CN112141955A

CN112141955A - Material transportation forklift robot

Info

Publication number: CN112141955A
Application number: CN202010924297.6A
Authority: CN
Inventors: 李飞军; 张四龙; 昝学彦; 邓瑶; 蒋干胜; 徐波
Original assignee: Zhuhai Makerwit Technology Co ltd
Current assignee: Zhuhai Makerwit Technology Co ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2020-12-29

Abstract

The material transportation forklift robot comprises a robot body, a fork plate and a traveling device, wherein the fork body is fixedly connected with the robot body; the material transportation forklift robot further comprises a linear telescopic driving unit and a connecting rod; the extending two ends of the connecting rods are respectively and rotatably connected to the fork body and the fork plate, and at least two connecting rods which are sequentially arranged along a first direction are arranged between the fork body and the fork plate; the extending two ends of the linear telescopic driving unit are respectively and rotatably connected to the machine body and the fork plate. The linear telescopic driving unit is directly connected with the fork plate, the linear telescopic driving unit can retract and extend outwards to realize the ascending or descending of the fork plate, and only a connecting rod is arranged between the fork body and the fork plate without other linkage structures, so that the connecting rod with larger size can be selected to improve the bearing capacity. In addition, the fork body and the fork plate are only provided with the connecting rod, so that the assembly difficulty can be effectively reduced, and the production efficiency is improved.

Description

Material transportation forklift robot

Technical Field

The invention relates to the technical field of material transportation equipment, in particular to a material transportation forklift robot.

Background

The existing material transportation forklift robot is a ground cattle forklift robot, and comprises a machine body and two symmetrically arranged fork bodies extending forwards from the machine body, wherein the fork bodies are provided with liftable fork plates, and lifting devices are arranged between the fork bodies and the fork plates. The lifting device comprises a driving unit and a connecting rod assembly, the connecting rod assembly comprises four connecting rods hinged end to end, the head end of a first connecting rod is rotatably connected with the driving unit through a first rotating shaft, the first connecting rod is rotatably connected with a fork plate through a second rotating shaft, the second connecting rod is rotatably connected with a third connecting rod through a third rotating shaft, the third connecting rod is rotatably connected with the fourth connecting rod through a fourth rotating shaft, and the tail end of the fourth connecting rod is rotatably connected with the fork body through a fifth rotating shaft, wherein the first rotating shaft and the third rotating shaft can slide along the extending direction of the fork body. When the driving unit pushes the first connecting rod, the first rotating shaft and the third rotating shaft slide previously, the second rotating shaft and the fourth rotating shaft are lifted, and the fork plate is lifted along with the second rotating shaft and the fourth rotating shaft.

The existing material transportation forklift robot has the problems that the lifting device is complex in structure and difficult to install, so that the production efficiency is low, and only a connecting rod with a small size can be selected under the limitation of space, so that the bearing capacity is poor.

Disclosure of Invention

The invention aims to provide a material transportation forklift robot which improves production efficiency and bearing capacity.

The material transportation forklift robot comprises a robot body, a fork plate and a traveling device, wherein the fork body is fixedly connected with the robot body; the material transportation forklift robot further comprises a linear telescopic driving unit and a connecting rod; the extending two ends of the connecting rods are respectively and rotatably connected to the fork body and the fork plate, and at least two connecting rods which are sequentially arranged along a first direction are arranged between the fork body and the fork plate; the extending two ends of the linear telescopic driving unit are respectively and rotatably connected to the machine body and the fork plate.

According to the scheme, the linear telescopic driving unit is directly connected with the fork plate, the linear telescopic driving unit can be contracted and extended to realize ascending or descending of the fork plate, and only the connecting rod is arranged between the fork body and the fork plate without other linkage structures, so that the connecting rod with larger size can be selected to improve the bearing capacity. In addition, the fork body and the fork plate are only provided with the connecting rod, so that the assembly difficulty can be effectively reduced, and the production efficiency is improved.

The fork plate can move between a lifting limit position and a descending limit position, the lifting limit position is positioned above the descending limit position, and in the first direction, the lifting limit position is closer to the machine body than the descending limit position.

Therefore, when the goods are lifted, the center of gravity can be slightly adjusted, and the transportation stability is improved.

