Transport apparatus for pallet in shape of chinese character "田", and handling method for pallet in shape of chinese character "田"

Abstract

A transport apparatus for a pallet in the shape of Chinese character "田", and a handling method for a pallet in the shape of Chinese character "田". The transport apparatus for a pallet in the shape of Chinese character "田" comprises a body (1), and two underride fork arms (28), wherein a lifting device (29) capable of extending downwards is provided at the bottom of each underride fork arm (28); a driving device (2) is provided at the bottom of the body (1), and a supporting platform is provided at the front of the body (1), and has an accommodating cavity for accommodating the underride fork arms (28); and pushing structures (12) corresponding to the two underride fork arms (28) are provided in the accommodating cavity, and the pushing structures (12) are configured for pushing the underride fork arms (28) out of the supporting platform and, on the basis of a control command, separating from the underride fork arms (28). The transport apparatus for a pallet in the shape of Chinese character "田"can realize automatic handling of a pallet in the shape of Chinese character "田".

Description

Platooning transport equipment and platooning transport method TECHNICAL FIELD

[0001] The present application relates to the field of logistics devices, in particular to a platooning transport equipment and a platooning transport method. BACKGROUND

[0002] In daily production scenarios, a plurality of goods are placed on a pallet for production personnel to use equipment to batch carry the goods. Common pallets include a river-shaped pallet and a platooning pallet. Both of them are composed of an upper cover plate, a bottom plate structure and support blocks arranged between the upper cover plate and the bottom plate. The difference between them is that the bottom plate structure of the river-shaped pallet is composed of three spaced apart cross beams, and the bottom plate structure of the platooning pallet is in the shape of a platoon. The platooning pallet is suitable for scenarios with high weight or high stability requirements for goods storage (mechanical equipment, chemical raw materials, medicine and food, etc.).

[0003] With the popularization of automation technology, more and more material handling work is completed by AGV, including a back-mounted AGV (an AGV that uses the upper end surface to abut against goods and move). The bottom plate structure of the river-shaped pallet is provided with two passages for the bottom wheels of the back-mounted AGV to enter, so the river-shaped pallet can be applied to a transportation scenario where the back-mounted AGV is arranged. In contrast, since the bottom plate structure of the platooning pallet has no reserved opening around it, the existing back-mounted AGV cannot enter the bottom of the platooning pallet. Therefore, at the present stage, only an AGV forklift with a lifting fork arm can be used to carry the platooning pallet, and the equipment cost of the AGV forklift with a lifting fork arm is higher than that of the back-mounted AGV.

[0004] SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art and provide a platooning transport equipment that can carry a platooning pallet.

[0006] In order to achieve the above purpose, the following technical solutions are adopted in the present application:

[0007] The platooning transport equipment comprises a machine body and two submerged forks. The submerged forks are provided with lifting devices that can be extended downward. The machine body is provided with a driving device at the bottom and a supporting platform at the front. The supporting platform is provided with a receiving cavity for accommodating the submerged forks. The receiving cavity is provided with a pushing structure corresponding to the two submerged forks. The pushing structure is used to push the submerged forks out of the supporting platform and separate from the submerged forks according to the control command.

[0008] Compared with the prior art, the platooning transport equipment of the present application has the following beneficial effects:

[0009] (1) The application can realize automatic carrying of the square tray, effectively solve the technical problem that the existing AGV equipment cannot realize automatic carrying of the square tray due to the inadaptability with the square tray, effectively improve the intelligentization of carrying and the transportation efficiency of goods, effectively reduce the goods loading and unloading cost, realize the integration of automatic warehousing and square tray carrying, and the like.

[0010] (2) The application can make the square tray transportation equipment adapt to carry square trays of different sizes by adjusting the specifications of the retractable forks, so as to effectively reduce the production cost.

[0011] (3) The square tray is left-right mirror-symmetrical, so the application sets two retractable forks to synchronously lift the left and right sides of the square tray, thereby reducing the difficulty of the retractable forks entering the bottom of the square tray, and making the retractable forks on the left and right sides of the square tray correspondingly contact with the square tray, and improving the stability of the square tray when being lifted.

[0012] (4) The square tray transportation equipment of the application can be used to carry the square tray after the retractable forks are unloaded, so that it can be used to carry the square tray by selecting accessories, thereby increasing the applicable scenarios.

[0013] Further, the supporting platform is an E-shaped supporting platform structure, which includes a left supporting arm, a right supporting arm and a middle supporting arm arranged at intervals, a receiving cavity is formed between the left supporting arm and the right supporting arm, and the middle supporting arm separates the receiving cavity into a first receiving sub-cavity and a second receiving sub-cavity; a push structure extendable forward is arranged in each of the first receiving sub-cavity and the second receiving sub-cavity; a supporting structure is arranged in each of the first receiving sub-cavity and the second receiving sub-cavity, and the supporting structure is used to be located below the retractable fork when the retractable fork falls from the position above the supporting platform to support the retractable fork; two retractable forks are respectively located in the first receiving sub-cavity and the second receiving sub-cavity, and the two retractable forks are respectively detachably connected with the push structure in the receiving sub-cavity where the retractable fork is located.

[0014] The above setting mode has the following beneficial effects:

[0015] (1) The machine body uses the E-shaped supporting platform structure to transport the square tray, thereby increasing the contact area and friction force between the square tray and the machine body, making the process of transporting the square tray by the machine body more stable, and avoiding the square tray and the goods from falling;

[0016] (2) The middle support arm of the E-shaped supporting platform structure separates the accommodating cavity into a first accommodating sub-cavity and a second accommodating sub-cavity, and the two submerged forks are accommodated in the first and second accommodating sub-cavities respectively, so as to avoid the interference between the two submerged forks, ensure the smooth operation, and protect the two submerged forks and reduce the maintenance cost.

[0017] Further, the submerged fork is provided with a driven wheel; the machine body is provided with two horizontal storage bins, and the openings of the horizontal storage bins are located at the short sides of the accommodating cavity; two pushing structures are respectively arranged in the two horizontal storage bins, and the pushing structure comprises a rotary driving device, a horizontal driving gear, a pushing rigid chain and at least one steering gear, the pushing rigid chain is arranged from the position away from the opening of the horizontal storage bin to the opening of the horizontal storage bin, the horizontal driving gear is engaged with the pushing rigid chain, the rotary driving device drives the pushing rigid chain to enter the accommodating cavity through the opening of the horizontal storage bin through the horizontal driving gear, and the steering gear is arranged on the side of the arrangement track of the pushing rigid chain, and the steering gear cooperates with the inner wall of the horizontal storage bin to limit the moving direction of the pushing rigid chain; the end of the pushing rigid chain and the submerged fork towards the opening of the horizontal storage bin is detachably connected.

