and under the action of the rotary mechanism, the fork device 100 is rotated by 90°, so that the telescopic mechanism 20 is opposite to the target storage position.

[0102] Further, the image acquisition device 60 is used to acquire images and transmit the images to the control unit of the carrying robot, the control unit analyzes the images to determine whether the current telescopic mechanism is aligned with the target storage position. For example, if the telescopic mechanism is in the aligned state with the target storage position, the position of the telescopic mechanism 20 is not adjusted and compensated.

[0103] Referring to FIG. 5 and FIGS. 12 to 15, FIG. 13 is a structural schematic diagram of the telescopic mechanism of the fork device shown in FIG. 12 in an extended state; FIG. 14 is a structural schematic diagram of the fork device shown in FIG. 9 with the telescopic mechanism on the other side removed; and FIG. 15 is a structural schematic diagram of the telescopic mechanism of the fork device shown in FIG. 14 in an extended state;

[0104] As shown in FIG. 5 and FIGS. 12 to 15, the telescopic wall plate 22 is also commonly referred to as a telescopic fork arm, each telescopic fork arm can be a first telescopic fork arm and a second telescopic fork arm, which can also be referred to as a first telescopic fork plate 221 and a second telescopic fork plate 222.

[0105] Each telescopic mechanism 20 further comprises a telescopic driving wheel 23 and a telescopic driven wheel 24, a telescopic synchronous belt 25 is sleeved between the telescopic driving wheel 23 and the telescopic driven wheel 24, the telescopic driving wheel 23 is connected with an output shaft of a telescopic motor 26, the telescopic motor 26 drives the telescopic driving wheel 23 to rotate, and the telescopic driving wheel 23 drives the telescopic driven wheel 24 to rotate through the telescopic synchronous belt 25.

[0106] The telescopic synchronous belt 25 is fixedly connected with the first telescopic fork plate 221 through a transmission tooth plate 27, and the telescopic synchronous belt 25 moves through the transmission tooth plate 27 to drive the first telescopic fork plate 221 to extend or retract relative to the outer side wall plate 21.

[0107] The telescopic driving wheel 23 and the telescopic driven wheel 24 can be further provided with a stop edge to limit the telescopic driving wheel 23 and the telescopic driven wheel 24, so as to prevent the telescopic synchronous belt 25 from deviating from the telescopic driving wheel 23 and the telescopic driven wheel 24.

[0108] The outer side of the first telescopic fork plate 221 is provided with a first sliding block, the outer side wall plate 21 is provided with a first sliding rail 211 at a position corresponding to the first sliding block, and the first sliding block is matched with the first sliding rail 211 to realize the sliding connection between the first telescopic fork plate 221 and the outer side wall plate 21, and the first telescopic fork plate 221 extends or retracts along the first sliding rail 211 relative to the outer side wall plate 21.

[0109] As shown in FIGS. 5 and 12-15, the inner side of the first telescopic fork plate 221 is provided with a second sliding rail 2211, the second telescopic fork plate 222 is provided with a second sliding block at a position corresponding to the second sliding rail 2211, and the second sliding rail 2211 is matched with the second sliding block to realize the sliding connection between the second telescopic fork plate 222 and the first telescopic fork plate 221, and the second telescopic fork plate 222 extends or retracts along the second sliding rail 2211 relative to the first telescopic fork plate 221.

[0110] The telescopic driving wheels 23 of the two telescopic assemblies are connected through a telescopic transmission shaft 28, the left and right telescopic wall plates move together, and the telescopic power is output through the same telescopic motor, so as to ensure the telescopic consistency of the two telescopic wall plates 22.

[0111] Therefore, the first telescopic fork plate 221 can extend or retract relative to the outer side wall plate 21, the second telescopic fork plate 222 can extend or retract relative to the first telescopic fork plate 221, and the extension or retraction distance of the telescopic wall plate 22 relative to the outer side wall plate 21 is the extension or retraction distance of the first telescopic fork plate 221 relative to the outer side wall plate 21 plus the extension or retraction distance of the second telescopic fork plate 222 relative to the first telescopic wall plate 22.