The further scheme is that a first photoelectric sensor and a second photoelectric sensor are arranged in the machine body; the fork plate located at the lifting limit position is located in the detection range of the first photoelectric sensor; the fork plate located at the descending limit position is located within the detection range of the second photosensor.

From the above, it can be seen that the first photoelectric sensor and the second photoelectric sensor are used for detecting whether the fork plate reaches the ascending limit position and the descending limit position.

Further, the linear telescopic driving unit is positioned in the machine body.

From top to bottom, because the flexible drive unit of straight line connects on the fork board, the fork board is close to with the organism, and the flexible drive unit of straight line can effectively be protected in the flexible drive unit setting of straight line in the organism, and the control system's of being convenient for arrange and be connected, and optimize the product appearance.

A mounting space is formed in the middle of the machine body, the machine body comprises a first side wall and a second side wall which are respectively positioned at two opposite sides of the mounting space, the first side wall and the second side wall are oppositely arranged in a first direction, and the first side wall is close to the fork plate relative to the second side wall; the linear telescopic driving unit is connected with the first side wall.

From top to bottom, this setting can avoid sharp flexible drive unit to cause the hindrance to arranging of organism inner structure.

The material transportation forklift robot further comprises a first rotating shaft and a first bolt; the first rotating shaft comprises a first eccentric body and a first shaft body which are sequentially connected along the axial direction of the first rotating shaft, the first eccentric body is provided with a first eccentric part, and a first bolt through hole is formed in the first eccentric part; the fork body is provided with a first shaft hole, the first shaft hole comprises an eccentric hole section and a shaft hole section which are sequentially communicated along the penetrating direction of the first shaft hole, a step surface is formed between the eccentric hole section and the shaft hole section, and a first screw hole is formed in the step surface; the connecting rod is provided with a second shaft hole, a shaft hole section is communicated with the second shaft hole, the first shaft body is inserted into the shaft hole section and the second shaft hole, the first eccentric body is positioned in the eccentric hole section, and the first bolt penetrates through the first bolt through hole and then is matched with the first screw hole.

Therefore, as the joint of the fork body and the connecting rod is exposed and no obstacle exists during assembly, the first rotating shaft is axially installed and axially locked, so that the assembly difficulty can be reduced and the assembly efficiency can be improved; after first pivot cartridge arrived axle hole section, the eccentric body was located eccentric hole section and formed circumference spacing, and it then can realize effectual restriction location each other to screw up first bolt, and the mounting means is swift simple and effective.

The material transportation forklift robot further comprises a second rotating shaft and a second bolt; the second rotating shaft comprises a second eccentric body and a second shaft body which are sequentially connected along the axial direction of the second rotating shaft, the second eccentric body is provided with a second eccentric part, and a second bolt through hole is formed in the second eccentric part; a first hinge seat is arranged in the machine body, a third shaft hole is formed in the first hinge seat, and a second screw hole is formed in one side of the third shaft hole of the first hinge seat; a fourth shaft hole is formed in the extending end part of the linear telescopic driving unit; the second shaft body sequentially penetrates through the third shaft hole and the fourth shaft hole, and the second bolt penetrates through the second bolt through hole and then is matched with the second screw hole.

It is from top to bottom seen, before the shell of closing the organism, the junction of the flexible drive unit of straight line and first articulated seat exposes, consequently, from axial installation second pivot and from axial locking can reduce the assembly degree of difficulty, improve assembly efficiency.

The material transportation forklift robot further comprises a third rotating shaft and a third bolt; the connecting rod is provided with a clamping space which extends into a long shape along the extending direction of the connecting rod, the clamping space penetrates through the connecting rod along a first axial direction, the connecting rod forms a first clamping wall and a second clamping wall on two opposite sides of the clamping space respectively, the first clamping wall is provided with a third bolt through hole, and the second clamping wall is provided with a third screw hole; the third bolt through hole, the clamping space and the third screw hole are communicated along a second direction, and the second direction is perpendicular to the extending direction of the connecting rod and perpendicular to the first axial direction; the connecting rod is also provided with a fifth shaft hole, and the fifth shaft hole is formed in the middle of the clamping space in the extending direction of the connecting rod; the third rotating shaft is inserted into the fifth shaft hole, the third bolt sequentially penetrates through the third bolt through hole and the clamping space and then is matched with the third screw hole, and the third rotating shaft is abutted between the first clamping wall and the second clamping wall.