[0018] The pushing structure uses the pushing rigid chain to push and pull the submerged fork in and out of the accommodating cavity, the rigid chain converts the directional bending of the chain into the linear motion of the column segment through the engagement of the special chain sheet, and the compact storage characteristics can effectively save space, so that the size of the device using the rigid chain can be designed as small as possible, the flexibility of the device is improved, in addition, the output of the pushing force and speed of the rigid chain is constant (heavy load, stable and good), so that arbitrary stopping, multi-level positioning, high speed and position control accuracy, high efficiency, long service life and low noise can be realized.

[0019] Further, the pushing rigid chain and the submerged fork are connected through an electromagnetic suction structure; the electromagnetic suction structure comprises an electromagnetic suction piece arranged at the end of the pushing rigid chain towards the submerged fork, at least part of the submerged fork corresponding to the electromagnetic suction piece is made of metal, and the electromagnetic suction piece adsorbs the submerged fork after generating magnetic force; or, the electromagnetic suction structure comprises an electromagnetic suction piece arranged at the end of the pushing rigid chain towards the submerged fork, and the submerged fork is provided with a metal piece corresponding to the electromagnetic suction piece, and the electromagnetic suction piece adsorbs the metal piece after generating magnetic force.

[0020] The pushing rigid chain and the submerged fork are detachably connected in the electromagnetic suction mode, the adsorption force of the electromagnetic suction is large and the controllability is strong, the adsorption force and size can be adjusted at any time by controlling the power supply, the working stability is high, the adsorption and release are easily realized, the operation is convenient and fast, the electromagnetic suction is suitable for smooth surface, curved surface or irregular surface, and the surface is not damaged before and after adsorption.

[0021] Further, the two pushing structures are driven to operate by the same rotary driving device, the rotary driving device comprises a first rotary driving motor, a first transmission shaft and two first driving shafts; the first rotary driving motor drives the first transmission shaft to rotate, one horizontal driving gear is in transmission connection with the first transmission shaft through one first driving shaft, and the other horizontal driving gear is in transmission connection with the first transmission shaft through the other first driving shaft.

[0022] The above arrangement mode can ensure the synchronization of the two pushing structures, reduce the arrangement cost of the two pushing structures, and thus reduce the equipment cost.

[0023] Further, each pushing structure comprises two groups of linear extension tracks arranged on both sides of the corresponding submerged forks of the machine body, the linear extension track comprises a linear motor strip-shaped stator, a strip-shaped guide and a linear motor rotor, the linear motor strip-shaped stator is fixedly arranged on the machine body along the length direction of the accommodating cavity, the strip-shaped guide is in sliding connection with the linear motor strip-shaped stator, and the rear end of the strip-shaped guide is fixedly connected with the linear motor rotor, the linear motor rotor can drive the strip-shaped guide to move in and out of the accommodating cavity along the length direction of the linear motor strip-shaped stator, and the submerged forks are respectively abutted against the upper ends of the two strip-shaped guides.

[0024] The pushing structure adopts the linear extension track, the two strip-shaped guides located on both sides of the submerged forks support both sides of the submerged forks, the bottom of the submerged forks does not contact the working surface, the friction force of the movement of the submerged forks is reduced, the strip-shaped guide is driven to move relative to the linear motor strip-shaped stator by the linear motor rotor, the machine body relative to the linear motor strip-shaped stator and the submerged forks moves, and thus the submerged forks are sent into the bottom of the cross-shaped tray.

[0025] Further, the submerged forks are internally provided with a vertically-stored storage bin with an open lower end; the lifting device is arranged in the vertically-stored storage bin, the lifting device comprises a rotary driving assembly, a front lifting assembly and a rear lifting assembly, the front lifting assembly comprises a front lifting driving gear and a front lifting rigid chain, and the rear lifting assembly comprises a rear lifting driving gear and a rear lifting rigid chain; the front lifting driving gear is arranged on the periphery of the arrangement track of the front lifting rigid chain and cooperates with the inner side wall of the vertically-stored storage bin to limit the movement direction of the front lifting rigid chain; the rear lifting driving gear is arranged on the periphery of the arrangement track of the rear lifting rigid chain and cooperates with the inner side wall of the vertically-stored storage bin to limit the movement direction of the rear lifting rigid chain; and the rotary driving assembly is used to drive the front lifting driving gear and the rear lifting driving gear to synchronously and reversely rotate.

[0026] On one hand, the above arrangement can ensure the synchronization of the front lifting assembly and the rear lifting assembly, and the front lifting assembly and the rear lifting assembly are driven by the same power source, so that the arrangement cost of the front lifting assembly and the rear lifting assembly can be reduced and the weight of the submerged fork can be reduced. On the other hand, the rigid chain has the characteristics of compact storage, so that the internal space of the submerged fork can be occupied, the submerged fork can be designed to be more compact, the load of the machine body carrying the submerged fork can be reduced, the use of the submerged fork is flexible, the rigid chain has stable thrust output, large load, high speed and high position control precision, so that the square tray can be stably lifted from the four corners, the square tray can be prevented from tilting during transportation, and the safety of operation can be ensured.

[0027] Further, the lifting device is two scissor lifting devices arranged at the front and rear sides of the bottom of the submerged fork.

[0028] The scissor lifting device is easy to obtain, so that the maintenance cost can be reduced, the control is simple and convenient, the load is large, the stability is strong, and the square tray can be stably lifted.

[0029] Another purpose of the present application is to provide a square tray carrying method applied to the above square tray transportation equipment, for loading the square tray, comprising the following steps:

[0030] The square tray transportation equipment moves to the side of the square tray, and the side opening of the submerged fork of the square tray is opened;

[0031] The pushing structure works to push the submerged fork into the square tray from the side opening of the square tray, and the lifting device is aligned with the bottom opening of the square tray;

[0032] After the submerged fork is pushed into position, the pushing structure is separated from the submerged fork and reset to the accommodating cavity, the lifting device works, the submerged fork is lifted to lift the square tray, and the lowest point of the square tray is located above the highest point of the supporting platform;

[0033] The machine body moves to make the supporting platform located below the square tray;

[0034] The submerged fork is lowered to place the square tray on the machine body;

[0035] When the submerged fork is lowered to place the square tray on the machine body, the supporting structure is stretched, the lifting device is stored to lower the square tray to the supporting platform, and at the same time, the submerged fork is lowered to contact with the supporting structure, the bottom of the lifting device is kept away from the working surface.

[0036] The square tray transportation equipment moves to transport the material to the designated position.

[0037] Compared with the prior art, the present application provides a kind of method for carrying square tray, using new square tray transport equipment, by two hidden forks are sent into from square tray side opening, after two hidden forks enter to the bottom of square tray, by two hidden forks, square tray is stably lifted, machine body moves to the square tray below, after hidden fork drives square tray to descend to load square tray, so as to realize the fork of square tray, to carry out subsequent square tray carrying task, suitable for intelligent carrying square tray transport scene, effectively improve the popularization of intelligent transport technology.