[0112] As shown in FIG. 10, the bottom of the outer side wall plate 21 is further connected with a guide mounting plate 29, the inner side of the guide mounting plate 29 is in contact with one side of the telescopic synchronous belt 25, the guide mounting plate 29 provides movement guide for moving the bin into the inside of the actuator, i.e. the inside of the fork device, and plays a limiting role for the bin.

[0113] As shown in FIG. 10, the front end of the secondary telescopic fork plate 222 is further provided with a front shift fork 70, when the bin is in the process of unloading or loading, the front shift fork 70 can rotate inward, hook the bin on both sides, then the telescopic wall plate 22 performs a retracting action, realizes the carrying of the bin to the bearing frame inside the fork device; then rotates the fork device, aligns the storage position of the carrying robot, the telescopic wall plate 22 extends, pushes the bin to the storage position through the rear shift fork 80; after completion, the telescopic wall plate 22 retracts, the fork device rotates, aligns the storage shelf, and prepares to perform the secondary picking action.

[0114] As shown in FIG. 8, the telescopic motor 26 can be installed on the outer side of the outer side wall plate 21 through the telescopic motor mounting seat.

[0115] Referring to FIG. 16, FIG. 16 is a working process state schematic diagram of the displacement compensation mechanism of the carrying robot of the embodiment of the present application driving the telescopic mechanism to translate; as shown in FIG. 16, if the telescopic mechanism 20 and the target storage position are in a misalignment state, the displacement compensation mechanism 30 acts, the driving motor of the displacement compensation mechanism 30 rotates, then drives the telescopic mechanism 20 to move relative to the base plate 10, so as to align the telescopic mechanism 20 with the target storage position.

[0116] Referring to FIG. 17, FIG. 17 is a working process state schematic diagram of the telescopic mechanism of the carrying robot of the embodiment of the present application transferring the bin to the target storage position; as shown in FIG. 17, when the telescopic mechanism 20 aligns with the target storage position, the telescopic mechanism 20 starts to telescope, and the telescopic wall plate 22 extends into the target storage position, and transfers the bin 500 to the target storage position. Further, after the bin 500 is stored in the target storage position, the telescopic wall plate 22 of the telescopic mechanism 20 is stored; then, the driving motor of the displacement compensation mechanism 30 reversely rotates, so as to move the telescopic mechanism 20 to the initial position, i.e. the displacement compensation mechanism 30 returns to the zero position.

[0117] Further, under the action of the rotating mechanism, the fork device 100 reversely rotates by 90°, so that the telescopic mechanism of the fork device 100 is opposite to the storage position 200, which can further transfer the bin in the storage position 200 to the target storage position. For the unloading process of the bin from the storage shelf, please refer to the above process, which will not be described here.

[0118] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be mutually referred to.

[0119] It should be noted that the use of "one embodiment," "an embodiment," "certain embodiments," "some embodiments," "exemplary embodiment," "one specific embodiment," "certain specific embodiments," and the like, herein, does not necessarily refer to the same embodiment and / or variations thereof, although, within certain embodiments, they can. Furthermore, the particular features, structures, or characteristics can be implemented in both an embodiment and / or a claim in a manner both singularly and in combination. Thus, the appearing of like reference numerals and / or letters in various embodiments and / or claims, as well as variations thereof, can be merely for illustrative purposes and do not necessarily imply a dependency between the embodiments and / or claims, unless explicitly denoted.

[0120] In general, terminology can be understood at least in part from usage in context. For example, terms, such as "one or more" as used herein, can be understood as in some embodiments including at least one, or in some embodiments including at least one, but not more than one, or in some embodiments including at least one, but not more than a maximum number. Similarly, terms, such as "a" or "an" as used herein, can be understood to encompass one or more of an element, and thus, can be used, for example, to introduce an element that can be present one or more times.

[0121] Also, spatially relative terms, such as "beneath", "below", "lower", "above", "upper", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures.

[0122] The foregoing is merely exemplary and is not intended to limit the application. Rather, the scope of the application is to be determined solely by the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

1. A fork device, characterized in that, The device comprises a base plate, a displacement compensation mechanism and a telescopic mechanism. The telescopic mechanism comprises two telescopic components, which are arranged on the two sides of the base plate in a relative manner along a first direction. The displacement compensation mechanism is connected with the two telescopic components respectively, and is configured to slide along the first direction relative to the base plate and change the position of the telescopic mechanism along the first direction relative to the base plate.

