Fork, warehouse robot, and warehouse system
Patent Information
- Application Number
- PCT/CN2026/076617
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-25
- Filing Date
- 2026-02-02
- Publication Date
- 2026-10-01
Smart Images
Figure CN2026076617_01102026_PF_FP_ABST
Abstract
Description
Forks, warehouse robots and warehousing systems
[0001] This application claims priority to Chinese patent application No. 202510371782.8, filed on March 25, 2025, entitled "Forklift, Warehouse Robot and Warehouse System", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of logistics and warehousing technology, specifically to a forklift, a warehousing robot, and a warehousing system. Background Technology
[0003] With the development of technology, the automation and intelligence of warehousing systems are becoming increasingly sophisticated. Forks are the main structure for robots to automatically pick up and place goods in warehousing systems. Forks generally consist of telescopic arms on both sides of the platform and fingers located at the ends of the telescopic arms. The fingers hook onto the cargo box, and the telescopic arms drive the fingers to retract inward to pull the cargo box onto the platform.
[0004] Existing forklifts have large and heavy telescopic arms, making them difficult to adapt to small robots. Summary of the Invention
[0005] In view of the above problems, this application provides a forklift, a storage robot, and a storage system that can reduce the size and weight of the forklift.
[0006] According to one aspect of the embodiments of this application, a forklift is provided, comprising: a load-bearing assembly; a drive assembly disposed on the load-bearing assembly; a loading / unloading assembly disposed on the load-bearing assembly, the loading / unloading assembly including a support frame, a guide member, and a docking member, the support frame being movable relative to the load-bearing assembly, the guide member being disposed at the bottom of the support frame, the guide member being used to cooperate with the support surface at the bottom to provide guidance and support to the support frame when moving with the support frame, the docking member being disposed on the support frame, the docking member being used to dock with a cargo box and to load / unload the cargo box in coordination with the movement of the support frame; and a one-way bending chain disposed on the load-bearing assembly and connected to the drive assembly, the drive assembly being used to drive the one-way bending chain to flexibly bend and retract or rigidly extend relative to the load-bearing assembly, one end of the one-way bending chain being connected to the support frame, the one-way bending chain being used to drive the support frame to move when extending or retracting relative to the load-bearing assembly.
[0007] In one alternative approach, the horizontal direction perpendicular to the extension and retraction direction of the unidirectional bending chain is the width direction of the load-bearing component, and both the unidirectional bending chain and the loading / unloading component are positioned at the middle of the width direction of the load-bearing component.
[0008] In one alternative approach, the connection point between the unidirectional bending chain and the support frame is at the same height relative to the load-bearing component as the turning point of the unidirectional bending chain when it bends.
[0009] In one alternative embodiment, the unidirectional bending chain includes a first chain and a second chain, which are disposed opposite to each other on both sides of the load-bearing component. A support frame is connected to one end of the first chain and one end of the second chain, respectively. The first chain and the second chain work together to drive the support frame to move.
[0010] In one alternative embodiment, the support assembly includes a support platform and a first guide limiting assembly and a second guide limiting assembly disposed on opposite sides of the support platform. The first chain and the second chain cooperate with the first guide limiting assembly and the second guide limiting assembly respectively to extend and retract. The first guide limiting assembly has a first inlet / outlet for the first chain to enter and exit during extension and retraction, and the second guide limiting assembly has a second inlet / outlet for the second chain to enter and exit during extension and retraction. Both the first inlet / outlet and the second inlet / outlet are disposed at the rear end of the support platform so that when the first chain and the second chain extend and retract, they can drive the support frame to move on the support assembly.
[0011] In one alternative embodiment, the first guide and limiting assembly includes a first sidewall disposed on the support platform, and the driving assembly includes a first sprocket disposed at the rear end of the first sidewall. The first sprocket engages with a first chain to drive the first chain to extend and retract. The first sidewall is provided with a first groove, and the first chain is at least partially received within the first groove, sliding along the first groove during extension and retraction. The second guide and limiting assembly includes a second sidewall disposed on the support platform, and the driving assembly includes a second sprocket disposed at the rear end of the second sidewall. The second sprocket engages with a second chain to drive the second chain to extend and retract. The second sidewall is provided with a second groove, and the second chain is at least partially received within the second groove, sliding along the second groove during extension and retraction.
[0012] In one alternative embodiment, the two sides of the bottom of the support frame are respectively connected to one end of the first chain and one end of the second chain; the unidirectional bending chain also includes a third chain, which is located between the first chain and the second chain, and one end of the third chain is connected to the top of the support frame; the first chain, the second chain and the third chain are used together to drive the support frame to move.
[0013] In one alternative embodiment, a third guide limiting component is provided at the bottom and rear end of the support component, and the third chain cooperates with the third guide limiting component to extend and retract; the third guide limiting component includes a third side wall provided at the bottom of the support component and a fixed post provided at the rear end of the support component, the third side wall and the fixed post are provided with a third slide groove for accommodating at least part of the third chain, and the top of the fixed post is provided with a third inlet and outlet, through which the third chain enters and exits the third slide groove.
[0014] In one alternative embodiment, a support member is retractably provided on the load-bearing component, and an elastic member is connected between the support member and the load-bearing component. The elastic member is used to provide elastic force to the support member relative to the load-bearing component. The support member is used to provide support for the cargo box and / or guide member during the loading and unloading of the cargo box by the loading and unloading component. The end of the unidirectional bending chain not connected to the support frame is used to abut against the support member when retracted, and drive the support member to retract relative to the load-bearing component.
[0015] In one alternative embodiment, the rear end of the support member is provided with an abutment portion, and the end of the unidirectional bending chain not connected to the support frame is used to abut against the abutment portion when retracted to a predetermined position, so as to drive the support member to retract.
[0016] In one alternative embodiment, the top surface of the support forms at least a partial support surface, and the guide includes rollers that can roll on the support surface of the support as the support frame moves.
[0017] In one alternative approach, forks are applied to a warehouse robot, which also forms partial support surfaces on both sides of the forks; the rollers include multiple rollers spaced apart, and when the support frame moves, some rollers can roll on the support surfaces of the support member, while other rollers can roll on the support surfaces of the warehouse robot.