[0038] Another purpose of the present application is to provide a kind of square tray carrying method using the above-mentioned square tray transport equipment, for unloading square tray, comprising the following steps:

[0039] Square tray transport equipment carries the square tray containing material to the designated position;

[0040] Lifting device works, hidden fork rises to lift square tray, so that the lowest point of square tray is above the highest point of supporting platform;

[0041] Machine body moves to exit the area below square tray;

[0042] Lifting device is stored, hidden fork is lowered to make the bottom of square tray contact with working surface;

[0043] Pushing structure works, pushing structure is connected with hidden fork, pushing structure resets to make hidden fork enter into containing cavity, and hidden fork is recycled.

[0044] Compared with the prior art, the present application provides a kind of method for carrying square tray, using new square tray transport equipment, by two hidden forks are sent into from square tray side opening, after two hidden forks enter to the bottom of square tray, by two hidden forks, square tray is stably lifted, machine body moves to the square tray below, after hidden fork drives square tray to descend to load square tray, so as to realize the fork of square tray, to carry out subsequent square tray carrying task, suitable for intelligent carrying square tray transport scene, effectively improve the popularization of intelligent transport technology. BRIEF DESCRIPTION OF DRAWINGS

[0045] Fig. 1 is a plan view of square tray;

[0046] Fig. 2 is a bottom view of square tray;

[0047] Fig. 3 is a plan view of square tray transport equipment (showing bottom driving device);

[0048] Fig. 4 is a schematic diagram of machine body;

[0049] Fig. 5 is a horizontal angular cross-sectional view of the body;

[0050] Fig. 6 is a vertical angular cross-sectional view of the body;

[0051] Fig. 7 is a schematic view of the submerging fork;

[0052] Fig. 8 is a vertical angular cross-sectional view of the submerging fork;

[0053] Fig. 9 is a horizontal angular cross-sectional view of the submerging fork;

[0054] Fig. 10 is a schematic view of the cross-shaped pallet transport device of the second embodiment;

[0055] Fig. 11 is a side view of the cross-shaped pallet transport device of the second embodiment;

[0056] Fig. 12 is a schematic view of the first state of the body of the second embodiment (pushing structure in the retracted state);

[0057] Fig. 13 is a schematic view of the second state of the body of the second embodiment (pushing structure in the extended state);

[0058] Fig. 14 is a schematic view of the submerging fork of the second embodiment;

[0059] Fig. 15 is a schematic view of the submerging fork of the third embodiment;

[0060] Fig. 16 is a first state cross-sectional view of the submerging fork of the third embodiment (pushing structure in the retracted state);

[0061] Fig. 17 is a second state cross-sectional view of the submerging fork of the third embodiment (pushing structure in the extended state);

[0062] Fig. 18 is a schematic view of the cross-shaped pallet transport device loading a cross-shaped pallet containing goods;

[0063] Fig. 19 is a schematic view of the cross-shaped pallet transport device unloading a cross-shaped pallet containing goods.

[0064] Explanation of reference numerals:

[0065] Machine body 1, driving device 2, first support structure 3, second support structure 4, turnover plate 5, E-shaped support platform structure 6, left support arm 7, middle support arm 8, right support arm 9, first containing sub-cavity 10, second containing sub-cavity 11, pushing structure 12, horizontal storage bin 13, rotary driving device 14, first rotary driving motor 15, first transmission shaft 16, first driving shaft 17, speed reducer 18, shaft coupling 19, horizontal driving gear 20, pushing rigid chain 21, steering gear 22, electromagnetic suction piece 23, linear telescopic rail 24, linear motor strip-shaped stator 25, strip-shaped guide 26, linear motor rotor 27, submerged fork 28, lifting device 29, driven wheel 30, scissor-type lifting device 31, vertical storage bin 32, rotary driving assembly 33, box 34, second rotary driving motor 35, second transmission shaft 36, second driving shaft 37, front lifting driving gear 38, front lifting rigid chain 39, rear lifting driving gear 40, rear lifting rigid chain 41, T-shaped tray 42, goods 43. DETAILED DESCRIPTION

[0066] Embodiments of the present application will be described below with reference to the accompanying drawings:

[0067] Example One

[0068] Referring to FIGS. 1-9, the T-shaped tray transport device of the present embodiment includes a machine body 1 and two submerged forks 28; the submerged forks 28 are provided at the bottom with lifting devices 29 that can be extended downward; the machine body 1 is provided at the bottom with a driving device 2 and two sets of support structures, and at the front with a support platform provided with containing cavities for containing the submerged forks 28; the containing cavities are provided with pushing structures 12 corresponding to the two submerged forks 28, the pushing structures 12 are detachably connected with the submerged forks 28, and the pushing structures 12 are used to push the submerged forks 28 out to the support platform and separate from the submerged forks 28 according to control commands; the support structures are used to work when the submerged forks 28 fall from above the support platform to be located below the submerged forks 28 to support the submerged forks 28, wherein the support structures are telescopic support structures or turnover storage support structures (prior art application).

[0069] In the initial state, the submerged forks 28 are located in the containing cavities, and the height of the highest point of the submerged forks 28 is not greater than the height of the highest point of the side opening of the T-shaped tray 42;

[0070] In the first working state, the pushing structures 12 can enter the middle layer of the T-shaped tray 42 from the side opening of the T-shaped tray 42, and push the two submerged forks 28 to the predetermined position, so that the lifting devices 29 are aligned with the bottom opening of the T-shaped tray 42;

[0071] In the second working state, the lifting devices 29 work to lift the T-shaped tray 42 by the submerged forks 28;

[0072] In the third working state, the machine body 1 works to make the supporting platform enter below the field-shaped tray 42, the supporting structure is stretched, the lifting device 29 works to make the submerged fork 28 descend to a position where the supporting structure can support the submerged fork 28, and the lifting device 29 is stored to keep the bottom thereof away from the working surface.

[0073] Compared with the prior art, the field-shaped tray transport device has the following beneficial effects:

[0074] (1) The field-shaped tray 42 can be automatically carried, the technical problem that the existing AGV device cannot automatically carry the field-shaped tray 42 due to the inadaptability of the field-shaped tray 42 is effectively solved, the intelligentization of carrying is effectively improved, the transportation efficiency of goods is effectively improved, the cost of loading and unloading goods is effectively reduced, the automation of warehousing and the integration of carrying the field-shaped tray 42 are realized.

[0075] (2) The field-shaped tray 42 is lifted away from the working surface by the submerged fork 28 entering the field-shaped tray 42, the field-shaped tray transport device can be adapted to carry field-shaped trays 42 of different sizes by adjusting the size of the submerged fork 28, the cost of adjusting the device is low, the difficulty of adjusting the device is small, and the production cost is effectively reduced.