It is from top to bottom visible, because articulated seat that is used for being connected with the connecting rod on the fork board is sheltered from by the roof and the both sides lateral wall of fork board, consequently, be difficult to go from the axial to the fork board, lock between third pivot and the connecting rod, further, the articulated seat that is close to the organism on the fork board, the front side of connecting rod and the junction of third pivot is sheltered from by the extension part of the forked body and fork board, the top is sheltered from by the roof of fork board, the left and right sides is sheltered from by the lateral wall of fork board, the rear side is sheltered from by the organism. Therefore, under this arrangement, when the fork plate is located at the descending limit position, the inlet of the third bolt through hole on the connecting rod faces downward, and the third bolt can be screwed in from below to complete the locking among the fork plate, the third rotating shaft and the connecting rod.

In a further aspect, the linear extension drive unit is coupled to an extended end of the fork plate in the first direction.

The further proposal is that the fork plate is provided with a bearing surface; in the first direction, the extending end part of the fork plate is provided with a rotating connecting part extending upwards, and the rotating connecting part is positioned above the horizontal position of the bearing surface; the linear telescopic driving unit is connected with the rotary connecting part.

Drawings

Fig. 1 is a structural diagram of an embodiment of the material transportation forklift robot of the invention.

Fig. 2 is a structural diagram of the material transportation forklift robot with part of the body shell removed according to the embodiment of the invention.

Fig. 3 is a structural diagram of the material transportation forklift robot without the subassembly inside the machine body according to the embodiment of the invention.

Fig. 4 is an enlarged view of a portion a in fig. 3.

Fig. 5 is an enlarged view at B in fig. 3.

Fig. 6 is an enlarged view at C in fig. 3.

Fig. 7 is a structural diagram of the forklift robot for transporting materials, which is provided with the parts of the wall bodies of the fork plates removed.

Fig. 8 is an enlarged view at D in fig. 7.

Fig. 9 is a schematic view of the material transportation forklift robot in a first working state according to the embodiment of the invention.

Fig. 10 is a schematic view of the material transportation forklift robot in a second working state according to the embodiment of the invention.

Detailed Description

The material transportation forklift machine provided by the invention is an automatic tracking robot for an underground forklift AGV, and navigation can be realized through modes of electromagnetic induction, laser induction, RFID induction, visual identification or fluorescent identification and the like. The electromagnetic induction mode is through pasting the magnetism sticky tape on ground and set up electromagnetic sensor in material transport robot's bottom, and electromagnetic sensor response bottom surface magnetic stripe ground mark realizes automatic traveling. The laser sensing mode is that a plurality of that set up in its home range mark is discerned through the laser scanner that sets up on material transport robot promptly and is confirmed its coordinate position to guide AGV operation. The RFID sensing mode is that the automatic detection coordinate position of the RFID label and the reading equipment is used for realizing the automatic operation of the material transportation robot, and the station definition is defined randomly through the chip label. The visual identification mode is a two-dimensional code identification mode, namely, a two-dimensional code is arranged at a fixed position of a field, the bottom of the material transportation robot is provided with a camera device, the camera device acquires the two-dimensional code and identifies the two-dimensional code, and a control system acquires a running instruction indicated by the two-dimensional code and controls the material transportation robot to move next step. The fluorescence identification mode is that a fluorescence strip is arranged on a field path, a fluorescence sensor is arranged at the bottom of the material transportation robot, and the fluorescence sensor senses a fluorescence strip landmark to realize automatic driving.

Referring to fig. 1 to 3, fig. 1 is a structural diagram of an embodiment of the material transportation forklift robot, fig. 2 is a structural diagram of the embodiment of the material transportation forklift robot, in which a part of a machine body shell is removed, and fig. 3 is a structural diagram of the embodiment of the material transportation forklift robot, in which a subassembly inside the machine body is removed. The invention provides a material transportation forklift robot which comprises a machine body 1, a fork body 2, a fork plate 3, a traveling device 91 arranged in the machine body 1, a power supply 92 and a hydraulic driving device 93. The material transportation forklift robot further comprises a lifting assembly arranged among the robot body 1, the fork body 2 and the fork plates 3, and the lifting assembly is used for driving the fork plates 3 to do lifting motion.