[0018] In one alternative, the docking component is a hook that can be raised and lowered on the support frame. The hook is used to engage or disengage with the locking position on the cargo box during raising and lowering.
[0019] According to another aspect of the embodiments of this application, a warehouse robot is provided, including a robot body and forks as described above, the forks being disposed on the robot body.
[0020] According to another aspect of the embodiments of this application, a warehousing system is provided, including shelves and the aforementioned warehousing robot, the warehousing robot being used to pick up and place boxes on the shelves.
[0021] In the fork provided in this embodiment, a one-way bending chain is first used as a telescopic arm for picking and placing goods, thereby reducing volume and weight and making the fork more compatible with small robots. Furthermore, to prevent the end of the one-way bending chain from drooping after extending a long distance and forming a cantilever structure with poor stability, a support frame in the picking and placing assembly is connected to the end of the one-way bending chain. A guide is provided at the bottom of the support frame, so that during the extension and retraction of the one-way bending chain and the movement of the support frame, the guide can cooperate with its bottom support surface to provide support and guidance for the support frame. This not only prevents the end of the one-way bending chain from drooping but also ensures that the end of the one-way bending chain is supported after extension, thus preventing the formation of a cantilever structure. Simultaneously, a docking part on the support frame is responsible for docking with the cargo box to pick and place the cargo. Based on these advantages, when the fork drives the picking and placing assembly via the one-way bending chain for picking and placing goods, the one-way bending chain always maintains good structural strength, thereby improving the stability and reliability of the one-way bending chain during cargo picking and placing.
[0022] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0023] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0024] Figure 1 is a perspective view of the fork provided in the embodiment of this application with the chain in a retracted state during unidirectional bending;
[0025] Figure 2 is a perspective view of the forks provided in the embodiment of this application with the chain extended in a unidirectional bending state;
[0026] Figure 3 is a perspective view of the fork loading and unloading assembly provided in an embodiment of this application;
[0027] Figure 4 is an assembly structure diagram of the fork loading / unloading component and the one-way bending chain provided in the embodiment of this application;
[0028] Figure 5 is a side view of the fork provided in the embodiment of this application with the chain extended in a one-way bending state;
[0029] Figure 6 is an enlarged view of point A in Figure 5;
[0030] Figure 7 is a side view of the fork loading and unloading component in the embodiment of this application in the state of docking with the cargo box;
[0031] Figure 8 is a side view of the fork loading and unloading component in the cargo box docked with the cargo box according to another embodiment of this application;
[0032] Figure 9 is a side view of the fork loading and unloading component of the present application in the docking state with the cargo box, according to another embodiment of the present application;
[0033] Figure 10 is a perspective view of the first chain and the first guide and limiting component cooperating in the fork provided in the embodiment of this application;
[0034] Figure 11 is a side view of the fork provided in the embodiment of this application with the chain in a retracted state during unidirectional bending;
[0035] Figure 12 is a side view of the fork provided in the embodiment of this application with the chain extended in a one-way bending state;
[0036] Figures 13 to 17 are side views of the forks in various states during the process of picking up the cargo box according to the embodiments of this application;
[0037] Figure 18 is a perspective view of the warehousing robot provided in an embodiment of this application;
[0038] Figure 19 is a top view of the warehousing system provided in an embodiment of this application.
[0039] The reference numerals in the detailed embodiments are as follows: 100, fork; 110, load-bearing assembly; 111, load-bearing platform; 112, first guide limiting assembly; 1121, first side wall; 1122, first chute; 1123, first inlet / outlet; 1124, first turning section; 1125, first straight section; 1126, second turning section; 1127, second straight section; 113, second guide limiting assembly; 1131, second side wall; 1132, second chute; 1133, second inlet / outlet; 114, third guide limiting assembly; 1141, third side wall; 1142, fixing post; 1143, third chute; 1144, third inlet / outlet; 115, support member; 1151, abutment part; 116, elastic member; 120. One-way bending chain; 1201. Chain link; 121. First chain; 1211. First end; 1212. Second end; 122. Second chain; 123. Third chain; 124. Abutting end; 130. Picking and placing assembly; 131. Support frame; 132. Guide component; 1321. Roller; 133. Connecting component; 1331. Hook; 1332. Guide rail; 1333. Hook drive component; 1334. Hook transmission component; 140. Drive assembly; 1411. First sprocket; 1412. Second sprocket; 1413. Third sprocket; 1414. Fourth sprocket; 142. Drive shaft; 143. Drive component; 144. Helical gear set; 200. Support surface; 300. Cargo box; 310. Locking position; 400. Shelf; 500. Warehouse robot; 510. Robot body; 520. Drive wheel; 530. Climbing component; 600. Warehouse system. Detailed Implementation
[0040] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0042] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0044] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.
[0045] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).
[0046] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.
[0047] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.
[0048] In warehousing systems, the size of the forks determines the width of the aisles between racks. Longer forks increase the aisle width, thus affecting the overall space utilization of the warehouse. Currently, most telescopic arms on forks are implemented using plate-like structures. Such telescopic arms are large and heavy, making them difficult to adapt to some small robots.
[0049] Therefore, in order to extend the telescopic arm a longer distance to pull larger cargo boxes without increasing the overall length of the forks, the forks can use a chain that bends only in one direction as the telescopic arm. The unidirectional bending of the chain ensures that it does not occupy more space when retracted, while the inability to bend in the other direction allows it to maintain a rigid extension. This unidirectional bending of the chain is achieved by allowing adjacent chain plates to rotate relative to each other in one direction, while simultaneously abutting against each other in the other direction for restraint.
[0050] Building upon the principle of achieving both increased fork size and longer reach using a unidirectional bending chain, this application further employs a cargo handling assembly comprising a support frame, guide members, and docking members to ensure stability and reliability during cargo handling operations. Specifically, the support frame serves as the moving main body, driven by the extension and retraction of the unidirectional bending chain. Simultaneously, the support frame also acts as the mounting platform for the docking members and guide members. The docking members move with the support frame to dock with and separate from the cargo boxes, facilitating cargo handling. The guide members are installed at the bottom of the support frame. As the support frame moves, the guide members move on the supporting surface below it (e.g., the surface of a platform, shelf, etc.) to guide and support the support frame. This ensures that after the unidirectional bending chain extends a considerable distance, the end connected to the support frame does not sag or form a cantilever structure, thus guaranteeing the stability and reliability of the telescopic arm formed by the unidirectional bending chain during cargo handling operations.