2. The fork arrangement of claim 1, wherein, The displacement compensation mechanism comprises a bearing frame and a front cross beam. The bearing frame is slidingly installed on the base plate and slides along the first direction relative to the base plate. The front cross beam is arranged on the bearing frame and moves with the bearing frame, and the two ends of the front cross beam are connected with the two telescopic components respectively.

3. The fork arrangement of claim 2, wherein, The displacement compensation mechanism further comprises a driving mechanism and a transmission assembly. The driving mechanism is connected with the transmission assembly, and the transmission assembly is configured to drive the two telescopic components to move along the first direction synchronously.

4. The fork arrangement of claim 3, wherein, The telescopic component comprises an outer side wall plate. The transmission assembly comprises a driving wheel, a driven wheel and a synchronous belt, the driving mechanism and the driving wheel are arranged on one of the outer side wall plates respectively, and the driving mechanism is connected with the driving wheel. The driven wheel is arranged on the other outer side wall plate, and the driven wheel is arranged in a relative manner along the first direction with the driving wheel. The base plate is provided with a tooth plate fixing assembly, one end of the synchronous belt is connected with the tooth plate fixing assembly, and the other end of the synchronous belt is wound around the driving wheel, the driven wheel and connected to the tooth plate fixing assembly.

5. The fork arrangement of claim 4, wherein, The displacement compensation mechanism comprises two front cross beams. Along a second direction, the two front cross beams are arranged on the two sides of the bearing frame in a spaced manner. Each front cross beam extends along the first direction, and the two ends of the front cross beam are connected with the two outer side wall plates respectively.

6. The fork arrangement of claim 2, wherein, The displacement compensation mechanism further comprises a slide rail and a plurality of sliding blocks. The slide rail is slidingly installed on the sliding blocks, and the slide rail extends along the first direction. The slide rail is connected with the bottom of the bearing frame, and the sliding blocks are connected with the base plate.

7. A fork arrangement according to any one of claims 2 to 6, wherein, The displacement compensation mechanism further comprises a photoelectric sensor and a photoelectric sensing sheet. The photoelectric sensor is arranged on the bearing frame and moves along the first direction with the bearing frame. The photoelectric sensing sheet is arranged on the base plate, extends along the first direction and is located on the moving path of the photoelectric sensor, and the photoelectric sensing sheet is provided with a zero point. The photoelectric sensor is configured to scan the photoelectric sensing sheet, and when the photoelectric sensor moves to the zero point, the telescopic mechanism is located at an initial position.

8. The fork arrangement of claim 1, wherein, The fork device further comprises a support and a drag chain. The drag chain has a flexibility and is used for penetrating a cable. The drag chain is installed on the support, and the support is fixed on the base plate.

9. The fork arrangement of claim 1, wherein, The fork device further comprises a bearing mechanism and a slewing mechanism. The slewing mechanism is arranged between the bearing mechanism and the base plate, and the slewing mechanism is rotationally connected with the base plate and is configured to drive the base plate to rotate relative to the bearing mechanism.

10. A transport robot characterized by comprising: The device comprises a portal frame, a mobile base, at least one storage position and the fork device according to any one of claims 1 to 9. The portal frame is mounted on the mobile base along a third direction, and the fork device is slidingly mounted on the portal frame along the third direction; The storage positions are used for carrying the containers, and are arranged on both sides of the portal frame along a second direction opposite to the fork device; The extension direction of the extension mechanism of the fork device is consistent with the second direction.

11. The transport robot of claim 10, wherein, The carrying robot comprises a lifting mechanism and a plurality of the storage positions; The lifting mechanism is arranged on the portal frame and drives the fork device to move along the third direction; The plurality of the storage positions are arranged on the portal frame along the third direction.

12. The transport robot of claim 10, wherein, When the extension mechanism is in an initial position, the center line of the extension mechanism is opposite to the center line of the storage position along the first direction.

Images