[0076] (3) The field-shaped tray 42 is left-right mirror-symmetrical, so two submerged forks 28 are arranged to synchronously lift the left and right sides of the field-shaped tray 42, thereby reducing the difficulty of the submerged fork 28 entering the bottom of the field-shaped tray 42, and the left and right sides of the field-shaped tray 42 are in contact with the corresponding submerged forks 28, thereby improving the stability of the field-shaped tray 42 when rising.

[0077] (4) The field-shaped tray transport device of the present application, after unloading the submerged fork 28, is configured with a lifting device on the supporting platform, so that it can be used to carry the field-shaped tray, thereby being applicable to carry the field-shaped tray and the field-shaped tray 42 by selecting accessories, and the applicable scenarios are increased.

[0078] Further, the supporting platform is an E-shaped supporting platform structure 6, which comprises a left supporting arm 7, a right supporting arm 9 and a middle supporting arm 8 arranged at intervals, a containing cavity is formed between the left supporting arm 7 and the right supporting arm 9, and the middle supporting arm 8 divides the containing cavity into a first containing sub-cavity 10 and a second containing sub-cavity 11; a push structure 12 extendable forward is arranged in each of the first containing sub-cavity 10 and the second containing sub-cavity 11; a supporting structure is arranged in each of the first containing sub-cavity 10 and the second containing sub-cavity 11, specifically, a first supporting structure 3 extendable above the first containing sub-cavity 10 is arranged on the upper part of the right supporting arm 9 and the upper part of the middle supporting arm 8, and a second supporting structure 4 extendable above the second containing sub-cavity 11 is arranged on the upper part of the left supporting arm 7 and the upper part of the middle supporting arm 8; two submerged forks 28 are respectively located in the first containing sub-cavity 10 and the second containing sub-cavity 11, and the two submerged forks 28 are respectively detachably connected with the push structure 12 in the containing sub-cavity where the submerged fork is located.

[0079] In the embodiment, the two containing bins correspond to two side openings of the cross-shaped pallet 42 respectively.

[0080] The above setting mode has the following beneficial effects:

[0081] (1) The machine body 1 uses the E-shaped supporting platform structure 6 to transport the cross-shaped pallet 42, thereby increasing the contact area and friction force between the cross-shaped pallet 42 and the machine body 1, making the process of transporting the cross-shaped pallet 42 by the machine body 1 more stable, and avoiding the cross-shaped pallet 42 and the goods 43 from toppling over;

[0082] (2) The middle supporting arm 8 of the E-shaped supporting platform structure 6 divides the containing cavity into the first containing sub-cavity 10 and the second containing sub-cavity 11, and two submerged forks 28 are respectively received in the first containing sub-cavity 10 and the second containing sub-cavity 11, thereby avoiding the interference of the two submerged forks 28, ensuring the smooth operation, and playing a protective role on the two submerged forks 28, thereby reducing the maintenance cost.

[0083] Further, the bottom of the submerged fork 28 is provided with a driven wheel 30 (each group of elastic freewheel is provided with a buffer spring on the support shaft of the elastic freewheel, so that the freewheel has a floating support effect); the body 1 is provided with two horizontal storage bins 13, and the opening of the horizontal storage bin 13 is located at the short side of the accommodating cavity; two pushing structures 12 are respectively arranged in the two horizontal storage bins 13, the pushing structure 12 comprises a rotary driving device 14, a horizontal driving gear 20, a pushing rigid chain 21 and at least one steering gear 22, the pushing rigid chain 21 is arranged from the position away from the opening of the horizontal storage bin 13 to the opening of the horizontal storage bin 13, the horizontal driving gear 20 is engaged with the pushing rigid chain 21, the rotary driving device 14 drives the pushing rigid chain 21 to enter the accommodating cavity through the opening of the horizontal storage bin 13 through the horizontal driving gear 20, and the steering gear 22 is arranged on the side of the arrangement track of the pushing rigid chain 21. The steering gear 22 cooperates with the inner wall of the horizontal storage bin 13 to limit the movement direction of the pushing rigid chain 21; one end of the pushing rigid chain 21 and the submerged fork 28 towards the opening of the horizontal storage bin 13 are detachably connected.

[0084] The pushing structure 12 uses the pushing rigid chain 21 to push and pull the submerged fork 28 in and out of the accommodating cavity. The rigid chain converts the directional bending of the chain into the straight line motion of the column through the special chain plate. Thanks to its compact storage characteristics, it effectively saves space, and the volume of the device using the rigid chain can also be designed as small as possible, improving the flexibility of the device. In addition, the output of the pushing force and speed of the rigid chain is constant (heavy load, stable and good), so that arbitrary stopping, multi-level positioning, high speed and position control accuracy, high efficiency, long service life and low noise can be realized.

[0085] Further, the pushing rigid chain 21 and the submerged fork 28 are connected by an electromagnetic suction structure; the electromagnetic suction structure comprises an electromagnetic suction piece 23 arranged at one end of the pushing rigid chain 21 towards the submerged fork 28, at least part of the submerged fork 28 corresponding to the electromagnetic suction piece 23 is made of metal, and the electromagnetic suction piece 23 adsorbs the submerged fork 28 after generating magnetic force; or, the electromagnetic suction structure comprises an electromagnetic suction piece 23 arranged at one end of the pushing rigid chain 21 towards the submerged fork 28, and the submerged fork 28 is provided with a metal piece corresponding to the electromagnetic suction piece 23, and the electromagnetic suction piece 23 adsorbs the metal piece after generating magnetic force.

[0086] The pushing rigid chain 21 and the submerged fork 28 are detachably connected by electromagnetic suction, wherein the adsorption force of the electromagnetic suction is large and the adsorption force is controllable. The adsorption force and size can be adjusted at any time by controlling the power supply, and the working stability is high. The adsorption and release are easily realized, convenient and fast, suitable for smooth surface, curved surface or irregular surface, and the surface is not damaged before and after adsorption.

[0087] Further, the two pushing structures 12 are driven to operate by the same rotary driving device 14, the rotary driving device 14 comprises a first rotary driving motor 15, a first transmission shaft 16 and two first driving shafts 17, the first driving shafts 17 are provided with two horizontal driving gears 20 which are in transmission connection with the first transmission shaft 16 through the first driving shafts 17.

[0088] The reducer 18 and the shaft couplings 19 are arranged between the first transmission shaft 16 and the first driving shafts 17, so as to realize the adjustment and steering of the output force of the first transmission shaft 16.

[0089] The above arrangement mode can ensure the synchronization of the two pushing structures 12, and can reduce the arrangement cost of the two pushing structures 12, so as to reduce the equipment cost.