[0051] According to one aspect of an embodiment of this application, a fork is provided. Please refer to Figures 1 and 2 for details. Figures 1 and 2 respectively show the three-dimensional structure of the fork in a retracted and extended state of the unidirectional bending chain. As shown in the figures, the fork 100 includes: a load-bearing component 110, a drive component 140, a unidirectional bending chain 120, and a loading / unloading component 130. The load-bearing component 110 is the main structure of the fork 100 and is primarily used to carry cargo boxes. The drive component 140, the unidirectional bending chain 120, and the loading / unloading component 130 are all disposed on the load-bearing component 110. The unidirectional bending chain 120 serves as a telescopic structure of the fork 100 and is connected to the drive component 140. The drive component 140 is used to drive the unidirectional bending chain 120 to flexibly bend and retract relative to the load-bearing component 110 (as shown in Figure 1) or rigidly extend (as shown in Figure 2). One end of the unidirectional bending chain 120 is connected to the picking and placing component 130 so that the picking and placing component 130 can be moved during extension and retraction to pick up and place the cargo box.
[0052] Please refer to Figure 3 for further details. The figure shows the structure of the loading and unloading assembly 130. As shown, the loading and unloading assembly 130 includes a support frame 131, a guide 132, and a docking member 133. The support frame 131 is movable relative to the carrier assembly 110. The guide 132 is located at the bottom of the support frame 131, and the docking member 133 is located on the support frame 131. Referring further to Figure 4, the figure shows the assembly structure of the loading and unloading assembly 130 and the unidirectional bending chain 120. As shown in Figure 4, one end of the unidirectional bending chain 120 is connected to the support frame 131. When the unidirectional bending chain 120 extends or retracts relative to the carrier platform 111, it drives the support frame 131 to move. The guide 132, when moving with the support frame 131, cooperates with the bottom support surface to provide guidance and support to the support frame 131. The docking member 133 is used to dock with the cargo box and, in conjunction with the movement of the support frame 131, enables the loading and unloading of the cargo box.
[0053] Regarding the specific structure of the unidirectional bending chain 120, this application provides an exemplary implementation, as shown in Figures 5 and 6. Figure 5 shows the side structure of the fork 100 in its extended state, and Figure 6 shows an enlarged view of point A in Figure 5. As shown, the unidirectional bending chain 120 consists of multiple interconnected links 1201. Adjacent links 1201 are offset from each other on one side by rounded corners, allowing them to rotate relative to each other in the direction indicated by the solid arrow in Figure 6, thereby achieving flexible bending in one direction. On the other side, adjacent links 1201 abut against each other through mutually fitting edges to prevent rotation relative to each other in the direction indicated by the dashed arrow in Figure 6, preventing the unidirectional bending chain 120 from bending in the other direction, thus achieving rigid extension.
[0054] Please refer to Figure 5 for the specific principle of rigid extension. During the movement of the support frame 131 driven by the end of the unidirectional bending chain 120, the support surface 200 at the bottom of the guide member 132 provides an upward supporting force. This restricts the rotation of the link 1201 located at the end of the unidirectional bending chain 120 and connected to the support frame 131, meaning that the end link 1201 will not rotate downwards. Based on this, any link 1201 in the middle will tend to rotate upwards relative to its adjacent link 1201 under its own gravity. That is, any link 1201 in Figure 6 will tend to rotate in the direction shown by the dashed arrow relative to the link 1201 to its right. This tendency is restricted by the link 1201 on the right, thus keeping all links 1201 basically straight and achieving rigid extension of the unidirectional bending chain 120 as a whole.
[0055] Furthermore, to better maintain a basic horizontal position after the unidirectional bending chain 120 extends, as shown in Figure 5, the connection point between the unidirectional bending chain 120 and the support frame 131 (point B in Figure 5) and the turning point when the unidirectional bending chain 120 bends (point C in Figure 5, i.e., the position where the unidirectional bending chain 120 begins to bend after retracting into the support assembly 110) are at the same height relative to the support assembly 110. Connection point B and turning point C are the two ends of the rigidly extended portion of the unidirectional bending chain 120. With these two ends at the same height and the rotation of each link 1201 located between these two ends restricted, the rigidly extended portion of the unidirectional bending chain 120 can better maintain a horizontal state.
[0056] It should be noted that during the actual production and assembly process, due to manufacturing errors, assembly errors and other factors, there will inevitably be some small gaps between the chain links 1201. This means that when the unidirectional bending chain 120 is rigidly extended, it is not in an absolutely straight state, but rather in a state that gradually concaves downward from both ends to the middle. Of course, the degree of concavity will not be too great, and this state will not affect the effective driving of the unidirectional bending chain 120 on the support frame 131.
[0057] In addition, it is understood that Figures 5 and 6 are only one exemplary structure provided by this application regarding the unidirectional bending chain 120. Currently, there are many implementations of the unidirectional bending chain 120. The fork 100 provided in this application embodiment can also use other forms of unidirectional bending chain 120 to drive the support frame 131. The specific form is not limited here.
[0058] As shown in Figure 3, the docking component 133 can be a hook 1331, which is vertically mounted on the support frame 131. Referring further to Figure 7, which shows the state of the hook 1331 docking with the cargo box 300, the hook 1331 rises and engages with the locking position 310 on the cargo box 300 (which can be the hook shown in the figure, or a slot, etc.), thus completing the docking with the cargo box 300. In this state, the hook 1331 can be disengaged from the locking position 310 by moving downwards. Of course, the figure is only one example. In other embodiments, the positions of the hook 1331 and the locking position 310 can be interchanged; that is, the hook 1331 can also engage with the locking position 310 when moving downwards and disengage from the locking position 310 when moving upwards.