The fork bodies 2 are fixedly connected with the machine body 1, the two fork bodies 2 extend out from the bottom of the machine body 1 along the x-axis direction (the first direction of the invention) and extend into a long shape, the bottom of the extending middle part of each fork body 2 is provided with a straight line wheel, and the bottom of the extending tail end of each fork body 2 is provided with a universal wheel. The fork plate 3 is overlapped above the fork body 2, the fork body 3 extends to be long along the direction of the x axis back to the machine body 1, and the fork plate 3 is arranged on the fork body 2 in a lifting way.

The mounting space 100 is formed in the middle of the machine body 1, the machine body 1 includes a first side wall 11 and a second side wall 19 respectively located at two opposite sides of the mounting space 100, the first side wall 11 and the second side wall 19 are oppositely arranged in the x-axis direction, and the first side wall 11 is close to the fork plate 3 relative to the second side wall 19. The traveling unit 91 is disposed at the center of the installation space 100, and the power source 92 and the hydraulic driving unit 93 are partially disposed at the right and left sides of the traveling unit 91. The lifting assembly comprises two linear telescopic driving units 4, the linear telescopic driving units 4 are hydraulic cylinders, the linear telescopic driving units 4 are rotatably connected to a first hinged seat 12 (shown in fig. 4) of the first side wall 11, and the linear telescopic driving units 4 are located between the traveling device 91, the power supply 92 and the hydraulic driving device 93 and the first side wall 11.

Referring to fig. 4 to 8, fig. 4 is an enlarged view of a point a in fig. 3, fig. 5 is an enlarged view of a point B in fig. 3, fig. 6 is an enlarged view of a point C in fig. 3, fig. 7 is a structural view of a portion of a wall body of a fork plate of the forklift robot for transporting materials according to the embodiment of the present invention, and fig. 8 is an enlarged view of a point D in fig. 7. The lift assembly is described below. The lifting assembly includes the above-mentioned linear telescopic driving unit 4, and a first link 6 (link of the present invention) and a second link 7 connected between the fork 2 and the fork plate 3, and further includes a first rotating shaft 51 and a first bolt (not shown in the figure), a second rotating shaft 52 and a second bolt (not shown in the figure), a third rotating shaft 53 and a third bolt (not shown in the figure), a fourth rotating shaft 54 and a fourth bolt (not shown in the figure), and a first photoelectric sensor 81 and a second photoelectric sensor 82 disposed in the machine body 1.

Referring to fig. 3 and 4, the linear expansion driving unit 4 is rotatably coupled to the first hinge base 12 of the first sidewall 11 by the second rotating shaft 52 and the second bolt. The second rotating shaft 52 includes a second eccentric body 521 and a second shaft body 520 sequentially connected along an axial direction thereof, the second eccentric body 521 has a second eccentric portion 522, and the second eccentric portion 522 is provided with a second bolt through hole 523. The first hinge base 12 is provided with a third shaft hole 121, and one side of the third shaft hole 121 of the first hinge base 12 is provided with a second screw hole 122; the extension end portion 41 of the linear expansion drive unit 4 is provided with a fourth shaft hole (not shown in the figure). The second shaft body 520 sequentially passes through the third shaft hole 121 and the fourth shaft hole, and the second bolt passes through the second bolt through hole 523 and then is in threaded fit with the second screw hole 122.

Referring to fig. 1, 3 and 5, the linear telescopic driving unit 4 is rotatably connected to the fork plate 3 by a fourth rotating shaft 54 and a fourth bolt. The fourth rotating shaft 54 includes a fourth eccentric body 541 and a fourth eccentric body 540 sequentially connected along an axial direction thereof, the fourth eccentric body 541 has a fourth eccentric portion 542, and the fourth eccentric portion 542 is provided with a fourth bolt through hole 543. The fork plate 3 has a bearing surface 300, and an extending end 301 of the fork plate 3 has a rotating connection portion 31 extending upward in the x-axis direction, and the rotating connection portion 31 is located above a horizontal position of the bearing surface 300.