[0090] Further, the submerged fork 28 is provided with a vertical storage bin 32 with an open bottom; the lifting device 29 is arranged in the vertical storage bin 32, and the lifting device 29 comprises a rotary driving assembly 33, a front lifting assembly and a rear lifting assembly, the front lifting assembly comprises a front lifting driving gear 38 and a front lifting rigid chain 39, and the rear lifting assembly comprises a rear lifting driving gear 40 and a rear lifting rigid chain 41; the front lifting driving gear 38 is arranged on the periphery of the arrangement track of the front lifting rigid chain 39, and cooperates with the inner side wall of the vertical storage bin 32 to limit the moving direction of the front lifting rigid chain 39; the rear lifting driving gear 40 is arranged on the periphery of the arrangement track of the rear lifting rigid chain 41, and cooperates with the inner side wall of the vertical storage bin 32 to limit the moving direction of the rear lifting rigid chain 41; the rotary driving assembly 33 is used to drive the front lifting driving gear 38 and the rear lifting driving gear 40 to synchronously and reversely rotate.

[0091] Specifically, the front lifting rigid chain 39 and the rear lifting rigid chain 41 are arranged in a straight line direction, and the rotary driving assembly 33 is arranged on the side of the front lifting rigid chain 39 and the rear lifting rigid chain 41 in parallel, the rotary driving assembly 33 comprises a box body 34, a second rotary driving motor 35, a second transmission shaft 36 and two second driving shafts 37, the second rotary driving motor 35 and the second transmission shaft 36 are located in the box body 34, the second driving shafts 37 are provided with two and are respectively located at the front and rear ends of the box body 34, and the outer side of the box body 34 cooperates with the inner side wall of the vertical storage bin 32 to limit the front lifting rigid chain 39 and the rear lifting rigid chain 41; the second rotary driving motor 35 drives the second transmission shaft 36 to rotate, the front lifting driving gear 38 is in transmission connection with the second transmission shaft 36 through the second driving shaft 37, and the rear lifting driving gear 40 is in transmission connection with the second transmission shaft 36 through the other second driving shaft 37.

[0092] A speed reducer 18 and several couplings 19 are arranged between the second transmission shaft 36 and the second drive shaft 37, so as to realize the adjustment and steering of the output force of the second transmission shaft 36.

[0093] On the one hand, the above arrangement can ensure the synchronization of the front lifting assembly and the rear lifting assembly, and the front lifting assembly and the rear lifting assembly are driven by the same power source, which can reduce the arrangement cost of the front lifting assembly and the rear lifting assembly and reduce the weight of the submerged fork 28. On the other hand, the rigid chain has the characteristics of compact storage, thereby reducing the occupation of the internal space of the submerged fork 28, making the submerged fork 28 more compact in design, reducing the load of the machine body 1 carrying the submerged fork 28, ensuring the flexibility of the submerged fork 28, and the rigid chain has stable thrust output, large load, high speed and position control precision, thereby stably lifting the cross-shaped pallet 42 from the four corners, avoiding the tilting of the cross-shaped pallet 42 during transportation in the lifting process, and ensuring the safety of operation.

[0094] The driving device 2 is arranged at the bottom of the machine body 1 and includes several vehicle body free wheels and several omni-directional driving rudders, or the driving device 2 includes several omni-directional driving rudders.

[0095] The two submerged forks 28 are synchronized in operation and action, and the synchronization control of the two submerged forks 28 belongs to the application of the prior art.

[0096] The process of lifting the cross-shaped pallet 42 by the submerged fork 28 is as follows:

[0097] The rotary driving assembly 33 works, the front lifting rigid chain 39 and the rear lifting rigid chain 41 are stretched out from the submerged fork 28, the front lifting rigid chain 39 and the rear lifting rigid chain 41 are in contact with the ground and supported on the working surface; the rotary driving assembly 33 continues to work, the submerged fork 28 is lifted and moved upward by the front lifting rigid chain 39 and the rear lifting rigid chain 41, when the upper end of the submerged fork 28 contacts the top surface of the cross-shaped pallet 42, continue to lift, thereby lifting the cross-shaped pallet 42 and the goods 43 thereon; the submerged fork 28 stops lifting after lifting the cross-shaped pallet 42 to a certain height from the working surface, which is higher than the overall height of the E-shaped supporting platform structure 6.

[0098] The process of lowering the cross-shaped pallet 42 by the submerged fork 28 is as follows:

[0099] The rotating drive assembly 33 works, the front lifting rigid chain 39 and the rear lifting rigid chain 41 are extended from the lower direction of the submerged fork 28, and the front lifting rigid chain 39 and the rear lifting rigid chain 41 are in contact with the ground and supported on the working surface; the rotating drive assembly 33 continues to work, the submerged fork 28 is lifted upward by the front lifting rigid chain 39 and the rear lifting rigid chain 41, and when the upper end of the submerged fork 28 contacts the top surface of the field-shaped tray 42, the submerged fork 28 supports the field-shaped tray 42, and the machine body 1 exits; the rotating drive assembly 33 works, and the front lifting rigid chain 39 and the rear lifting rigid chain 41 are retracted into the vertical storage bin 32, and the field-shaped tray 42 and the goods 43 thereon are lowered together with the submerged fork 28 until the bottom plate of the field-shaped tray 42 contacts the ground; the front lifting rigid chain 39 and the rear lifting rigid chain 41 continue to be retracted into the vertical storage bin 32, and the submerged fork 28 continues to fall and contacts the working surface; the front lifting rigid chain 39 and the rear lifting rigid chain 41 continue to be retracted, and the front lifting rigid chain 39 and the rear lifting rigid chain 41 continue to be retracted to the outer end to be separated from the contact with the working surface, and the retraction is stopped.

[0100] The process of the submerged fork 28 entering the side opening of the field-shaped tray 42 is as follows:

[0101] The electromagnetic suction piece 23 sucks the rear end of the submerged fork 28, the rotating drive device 14 works, the pushing rigid chain 21 is extended forward, the submerged fork 28 is pushed forward, and the pushing rigid chain 21 is retracted into the horizontal storage bin 13.

[0102] The submerged fork 28 slowly enters the field-shaped tray 42, and the two sides of the crossbeam of the field-shaped tray 42 are slopes. Since the pushing rigid chain 21 is rigid, the buffer spring on the freewheel is gradually compressed from the crossbeam slope of the field-shaped tray 42, and the freewheel slowly moves upward; as the submerged fork 28 moves forward, the position of the freewheel is further moved upward and compressed, and when the crossbeam of the field-shaped tray 42 is passed, as the other side of the crossbeam descends, the position of the freewheel is gradually released and gradually returns to the original open position. The purpose of the freewheel is to elastically support the submerged fork 28, and the buffer spring on the freewheel can support the weight of the submerged fork 28 itself and support the distance of the submerged fork 28 from the ground to be slightly greater than the thickness of the crossbeam of the field-shaped tray 42.

[0103] The process of the submerged fork 28 retreating into the side opening of the field-shaped tray 42 is as follows:

[0104] The rotary driving device 14 works, and the pushing rigid chain 21 is extended forward into the side opening of the field-shaped tray 42, the electromagnetic suction piece 23 sucks the rear end of the submerged fork 28, the rotary driving device 14 works to recover the pushing rigid chain 21, and the submerged fork 28 drives out of the field-shaped tray 42 from the side opening of the field-shaped tray 42 under the pulling of the pushing rigid chain.