[0059] In the state shown in Figure 7, when the one-way bending chain 120 retracts and pulls the support frame 131 to move, the hook 1331 pulls the cargo box 300 onto the carrying component 110, thus enabling the cargo box 300 to be retrieved. The placement of the cargo box 300 is the reverse operation: the one-way bending chain 120 extends and pushes the support frame 131 to move, pushing the cargo box 300 off the carrying component 110. When pushing the cargo box 300 off, the hook 1331 may or may not engage with the locking position 310; this does not affect the normal pushing of the cargo box 300.
[0060] Specifically, as shown in Figure 3, the loading and unloading assembly 130 also includes a guide rail 1332, which is mounted on the support frame 131. The hook 1331 is slidably mounted on the guide rail 1332, allowing it to slide on the support frame 131 via the guide rail 1332. The guide rail 1332 provides good guidance for the lifting and lowering movement of the hook 1331. In some embodiments, the loading and unloading assembly 130 may also include a hook drive component 1333 and a hook transmission component 1334. The hook drive component 1333 is disposed on the support frame 131, and the hook transmission component 1334 is drively connected between the hook drive component 1333 and the hook 1331. The hook drive component 1333 drives the hook 1331 to automatically lift and lower via the hook transmission component 1334, thereby achieving automated docking and separation of the hook 1331 from the cargo box. The hook drive component 1333 can be a motor, etc., and the hook transmission component 1334 can be a transmission belt, lead screw, chain, etc.
[0061] In addition, the docking component 133 can also use a suction cup (which can be a negative pressure adsorption or magnetic adsorption, etc.), a claw, or other structures to dock with the front side of the cargo box 300, or it can use a finger or other structures to dock with the rear side of the cargo box 300. The specifics are not limited here.
[0062] In the specific embodiment shown in Figure 8, the locking position 310 of the cargo box 300 is located on the side of the cargo box 300 near the top, that is, the locking position 310 is relatively high. To allow the docking component 133, such as the hook, to cooperate with this type of box, the support frame 131 is configured to have a relatively large height, and the docking component 133, such as the hook 1331, is positioned at a high position on the support frame 131 so that the hook 1331 can dock with the locking position 310 on the cargo box 300. For this docking method, a single unidirectional bending chain 120 can be used to drive the support frame 131 to move. Specifically, the loading / unloading component 130 and the unidirectional bending chain 120 are both located at the middle position in the width direction of the bearing component 110. The width direction of the bearing component 110 is a horizontal direction perpendicular to the extension / retraction direction of the unidirectional bending chain 120. In some embodiments, one end of the unidirectional bending chain 120 is connected to the middle position in the horizontal direction at the rear end of the support frame 131, that is, at the middle position in the width direction. This ensures that when the unidirectional bending chain 120 pushes or pulls the support frame 131, the support frame 131 is subjected to uniform force in the horizontal direction, preventing tilting and other issues that could affect the stability of picking up and placing goods. In some embodiments, to further improve the stability of picking up and placing goods, one end of the unidirectional bending chain 120 is also connected to the middle position in the height direction at the rear end of the support frame 131, that is, at the middle position in the height direction. This ensures that when the unidirectional bending chain 120 pushes or pulls the support frame 131, the support frame 131 is subjected to uniform force in the vertical direction.
[0063] Of course, to better ensure the stability of the support frame 131 during movement, three unidirectional bending chains 120 can also be used to drive the support frame 131 to move. Please refer to Figures 2, 4, and 7 for details. As shown in the figures, the unidirectional bending chain 120 includes a first chain 121, a second chain 122, and a third chain 123. The first chain 121, the second chain 122, and the third chain 123 are used together to drive the support frame 131 to move. Specifically, the first chain 121 and the second chain 122 are arranged opposite each other on both sides of the bearing assembly 110. The two sides of the bottom of the support frame 131 are respectively connected to one end of the first chain 121 and one end of the second chain 122. One end of the third chain 123 is connected to the top of the support frame 131.
[0064] In this embodiment, the support frame 131 is moved by applying force to the two sides and the top of the bottom of the support frame 131 through the first chain 121, the second chain 122 and the third chain 123. This makes the force points of the support frame 131 triangularly distributed and the overall force balanced, thereby ensuring that the support frame 131 is structurally stable and the movement path is accurate and effective during the movement, providing a safety guarantee for picking up and placing goods.
[0065] To ensure that the first chain 121, the second chain 122, and the third chain 123 can drive the support frame 131 to move at the same speed, thereby ensuring that the push or pull force of each chain on the support frame 131 is balanced, multiple coaxially arranged sprockets can be used to drive the first chain 121, the second chain 122, and the third chain 123 to extend and retract respectively. Specifically, as shown in Figure 4, the drive assembly 140 includes a drive member 143, a drive shaft 142, and three sprockets (including a first sprocket 1411, a second sprocket 1412, and a third sprocket 1413). The drive shaft 142 is rotatably mounted on the bearing assembly 110 and connected to the drive member 143. All three sprockets are fixed to the drive shaft 142. The first chain 121, the second chain 122, and the third chain 123 are connected to the first sprocket 1411, the second sprocket 1412, and the third sprocket 1413 respectively, for example, by being wound around the three sprockets respectively. When the drive component 143 drives the drive shaft 142 to rotate, the three sprockets rotate synchronously, thereby driving the first chain 121, the second chain 122 and the third chain 123 to extend and retract at the same speed.
[0066] Considering that if the drive element 143 is arranged at one end of the drive shaft 142 and connected thereto, the drive element 143 would occupy a certain space in the width direction of the bearing assembly 110 (i.e., the axial direction of the drive shaft 142), thus increasing the width of the fork 100. Therefore, in the embodiment shown in FIG. 4, the drive assembly 140 further includes a helical gear set 144. The drive element 143 and the drive shaft 142 are further connected by a helical gear set 144. This transmission via the helical gear set 144 allows the drive element 143 to be arranged radially on the drive shaft 142, rather than axially, as shown in FIG. 4, thus avoiding space occupation in the width direction. Furthermore, in some embodiments, the drive element 143 can be arranged at the rear end of the bearing assembly 110 (the end in the chain retraction direction). In other embodiments, the drive unit 143 may be arranged at the bottom of the support assembly 110, thereby not occupying space in the length and width directions of the fork 100, ensuring that the fork 100 as a whole has a small length and width dimension.