The piston rod end 42 of the linear extension driving unit 4 is provided with a seventh shaft hole 420, and the piston rod end 42 is provided with a fourth screw hole 421 at one side of the seventh shaft hole 420. The rotation connection portion 31 is provided with an eighth shaft hole (not shown), the fourth shaft body 540 sequentially passes through the seventh shaft hole 420 and the eighth shaft hole of the rotation connection portion 31, and the fourth bolt passes through the fourth bolt through hole 543 and then is in threaded engagement with the fourth bolt hole 421.

Referring to fig. 6, the fork 3 is movable between a raised limit position and a lowered limit position, the raised limit position being located above the lowered limit position. The extending end 301 of the fork 3 located at the upper limit is located within the detection range of the first photosensor 81, and the extending end 301 of the fork 3 located at the lower limit is located within the detection range of the second photosensor 82.

Referring to fig. 7 and 8, in the x-axis direction, the extending both ends of the first link 6 (the link of the present invention) are rotatably coupled to the extending start ends of the fork 2 and the fork plate 3, respectively, and the extending both ends of the second link 7 are rotatably coupled to the extending rear portions of the fork 2 and the fork plate 3, respectively.

The first link 6 is connected to the fork 2 via the first shaft 51 and the first bolt. The first rotating shaft 51 comprises a first eccentric body 511 and a first shaft body 510 which are sequentially connected along the axial direction of the first rotating shaft, the first eccentric body 511 is provided with a first eccentric part 512, and a first bolt through hole 513 is arranged on the first eccentric part 512; a first shaft hole 21 is formed in the fork body 2, the first shaft hole 21 comprises an eccentric hole section 211 and a shaft hole section 210 which are sequentially communicated along the penetrating direction of the first shaft hole 21, a step surface 212 is formed between the eccentric hole section 211 and the shaft hole section 210, and a first screw hole 213 is formed in the step surface 212; the first connecting rod 6 is provided with a second shaft hole, the shaft hole section 210 is communicated with the second shaft hole, the first shaft body 510 is inserted into the shaft hole section 210 and the second shaft hole, the first eccentric body 511 is positioned in the eccentric hole section 211, and after the first bolt penetrates through the first bolt through hole 513 and is in threaded fit with the first screw hole 213, the connection among the first connecting rod 6, the first rotating shaft 51 and the fork body 2 is completed.

The first link 6 is connected to the yoke plate 3 by a third shaft 53 and a third bolt. First, a structure of the first link 6 will be described, in which a clamping space 61 elongated in an extending direction thereof is provided in the first link 6, the clamping space 61 entirely penetrates the first link 6 in the first axial direction, the clamping space 61 includes a circular hole portion 611, a first slit portion 612, a fifth axis hole 610, and a second slit portion 613 which are connected in this order in the extending direction of the first link 6, a width of the first slit portion 612 and the second slit portion 613 are larger than a diameter of the circular hole portion 611 and a diameter of the fifth axis hole 610, and the first axial direction is an axial direction of the fifth axis hole 610.

The first link 6 forms a first clamping wall 621 and a second clamping wall 622 on two opposite sides of the clamping space 61, the first clamping wall 621 is provided with a third bolt through hole 614 at the first gap portion 612, the second clamping wall 622 is provided with a third screw hole (not shown) at the first gap portion 612, the third bolt through hole 614, the clamping space 61 and the third screw hole are communicated along a second direction, and the second direction is perpendicular to the extending direction of the first link 6 and perpendicular to the first axial direction.

The third shaft 53 is inserted into the fifth shaft hole 610, the third bolt sequentially passes through the third bolt through hole 614 and the clamping space 61 and then is matched with the third screw hole, the clamping space 61 is a deformable space, under the locking of the third bolt, the distance between the first clamping wall 621 and the second clamping wall 622 is reduced, and the third shaft 53 is finally clamped and abutted between the first clamping wall 621 and the second clamping wall 622.