[0105] The submerged fork 28 adopts a biting chain, a steel belt chain, and a segmented screw, which are all within the protection scope of the patent, and the deformation scheme of the structure of the patent also belongs to the protection scope of the patent.

[0106] In the embodiment, the first support structure 3 and the second support structure 4 are the same in structure, which comprises a turnover plate 5 and a cylinder (not shown in the figure), and the cylinder is used to drive the turnover plate 5 to turn over above the accommodating cavity; after the turnover plate 5 turns over above the accommodating cavity, the submerged fork 28 can abut against the upper end of the turnover plate 5 when descending; or the first support structure 3 and the second support structure 4 comprise telescopic rods (not shown in the figure), which can be extended above the accommodating cavity; the first support structure 3 and the second support structure 4 also have their setting modes, which belong to the application of the prior art, and are not listed one by one here.

[0107] Embodiment two

[0108] Referring to FIGS. 10 to 14, the embodiment is another deformation scheme of the first embodiment, and the difference between the embodiment and the first embodiment is that the setting mode of the pushing structure 12.

[0109] The submerged fork 28 of the embodiment does not need the driven wheel 30, thereby improving the efficiency of the submerged fork 28 entering the field-shaped tray 42.

[0110] Each pushing structure 12 comprises two groups of linear telescopic tracks 24 arranged on both sides of the submerged fork 28 corresponding to the machine body 1, each group of linear telescopic tracks 24 is provided with two linear telescopic tracks 24, the linear telescopic track 24 comprises a linear motor strip-shaped stator 25, a strip-shaped guide 26 and a linear motor rotor 27, the linear motor strip-shaped stator 25 is fixedly arranged on the machine body 1 along the length direction of the accommodating cavity, the strip-shaped guide 26 is in sliding connection with the linear motor strip-shaped stator 25, and the rear end of the strip-shaped guide 26 is fixedly connected with the linear motor rotor 27, the linear motor rotor 27 can drive the strip-shaped guide 26 to enter and exit the accommodating cavity along the length direction of the linear motor strip-shaped stator 25; the two strip-shaped guides 26 are respectively arranged on both sides of the submerged fork 28 and abut against the upper ends of the two strip-shaped guides 26; in the second working state, the lifting device 29 works to make the submerged fork 28 separate from the strip-shaped guide 26.

[0111] The pushing structure 12 adopts a linear telescopic track 24, two strip-shaped guides 26 on both sides of the submerged fork 28 support both sides of the submerged fork 28, so that the bottom of the submerged fork 28 does not contact the working surface, reducing the friction of the movement of the submerged fork 28. The strip-shaped guide 26 is driven by the linear motor rotor 27 to move relative to the linear motor strip-shaped stator 25, so that the linear motor strip-shaped stator 25 moves relative to the body 1 of the submerged fork 28, thereby sending the submerged fork 28 into the bottom of the cross-shaped tray 42.

[0112] In this embodiment, the vertical cross-section of the submerged fork 28 is T-shaped, and the strip-shaped guide 26 supports the lower end surface of the step of the T-shaped structure of the submerged fork 28.

[0113] Prior art introduction: The linear motor adopts the principle of electromagnetic force, and the stator includes a coil and the slider includes a magnet. When the stator is powered, a magnetic field is generated, which acts on the magnet on the slider, causing the slider to move linearly. By applying different directions of current to the stator, the moving direction of the slider can be controlled.

[0114] Process of the submerged fork 28 entering the cross-shaped tray 42:

[0115] The linear motor rotor 27 runs along the length direction of the linear motor strip-shaped stator 25 under the pushing action of electromagnetic force, thereby pushing the strip-shaped guide 26 to move towards the opening direction of the side of the cross-shaped tray 42, and sending the submerged fork 28 into the bottom of the cross-shaped tray 42; the lifting device 29 of the submerged fork 28 works, lifting the submerged fork 28 upward, and the submerged fork 28 is separated from the contact with the strip-shaped guide 26; the linear motor rotor 27 is controlled to move reversely, so that the linear motor rotor 27 is reset along the length direction of the linear motor strip-shaped stator 25, and the strip-shaped guide 26 exits from the opening of the side of the cross-shaped tray 42.

[0116] Process of the submerged fork 28 retreating into the opening of the side of the cross-shaped tray 42:

[0117] The linear motor rotor 27 runs along the length direction of the linear motor strip-shaped stator 25 under the pushing action of electromagnetic force, thereby pushing the strip-shaped guide 26 to move towards the opening direction of the side of the cross-shaped tray 42; the lifting device 29 of the submerged fork 28 works, and the submerged fork 28 is lowered to contact with the strip-shaped guide 26; the lifting device 29 works and is separated from the contact with the working surface; the linear motor rotor 27 is reset, and the submerged fork 28 moves with the strip-shaped guide 26 to leave the cross-shaped tray 42 from the opening of the side of the cross-shaped tray 42; the submerged fork 28 retreats into the predetermined position in the accommodating cavity, and the linear motor rotor 27 stops working.

[0118] Embodiment three

[0119] Referring to FIG. 15 to FIG. 17, the present embodiment is another variant of the first embodiment and the second embodiment, and the difference between the present embodiment and the first embodiment and the second embodiment is the arrangement of the lifting device 29.

[0120] The lifting device 29 of the present embodiment is two scissor lifting devices 31 arranged on the front and rear sides of the bottom of the submerged fork 28, and the scissor lifting devices 31 can be wholly accommodated in the submerged fork 28.

[0121] The scissor lifting devices 31 are easy to obtain, thereby reducing maintenance costs, facilitating simple and convenient control, having large load and strong stability, and enabling the stable lifting of the T-shaped tray 42.

[0122] As a variant of the first embodiment, since the submerged fork 28 is provided with the driven wheel 30 at the bottom, the submerged fork 28 is arranged to be capable of moving along the driven wheel 30.

[0123] The process of the submerged fork 28 entering the T-shaped tray 42 and lifting the T-shaped tray 42 is as follows:

[0124] After the submerged fork 28 enters the T-shaped tray 42, the push-pull rigid chain is separated from the submerged fork 28 and is reset, the scissor lifting devices 31 work and are in contact with the ground and are supported on the working surface; the scissor lifting devices 31 continue to work, the submerged fork 28 is lifted upward by the scissor lifting devices 31, when the upper end of the submerged fork 28 contacts the top surface of the T-shaped tray 42, the submerged fork 28 continues to rise, thereby lifting the T-shaped tray 42 and the goods 43 thereon; the submerged fork 28 stops lifting after lifting the T-shaped tray 42 to a certain height from the working surface, and the height is higher than the overall height of the E-shaped supporting platform structure 6.