[0067] In addition to docking with the cargo box 300 at a higher position, the loading and unloading assembly 130 can also dock with the cargo box 300 at a lower position. As shown in Figure 9, the locking position 310 of the cargo box 300 is located on the side of the cargo box 300 near the bottom, that is, the locking position 310 is relatively low. In this case, the docking part 133 of the loading and unloading assembly 130 can be located at a lower position on the support frame 131, and the support frame 131 can also be set to have a smaller height. For this docking method, it is not necessary to set three unidirectional bending chains 120. Only one unidirectional bending chain 120 is connected to the middle position of the support frame 131 along the width direction of the bearing assembly 110, or the first chain 121 and the second chain 122 are connected to both sides of the support frame 131 respectively. The stability of the support frame 131 during movement is ensured by the first chain 121 and the second chain 122 jointly driving the support frame 131 to move. In the case of using the first chain 121 and the second chain 122 to jointly drive the support frame 131 to move, the first chain 121 and the second chain 122 can be driven to move synchronously by two coaxial sprockets.
[0068] In the embodiment shown in Figure 9, if the docking part 133 still uses a hook 1331, the hook 1331 can be driven to lift and lower by a drive component such as an electric cylinder or a hydraulic cylinder to ensure that the docking part 133 can be arranged in a lower position. Alternatively, a hook 1331 driven by a motor and capable of rotation can be used to dock and separate with the locking position 310 on the cargo box 300 by rotating the hook 1331.
[0069] The above embodiments provide various forms of loading and unloading components 130 and corresponding quantities and arrangements of unidirectional bending chains 120. Specifically, depending on the structural form of the support frame 131 and the docking height between the docking component 133 and the cargo box 300, different quantities and arrangements of unidirectional bending chains 120 will be selected for driving to ensure structural stability. However, this does not affect the specific docking method between the docking component 133 and the cargo box 300. That is, regardless of whether the docking is at a higher or lower position, the docking component 133 can adopt the aforementioned structures such as hooks, suction cups, claws, and fingers.
[0070] Currently, forks extend from the front of the platform. The fingers at the end of the extension arm are only responsible for hooking the back of the cargo box to pull it onto the platform. However, loading and unloading the cargo box from the platform to other locations such as racks requires a push plate at the rear of the platform. The push plate moves forward to push the cargo box off the platform, which undoubtedly increases the number of parts and may lead to increased costs and larger size.
[0071] In this application, the fork 100 provided in the embodiment can be configured to extend from the front end of the load-bearing assembly 110 in a unidirectional bending chain 120, or it can extend from the rear end of the load-bearing assembly 110. Please refer again to Figures 1 and 2. As shown in the figures, the load-bearing assembly 110 includes a load-bearing platform 111 and a first guide limiting assembly 112 and a second guide limiting assembly 113 disposed on opposite sides of the load-bearing platform 111. The first chain 121 and the second chain 122 cooperate with the first guide limiting assembly 112 and the second guide limiting assembly 113 respectively to perform flexible bending contraction or rigid extension.
[0072] Referring further to Figure 10, the first guide limiting assembly 112 has a first inlet / outlet 1123 for the first chain 121 to enter and exit during extension and retraction. The second guide limiting assembly 113 has a second inlet / outlet 1133 for the second chain 122 to enter and exit during extension and retraction. Both the first inlet / outlet 1123 and the second inlet / outlet 1133 are located at the rear end of the support platform 111. This arrangement allows the support frame 131 to move from one end to the other on the support assembly 110 when the first chain 121 and the second chain 122 extend or retract. For example, when the first chain 121 and the second chain 122 extend, the support frame 131 moves from the rear end to the front end of the support assembly 110; when the first chain 121 and the second chain 122 retract, the support frame 131 moves from the front end to the rear end of the support assembly 110. Accordingly, during the movement of the support frame 131, the upper surface of the support assembly 110 forms at least a partial support surface for supporting and cooperating with the guide member 132.
[0073] In this embodiment, the first guide limiting component 112 and the second guide limiting component 113 guide and limit the first chain 121 and the second chain 122 respectively, so that the first chain 121 and the second chain 122 can drive the support frame 131 to retract to the rear end of the carrier platform 111. On this basis, the support frame 131 connected to the ends of the first chain 121 and the second chain 122 can move on the carrier component 110 under the drive of the first chain 121 and the second chain 122. This allows the carrier component 110 to not only pull the cargo box 300 onto the carrier platform 111, but also push the cargo box 300 off the carrier platform 111, thus eliminating the need for a push plate, reducing production costs and product volume.
[0074] Specifically, as shown in Figure 10, the first guide and limiting component 112 may include a first sidewall 1121. The first sprocket 1411 of the drive component 140 is disposed at the rear end of the first sidewall 1121. The first sprocket 1411 engages with the first chain 121 to drive the first chain 121 to extend and retract. As shown in Figure 2, the second guide and limiting component 113 may include a second sidewall 1131. The second sprocket 1412 of the drive component 140 is disposed at the rear end of the second sidewall 1131. The second sprocket 1412 engages with the second chain 122 to drive the second chain 122 to extend and retract. When the first sprocket 1411 and the second sprocket 1412 are disposed at the rear ends of the first sidewall 1121 and the second sidewall 1131, the first chain 121 and the second chain 122 have a longer travel when extended and a larger accommodating space when retracted. Of course, the first sprocket 1411 can also be disposed in other positions, as long as it can drive the first chain 121 to move normally in extension and retraction.
[0075] As shown in Figure 2, a first groove 1122 is formed on the first sidewall 1121, and the first chain 121 is at least partially received within and slidably engaged with the first groove 1122. A second groove 1132 is formed on the second sidewall 1131, and the second chain 122 is at least partially received within and slidably engaged with the second groove 1132. During extension and retraction, the portion of the first chain 121 located within the first groove 1122 slides along the extending direction of the first groove 1122. The portion of the second chain 122 located within the second groove 1132 slides along the extending direction of the second groove 1132. Furthermore, the first chain 121 can form a limiting abutment with the wall around the first slide groove 1122 in a horizontal direction parallel to its sliding direction, and the second chain 122 can form a limiting abutment with the wall around the second slide groove 1132 in a horizontal direction parallel to its sliding direction, which makes the first chain 121 and the second chain 122 reliably confined in the first slide groove 1122 and the second slide groove 1132.
[0076] Specifically, in some embodiments, the first groove 1122 has a first turning section 1124, a first straight section 1125, a second turning section 1126, and a second straight section 1127 connected in sequence. A first sprocket 1411 is disposed at the first turning section 1124. The portion of the first chain 121 wound around the first sprocket 1411 is bent and turned by the guidance of the groove wall of the first sprocket 1411 and the first turning section 1124. For example, as shown in FIG2, the end of the first chain 121 connected to the support frame 131 is defined as the first end 1211, and the end of the first chain 121 not connected to the support frame 131 (i.e., the other end of the first chain 121 opposite to the first end 1211) is defined as the second end 1212; the direction in which the first end 1211 extends is defined as the first direction, and the direction in which the first end 1211 retracts is defined as the second direction. In Figure 2, the first chain 121 is in an extended state, with the portion of the chain near the second end 1212 wrapped around the first sprocket 1411. Under the action of the first sprocket 1411 and the first deflecting section 1124, the extension direction of this portion of the chain changes, so that both the first end 1211 and the second end 1212 are facing the first direction. When the extended first chain 121 in Figure 2 retracts, that is, when the first end 1211 moves towards the second direction, after the first chain 121 is deflected by the first deflecting section 1211, the second end 1212 moves linearly towards the first direction within the first straight section 1125. As the first end 1211 continues to retract, the second end 1212 passes through the second deflecting section 1126, and under the action of the groove wall of the second deflecting section 1126, changes direction to the second direction. As the first end 1211 continues to retract, the second end 1212 moves linearly towards the second direction within the second straight section 1127.
[0077] In embodiments that also include a third chain 123, a third guide and limiting component 114 can be provided to guide and limit the third chain 123. Since the end of the third chain 123 needs to be connected to the top of the support frame 131, as shown in FIG4, the third guide and limiting component 114 includes a third sidewall 1141 disposed in the middle of the bottom of the support platform 111 and a fixing post 1142 disposed above the rear end of the third sidewall 1141. The fixing post 1142 can be integrally formed with the third sidewall 1141 as shown in FIG4, or it can be a separate column structure fixedly connected to the third sidewall 1141. The third sidewall 1141 and the fixing post 1142 are provided with a third slide groove 1143 for accommodating at least a portion of the third chain 123. The top of the fixing post 1142 is provided with a third inlet / outlet 1144, through which the third chain 123 enters and exits the third slide groove 1143. In this embodiment, the drive assembly 140 further includes a third sprocket 1413 and a fourth sprocket 1414. The third sprocket 1413 is disposed at the rear end of the third sidewall 1141, and the fourth sprocket 1414 is rotatably disposed at the top of the fixed post 1142. The third chain 123 passes sequentially around the third sprocket 1413 and the fourth sprocket 1414, extends at the top towards the front end of the support assembly 110, and connects with the support frame 131 to apply force to the support frame 131 at the top and drive it to move. It is worth mentioning that the connection point between the third chain 123 and the support frame 131 and the turning point of the third chain 123 after passing the fourth sprocket 1414 are at the same height relative to the support assembly 110.
[0078] To prevent the cargo box 300 from falling through the gap between the forks 100 and the rack 400 during loading and unloading, this application further proposes an embodiment, as detailed in Figure 2 again, in which a support member 115 is retractably provided on the load-bearing assembly 110. An elastic member 116 is connected to the support member 115 and the load-bearing assembly 110, providing a spring force relative to the load-bearing assembly 110. The support member 115 provides support for the cargo box 300 and / or the guide member 132 during the loading and unloading process of the loading and unloading assembly 130. The end of the unidirectional bending chain 120 not connected to the support frame 131 is used to abut against the support member 115 during retraction, causing the support member 115 to retract relative to the load-bearing assembly 110.
[0079] The support component 115 can be a columnar pallet structure that extends and retracts on opposite sides of the support component 110 as shown in Figure 2, or a flat pallet structure with a large support area, or other structures, which are not limited here.
[0080] Please refer to Figure 11 for details. The rear end of the support member 115 may be provided with an abutment portion 1151. When the one-way bending chain 120 is in the retracted state, the end of it not connected to the support frame 131 (the abutment end 124 in the figure) pushes the abutment portion 1151 on the support member 115 inward (to the right from the perspective in the figure) to restrict the support member 115 from extending outward. Please refer to Figure 12 for further details. When the one-way bending chain 120 drives the support frame 131 to move and extend, the abutment end 124 releases the support member 115. Under the elastic force of the elastic member 116, the support member 115 will automatically extend outward (to the left from the perspective in the figure) and abut against the front side of the shelf. Based on this, when the one-way bending chain 120 retracts, it first drives the support frame 131 to pull the cargo box onto the support member 115. Then, the support member 115 retracts inward under the push of the one-way bending chain 120 and moves the cargo box inward together. This ensures that the cargo box moves with the support member 115 during the process of entering the load-bearing component 110, and the cargo box will not rub or slide against the load-bearing component 110, making the whole process easier and less strenuous.
[0081] In some embodiments, referring to Figures 2 and 11, the upper part of the second straight segment 1127 of the first groove 1122 is not provided with a groove wall, but is provided with an opening, so that the abutting part 1151 can extend into the second straight segment 1127, so that the second end 1212 can abut against the abutting part 1151 when it moves in the second direction within the second straight segment 1127, thereby pushing the support member 115 in the second direction and realizing the retraction of the support member 115.
[0082] As shown in Figure 12, after the unidirectional bending chain 120 is fully extended, there is a large distance between the abutment end 124 and the abutment part 1151. This arrangement ensures that when the unidirectional bending chain 120 just begins to retract and the picking and placing component 130 moves the cargo box on the shelf, the support member 115 will not immediately begin to retract inward. Only when the unidirectional bending chain 120 retracts to the predetermined position, that is, after the picking and placing component 130 pulls the cargo box 300 from the shelf onto the support member 115, and the abutment end 124 begins to abut against the abutment part 1151, will the abutment end 124 push the support member 115 inward. Finally, through the pulling action of the docking component 133 on the cargo box and the pulling action of the support member 115 at the bottom of the cargo box, the cargo box is stably lifted onto the carrying component 110. The operation can be reversed when placing goods, which also ensures the stability of the operation during the transfer of goods.