[0125] The process of the submerged fork 28 lowering the T-shaped tray 42 and exiting the T-shaped tray 42 is as follows:

[0126] The scissor lifting devices 31 work, the scissor lifting devices 31 extend downward from the submerged fork 28, the scissor lifting devices 31 are in contact with the ground and are supported on the working surface; the scissor lifting devices 31 continue to work, the submerged fork 28 is lifted upward by the scissor lifting devices 31, when the upper end of the submerged fork 28 contacts the top surface of the T-shaped tray 42, the submerged fork 28 supports the T-shaped tray 42, and the machine body 1 exits; the scissor lifting devices 31 work to be accommodated, the T-shaped tray 42 and the goods 43 thereon are lowered together with the submerged fork 28 until the bottom plate of the T-shaped tray 42 contacts the ground; the scissor lifting devices 31 are accommodated, the submerged fork 28 continues to fall as a whole and contacts the working surface; the scissor lifting devices 31 continue to be accommodated to be separated from the contact with the working surface and stop being accommodated.

[0127] As a variant of the second embodiment, since the bottom of the submerged fork 28 is not driven by the wheel 30, the submerged fork 28 is not driven by the wheel 30:

[0128] The process of the submerged fork 28 entering the cross-shaped tray 42 and lifting the cross-shaped tray 42:

[0129] After the submerged fork 28 enters the cross-shaped tray 42, the push-pull rigid chain is separated from the submerged fork 28 and is reset, the scissor lift 31 works and is in contact with the working surface, and the scissor lift 31 continues to work, the submerged fork 28 is lifted upward by the scissor lift 31, the submerged fork 28 is separated from the contact with the strip-shaped guide 26; the control linear motor rotor 27 is reversely moved, the linear motor rotor 27 is reset along the length direction of the linear motor strip-shaped stator 25, and the strip-shaped guide 26 exits from the side opening of the cross-shaped tray 42; when the upper end of the submerged fork 28 contacts the top surface of the cross-shaped tray 42, it continues to rise, thereby lifting the cross-shaped tray 42 and the goods 43 thereon; the submerged fork 28 stops lifting after lifting the cross-shaped tray 42 to a certain height from the working surface, and the height is higher than the overall height of the E-shaped supporting platform structure 6.

[0130] The process of the submerged fork 28 lowering the cross-shaped tray 42 and exiting the cross-shaped tray 42:

[0131] The scissor lift 31 works, the scissor lift 31 extends downward from the submerged fork 28, the scissor lift 31 is in contact with the ground and is supported on the working surface; the scissor lift 31 continues to work, the submerged fork 28 is lifted upward by the scissor lift 31, when the upper end of the submerged fork 28 contacts the top surface of the cross-shaped tray 42, the submerged fork 28 supports the cross-shaped tray 42, and the machine body 1 exits; the scissor lift 31 works to be stored, the cross-shaped tray 42 and the goods 43 thereon are lowered together with the submerged fork 28 until the bottom of the cross-shaped tray 42 contacts the ground; the strip-shaped guide 26 extends into the cross-shaped tray 42; the scissor lift 31 is stored, the submerged fork 28 continues to fall and contacts the strip-shaped guide 26 on both sides; the scissor lift 31 continues to be stored until the outer end thereof is separated from the contact with the working surface, and the storage is stopped; the strip-shaped guide 26 is reset and drives the submerged fork 28 to exit the cross-shaped tray 42.

[0132] Embodiment four

[0133] Another object of the present application is to provide a cross-shaped tray carrying method applied to the above cross-shaped tray transport equipment.

[0134] Referring to FIG. 18, for the scenario of loading the cross-shaped tray, the cross-shaped tray carrying method comprises the following steps:

[0135] The H-shaped tray transport device moves to the side of the H-shaped tray and opens the side opening of the H-shaped tray for the insertion of the fork;

[0136] The pushing structure works to push the insertion fork into the H-shaped tray from the side opening of the H-shaped tray, and the lifting device is aligned with the bottom opening of the H-shaped tray, respectively;

[0137] After the insertion fork is pushed into place, the pushing structure is separated from the insertion fork and is reset to the accommodation cavity, avoiding affecting the lifting of the H-shaped tray by the insertion fork, and the lifting device works, the insertion fork is lifted to lift the H-shaped tray, and the lowest point of the H-shaped tray is located above the highest point of the supporting platform;

[0138] The machine body moves to position the supporting platform below the H-shaped tray;

[0139] The insertion fork is lowered to place the H-shaped tray on the machine body;

[0140] When the insertion fork is lowered to place the H-shaped tray on the machine body, the supporting structure is extended, the lifting device is accommodated to lower the H-shaped tray onto the supporting platform, and at the same time the insertion fork is lowered to contact the supporting structure, and the bottom of the lifting device is kept away from the working surface.

[0141] The H-shaped tray transport device moves to deliver the material to the designated location.

[0142] Compared with the prior art, the H-shaped tray carrying method of the present application uses a new type of H-shaped tray transport device, two insertion forks are sent into the side opening of the H-shaped tray, after the two insertion forks enter the bottom of the H-shaped tray, the H-shaped tray is stably lifted by the two insertion forks, the machine body is moved to be directly below the H-shaped tray, and after the insertion fork drives the H-shaped tray to be lowered, the H-shaped tray is loaded, thereby realizing the forking of the H-shaped tray, and performing subsequent H-shaped tray carrying tasks, which is suitable for intelligent carrying of H-shaped tray transport scenes, and effectively improves the promotion of intelligent transportation technology.

[0143] Referring to FIG. 19, for unloading the H-shaped tray, the H-shaped tray carrying method includes the following steps:

[0144] The H-shaped tray transport device carries the H-shaped tray containing the material to the designated location;

[0145] The lifting device works, the insertion fork is lifted to lift the H-shaped tray, and the lowest point of the H-shaped tray is located above the highest point of the supporting platform;

[0146] The machine body moves to exit the area below the H-shaped tray;

[0147] The lifting device is accommodated, the submerged forks are lowered to make the bottom of the pallet contact the working surface;

[0148] The pushing structure works, the pushing structure is connected with the submerged forks, the pushing structure resets to make the submerged forks enter the accommodating cavity, and the submerged forks are recovered.

[0149] When the machine body exits the area below the pallet, the supporting structure is accommodated and reset, so that the supporting structure is prevented from being damaged.

[0150] Compared with the prior art, the pallet carrying method provided by the application uses a new pallet transport device, after the fork picking and carrying task of the pallet is completed, the pallet is stably lifted up by two submerged forks located below the bottom of the pallet, the machine body exits the area below the pallet, the submerged forks drive the pallet to descend to contact the ground, and then the pushing structure is connected and the pallet is exited, so that the carrying task of the pallet is completed once, manual intervention is not required, the degree of intelligence is high, and the operation efficiency of the intelligent transport system is effectively improved.

[0151] According to the disclosure and teaching of the above description, those skilled in the art to which the application belongs can also make changes and modifications to the above embodiments. Therefore, the application is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the application should fall within the protection scope of the claims of the application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the application.

Claims

1. A grid-shaped pallet transport device, characterized in that, include: Two back-in forks with a downward-extending lifting device at the bottom; The machine body has a drive device at the bottom and a support platform at the front. The support platform has a receiving cavity for accommodating the sinker forks. The receiving cavity has a pushing structure corresponding to two sinker forks. The pushing structure is used to push the sinker forks out of the support platform and separate them from the sinker forks according to control commands.

2. The grid-shaped pallet transport equipment according to claim 1, characterized in that, The support platform has an E-shaped structure, which includes a left support arm, a right support arm, and a middle support arm spaced apart. A receiving cavity is formed between the left and right support arms, and the middle support arm divides the receiving cavity into a first receiving compartment and a second receiving compartment. The first and second receiving compartments are each equipped with a forward-extending push structure. The first and second receiving compartments are each equipped with a support structure, which is used to support the submerged forks when they fall from above the support platform. The two submerged forks are located in the first and second receiving compartments, respectively, and are detachably connected to the push structure in their respective receiving compartments.

3. The grid-shaped pallet transport equipment according to claim 1, characterized in that, The bottom-mounted forks are equipped with driven wheels; The machine body has two horizontal storage compartments, and the openings of the horizontal storage compartments are located on the short side of the receiving cavity; Two pushing structures are respectively installed in two horizontal storage compartments. Each pushing structure includes a rotary drive device, a horizontal drive gear, a pushing rigid chain, and at least one steering gear. The pushing rigid chain is arranged from a position away from the opening of the horizontal storage compartment toward the opening of the horizontal storage compartment. The horizontal drive gear meshes with the pushing rigid chain. The rotary drive device drives the pushing rigid chain through the opening of the horizontal storage compartment into the receiving cavity via the horizontal drive gear. The steering gear is arranged around the arrangement trajectory of the pushing rigid chain and cooperates with the inner sidewall of the horizontal storage compartment to limit the movement direction of the pushing rigid chain. The pusher rigid chain is detachably connected to the end of the sinker fork facing the opening of the horizontal storage compartment.

4. The grid-shaped pallet transport equipment according to claim 3, characterized in that, The rigid push chain is connected to the sinking forks via an electromagnetic attraction structure. The electromagnetic attraction structure includes an electromagnetic attractor located at one end of the pusher rigid chain facing the sinker fork. At least the portion of the sinker fork corresponding to the electromagnetic attractor is made of metal. The electromagnetic attractor attracts the sinker fork after generating magnetic force. Alternatively, the electromagnetic attraction structure includes an electromagnetic attractor located at one end of the pushing rigid chain facing the recessed fork, and a metal part corresponding to the electromagnetic attractor on the recessed fork. The electromagnetic attractor attracts the metal part after generating magnetic force.

5. The grid-shaped pallet transport equipment according to claim 3, characterized in that, The two pushing structures are driven by the same rotary drive device, which includes a first rotary drive motor, a first transmission shaft and a first drive shaft, and there are two first drive shafts. A first rotary drive motor drives a first transmission shaft to rotate. One horizontal drive gear is connected to the first transmission shaft via the first drive shaft, and another horizontal drive gear is connected to the first transmission shaft via another first drive shaft.

6. The grid-shaped pallet transport equipment according to claim 1, characterized in that, Each pushing structure includes two sets of linear telescopic tracks set on both sides of the body corresponding to the submerged forks. The linear telescopic tracks include a linear motor stator, a linear guide, and a linear motor rotor. The linear motor stator is fixedly mounted on the body along the length of the receiving cavity. The linear guide is slidably connected to the linear motor stator and its rear end is fixedly connected to the linear motor rotor. The linear motor rotor can drive the linear guide to enter and exit the receiving cavity along the length of the linear motor stator. The two sides of the submerged forks abut against the upper ends of the two linear guides respectively.

7. The grid-shaped pallet transport equipment according to any one of claims 1 to 5, characterized in that, The forks have a vertical storage compartment with a bottom opening. The lifting device is installed in the vertical storage compartment. The lifting device includes a rotary drive assembly, a front lifting assembly and a rear lifting assembly. The front lifting assembly includes a front lifting drive gear and a front lifting rigid chain. The rear lifting assembly includes a rear lifting drive gear and a rear lifting rigid chain. The front lifting drive gear is located around the arrangement trajectory of the front lifting rigid chain and cooperates with the inner wall of the vertical storage compartment to limit the movement direction of the front lifting rigid chain. The rear lifting drive gear is located around the arrangement trajectory of the rear lifting rigid chain and cooperates with the inner wall of the vertical storage compartment to limit the movement direction of the rear lifting rigid chain. The rotary drive assembly is used to drive the front lift drive gear and the rear lift drive gear to rotate synchronously in opposite directions, respectively.

8. The grid-shaped pallet transport equipment according to claim 1, characterized in that, The lifting device consists of two scissor lift devices located on the front and rear sides of the bottom of the forks.

9. A method for handling a grid-shaped pallet, comprising the grid-shaped pallet transport equipment as described in any one of claims 1 to 8, characterized in that, Includes the following steps: The pallet transport equipment moves to the side of the pallet and aligns the sink-in forks with the side opening of the pallet. The push mechanism works to push the submersible forks from the side openings of the grid pallet into the grid pallet and to align the lifting devices with the bottom openings of the grid pallet. After the submerged forks are pushed into place, the pushing structure separates from the submerged forks and returns to the receiving cavity. The lifting device then operates, and the submerged forks rise to lift the grid-shaped pallet, so that the lowest point of the grid-shaped pallet is above the highest point of the supporting platform. The machine body moves so that the support platform is positioned under the grid-shaped tray; The sinking forks lower the cross-shaped pallet to be placed on the machine body; A grid-shaped pallet transport system moves to deliver materials to a designated location. Alternatively, it may include the following steps: The grid-shaped pallet transport equipment moves grid-shaped pallets containing materials to a designated location; When the lifting device is activated, the submerged forks rise and lift the grid-shaped pallet, so that the lowest point of the grid-shaped pallet is above the highest point of the support platform. The machine moves to exit the area under the grid-shaped tray; The lifting device is retracted, and the sinking forks descend to bring the bottom of the grid-shaped pallet into contact with the working surface; When the push structure is activated, it connects with the submerged forks. When the push structure resets, the submerged forks enter the receiving cavity, and the submerged forks are retracted.

10. The method for handling a grid-shaped pallet according to claim 9, characterized in that, When the sinking forks descend to place the grid pallet on the machine body, the support structure extends, and the lifting device retracts to lower the grid pallet onto the support platform. At the same time, the sinking forks descend to contact the support structure, and the bottom of the lifting device maintains a distance from the working surface.

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