[0083] To ensure that the support frame 131 is stably supported throughout its travel, the top surface of the support member 115 can further form at least a partial support surface 200. The guide member 132 may include rollers 1321 as shown in FIG. 3. The rollers 1321 can roll on the support surface 200 of the support member 115 as it moves with the support frame 131. Since the support member 115 extends toward the shelf relative to the load-bearing assembly 110 during loading and unloading, by configuring the rollers 1321 to roll on the support member 115, the support member 115 can provide stable support for the support frame 131 between the load-bearing assembly 110 and the shelf, ensuring that the movement of the loading and unloading assembly 130 is stable and reliable.
[0084] As shown in Figure 4, rollers 1321 can be arranged in pairs at intervals, or more. When the fork 100 is applied to the storage robot 500 as shown in Figure 18, the storage robot 500 also forms partial support surfaces 200 on both sides of the fork 100 (for example, a fixed pallet set on the robot body 510 in the storage robot 500). Among the multiple rollers 1321, some can roll on the support surface 200 on the support member 115, and others can roll on the support surface 200 on the storage robot, thereby achieving stable support for the picking and placing component 130 and fully ensuring that the picking and placing component 130 moves smoothly and reliably.
[0085] The following describes the operation process of the fork 100 using the picking operation as an example. After the fork 100 moves to the shelf 400, it is in the state shown in Figure 13. In this state, the one-way bending chain 120 rigidly extends to drive the support frame 131 to move towards the cargo box 300 in the direction shown by the arrow in the figure. At the same time, the one-way bending chain 120 will gradually release the support member 115, so that the support member 115 extends forward along the dotted arrow in the figure under the elastic force of the elastic member 116.
[0086] Next, during the movement of the loading and unloading assembly 130, the guide 132 will cooperate with the support surface 200 on the support member 115 to provide guidance and support to the support frame 131. A certain state during the movement is shown in Figure 14, which enables the support frame 131 to move forward stably.
[0087] After the support component 115 extends, it can rest against the front side of the shelf 400. After the loading and unloading component 130 reaches the front end of the support component 115, it will be guided by the guide component 132 to cross from the support component 115 to the support surface 200 on the shelf 400, thereby reaching the cargo box 300. Then the docking component 133 docks with the cargo box 300. Specifically, it is lifted and lowered by the hook 1331 and engaged with the locking position 310 on the cargo box 300. It can also be docked by other means such as suction cup, claw, or finger. After docking, it is in the state shown in Figure 15.
[0088] After the docking component 133 is docked with the cargo box 300, the one-way bending chain 120 retracts to pull the cargo box 300 toward the supporting component 110 in the direction of the arrow in Figure 15 via the loading and unloading component 130. As mentioned in the description of Figure 12 above, since there is a certain distance between the abutting end 124 and the abutting part 1151 at the beginning, the one-way bending chain 120 will not drive the supporting component 115 to retract inward during the initial retraction process. Based on this, the cargo box 300 can be pulled from the shelf 400 onto the supporting component 115 first, forming the state shown in Figure 16.
[0089] As shown in Figure 16, after the cargo box 300 is fully pulled onto the support member 115, the abutting end 124 begins to abut against the abutting part 1151, so that as the unidirectional bending chain 120 retracts, the loading and unloading component 130, the cargo box 300 and the support member 115 will move inward synchronously, and finally the cargo box 300 will be fully pulled onto the bearing component 110, as shown in Figure 17.
[0090] When placing goods, first push the box 300 onto the shelf 400 according to the steps from Figure 17 to Figure 15, and then retract the picking and placing component 130 according to the steps from Figure 15 to Figure 13. This completes the placement of the box 300 on the shelf 400.
[0091] It should be noted that Figures 13 to 17 are only one example provided in this application. In other embodiments, the support member 115 may not be provided. During the picking and placing operation, the forks 100 can be moved as a whole to bring the opposing sides of the load-bearing component 110 and the shelf 400 closer to each other or directly abut against each other. This ensures that the bottom of the guide member 132 can always be supported during the movement of the picking and placing component 130, thereby achieving stable and safe picking and placing of the cargo box 300.
[0092] In summary, the fork 100 provided in this application embodiment firstly uses a one-way bending chain 120 as a telescopic arm for picking and placing goods, thereby reducing its size and weight, making the fork 100 more compatible with small robots. Furthermore, to prevent the end of the one-way bending chain 120 from drooping after extending a long distance and forming a cantilever structure with poor stability, a support frame 131 in the picking and placing assembly 130 is connected to the end of the one-way bending chain 120, and a guide member 132 is provided at the bottom of the support frame 131. During the extension and retraction of the one-way bending chain 120 and the movement of the support frame 131, the guide member 132 can cooperate with its bottom support surface to provide support and guidance for the support frame 131. This not only prevents the end of the one-way bending chain 120 from drooping but also ensures that the end of the one-way bending chain 120 is supported after extension, thus preventing the formation of a cantilever structure. Meanwhile, the docking part 133 set on the support frame 131 is responsible for docking with the cargo box 300 to perform the picking and placing operation of the cargo box 300. Based on the above advantages, when the fork 100 drives the picking and placing assembly 130 to move through the one-way bending chain 120 to perform the picking and placing operation, the one-way bending chain 120 always has good structural strength, thereby improving the stability and reliability of the one-way bending chain 120 during the picking and placing of the cargo box 300.
[0093] According to another aspect of the embodiments of this application, a warehouse robot is provided. Please refer to FIG18 for details. The figure shows the structure of the warehouse robot. As shown in the figure, the warehouse robot 500 includes a robot body 510 and a fork 100 in any of the above embodiments. The fork 100 is disposed on the robot body 510.
[0094] Furthermore, as shown in Figure 18, drive wheels 520 can be installed at the bottom of the robot body 510 and / or a climbing assembly 530 can be installed on the robot body 510 to drive the robot body 510 to climb on the shelf, so that the warehouse robot 500 can automatically move to the target position to perform picking and placing operations. The forks 100 can also be raised and lowered on the robot body 510 to pick and place goods at different heights on the shelf.
[0095] According to another aspect of the embodiments of this application, a warehousing system is also provided. Please refer to FIG19 for details. The figure shows a top view of the warehousing system. As shown in the figure, the warehousing system 600 includes a shelf 400 and a warehousing robot 500 in the above embodiments. The warehousing robot is used to pick up and put away boxes 300 on the shelf 400.
[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.
Claims
1. A forklift, characterized in that, include: Carrier component; The driving component is disposed on the carrier component; A loading and unloading assembly, mounted on the supporting assembly, includes a support frame, a guide member, and a docking member. The support frame is movable relative to the supporting assembly. The guide member is located at the bottom of the support frame and, as it moves with the support frame, engages with a support surface at the bottom to provide guidance and support. The docking member is mounted on the support frame and is used to dock with a cargo box, cooperating with the movement of the support frame to load and unload the cargo box. A unidirectional bending chain is disposed on the bearing component and connected to the drive component. The drive component is used to drive the unidirectional bending chain to flexibly bend and contract or rigidly extend relative to the bearing component. One end of the unidirectional bending chain is connected to the support frame. The unidirectional bending chain is used to drive the support frame to move when it extends or contracts relative to the bearing component.
2. The forklift according to claim 1, characterized in that, The horizontal direction perpendicular to the extension and retraction direction of the unidirectional bending chain is the width direction of the bearing component, and both the unidirectional bending chain and the loading and unloading component are located at the middle position in the width direction of the bearing component.
3. The forklift according to claim 1, characterized in that, The connection point between the unidirectional bending chain and the support frame is at the same height relative to the load-bearing component as the turning point of the unidirectional bending chain when it bends.
4. The forklift according to claim 1, characterized in that, The unidirectional bending chain includes a first chain and a second chain, which are disposed opposite to each other on both sides of the bearing component. The support frame is connected to one end of the first chain and one end of the second chain, respectively. The first chain and the second chain are used together to drive the support frame to move.
5. The forklift according to claim 4, characterized in that, The bearing assembly includes a bearing platform and a first guide limiting assembly and a second guide limiting assembly disposed on opposite sides of the bearing platform. The first chain and the second chain cooperate with the first guide limiting assembly and the second guide limiting assembly respectively to extend and retract. The first guide limiting component has a first inlet / outlet for the first chain to enter and exit when it extends or retracts, and the second guide limiting component has a second inlet / outlet for the second chain to enter and exit when it extends or retracts. Both the first inlet / outlet and the second inlet / outlet are located at the rear end of the support platform, so that when the first chain and the second chain extend or retract, the support frame can be moved on the support component.
6. The forklift according to claim 5, characterized in that, The first guide limiting component includes a first sidewall disposed on the support platform, and the driving component includes a first sprocket disposed at the rear end of the first sidewall. The first sprocket meshes with the first chain to drive the first chain to extend and retract. The first sidewall is provided with a first groove, and the first chain is at least partially received in the first groove. When the first chain extends and retracts, it slides along the first groove. The second guide limiting component includes a second sidewall disposed on the support platform. The drive component includes a second sprocket disposed at the rear end of the second sidewall. The second sprocket meshes with the second chain to drive the second chain to extend and retract. A second groove is provided on the second sidewall. The second chain is at least partially received in the second groove. The second chain slides along the second groove when it extends and retracts.
7. The forklift according to claim 4, characterized in that, The two sides of the bottom of the support frame are respectively connected to one end of the first chain and one end of the second chain; The unidirectional bending chain also includes a third chain, which is located between the first chain and the second chain, and one end of the third chain is connected to the top of the support frame; The first chain, the second chain, and the third chain work together to move the support frame.
8. The forklift according to claim 7, characterized in that, The bottom and rear end of the bearing component are provided with a third guide limiting component, and the third chain cooperates with the third guide limiting component to extend and retract; The third guide and limiting component includes a third sidewall disposed at the bottom of the bearing component and a fixed post disposed at the rear end of the bearing component. The third sidewall and the fixed post are provided with a third groove for accommodating at least a portion of the third chain. The top of the fixed post is provided with a third inlet and outlet, through which the third chain enters and exits the third groove.
9. The forklift according to any one of claims 1-8, characterized in that, The support component is retractably provided with a support member, and an elastic member is connected between the support member and the support component. The elastic member is used to provide elastic force to the support member relative to the support component. The support member can be used to provide support for the cargo box and / or the guide member during the process of the loading and unloading component loading and unloading the cargo box. The end of the unidirectional bending chain not connected to the support frame is used to abut against the support member during contraction, and to drive the support member to contract relative to the load-bearing component.
10. The forklift according to claim 9, characterized in that, The rear end of the support member is provided with an abutment portion, and the end of the unidirectional bending chain that is not connected to the support frame is used to abut against the abutment portion when it is retracted to a predetermined position, so as to drive the support member to retract.
11. The forklift according to claim 9, characterized in that, The top surface of the support member forms at least a portion of the support surface, and the guide member includes a roller that can roll on the support surface of the support member as the support frame moves.
12. The forklift according to claim 11, characterized in that, The forks are used in a warehouse robot, and the warehouse robot also forms some of the support surfaces on both sides of the forks; The rollers include a plurality of rollers spaced apart. When the support frame moves, some of the rollers can roll on the support surface of the support member, while other rollers can roll on the support surface of the warehouse robot.
13. The forklift according to any one of claims 1-8, characterized in that, The docking component is a hook, which is elliptical and can be mounted on the support frame. The hook is used to engage or disengage with the locking position on the cargo box during lifting.
14. A warehouse robot, characterized in that, It includes a robot body and a fork as described in any one of claims 1-13, wherein the fork is disposed on the robot body.
15. A warehousing system, characterized in that, The system includes a shelf and a warehouse robot as described in claim 14, the warehouse robot being used to pick up and place boxes on the shelf.