Referring to fig. 9 and 10, fig. 9 is a schematic view illustrating a first working state of the material transporting forklift robot according to the embodiment of the present invention, as shown in fig. 9, when the fork 3 is at the downward limit position, the fork 3 is sleeved outside the fork body 2, and when the center of gravity 901 of the cargo 900 carried on the fork 3 has a first distance w1 with the first side wall 11. When the system controls the hydraulic driving device 93 to be pneumatic, the tail end of the piston rod of the linear telescopic driving unit 4 is driven to contract, and the fork plate 3 is lifted upwards and swings backwards towards the first side wall 11. As shown in fig. 10, fig. 10 is a schematic view of the material transporting forklift robot in the second working state according to the embodiment of the invention. When the fork 3 reaches the raised limit position, the cargo 900 is lifted, and the center of gravity 901 and the first side wall 11 have a second distance w2, and the second distance w2 is smaller than the first distance w 1.

The invention mainly aims to provide a material transportation forklift robot which effectively reduces assembly difficulty and improves production efficiency. In the material transportation forklift robot provided by the invention, the linear telescopic driving unit is directly connected with the fork plate, the linear telescopic driving unit can be contracted and extended to realize the ascending or descending of the fork plate, and only the connecting rod is arranged between the fork body and the fork plate without other linkage structures, so that the connecting rod with larger size can be selected to improve the bearing capacity. In addition, the fork body and the fork plate are only provided with the connecting rod, so that the assembly difficulty can be effectively reduced, and the production efficiency is improved. Articulated department between organism, the flexible drive unit of straight line, the fork body, fork board and the connecting rod all selects the connected mode that more does benefit to the installation, operates more easily according to the actual conditions in this position to further reduce the assembly degree of difficulty, improve production efficiency.

Finally, it should be emphasized that the above-described preferred embodiments of the present invention are merely examples of implementations, rather than limitations, and that many variations and modifications of the invention are possible to those skilled in the art, without departing from the spirit and scope of the invention.

Claims

1. The material transportation forklift robot comprises a robot body, a fork plate and a traveling device, wherein the fork body is fixedly connected with the robot body, the fork plate extends back to the robot body along a first direction to form a long shape, the fork plate is arranged on the fork body in a lifting manner, and the traveling device is arranged in the robot body;

the method is characterized in that:

the material transportation forklift robot further comprises a linear telescopic driving unit and a connecting rod;

the extending two ends of the connecting rods are respectively and rotatably connected to the fork body and the fork plate, and at least two connecting rods which are sequentially arranged along the first direction are arranged between the fork body and the fork plate;

and the extending two ends of the linear telescopic driving unit are respectively and rotatably connected to the machine body and the fork plate.

2. The material handling forklift robot of claim 1, wherein:

the fork plate is movable between a raised limit position and a lowered limit position, the raised limit position is located above the lowered limit position, and in the first direction, the raised limit position is closer to the machine body than the lowered limit position.

3. The material handling forklift robot of claim 2, wherein:

a first photoelectric sensor and a second photoelectric sensor are arranged in the machine body;

the fork plate located at the ascending limit position is located within the detection range of the first photosensor;

the fork plate located at the descending limit position is located within the detection range of the second photosensor.

4. A material handling forklift robot as claimed in any one of claims 1 to 3, wherein:

the linear telescopic driving unit is positioned in the machine body.

5. The material handling forklift robot of claim 4, wherein:

the middle part of the machine body forms an installation space, the machine body comprises a first side wall and a second side wall which are respectively positioned at two opposite sides of the installation space, the first side wall and the second side wall are oppositely arranged in the first direction, and the first side wall is close to the fork plate relative to the second side wall;

the linear telescopic driving unit is connected with the first side wall.

6. A material handling forklift robot as claimed in any one of claims 1 to 3, wherein:

the material transportation forklift robot further comprises a first rotating shaft and a first bolt;

the first rotating shaft comprises a first eccentric body and a first shaft body which are sequentially connected along the axial direction of the first rotating shaft, the first eccentric body is provided with a first eccentric part, and a first bolt through hole is formed in the first eccentric part;

the fork body is provided with a first shaft hole, the first shaft hole comprises an eccentric hole section and a shaft hole section which are sequentially communicated along the penetrating direction of the first shaft hole, a step surface is formed between the eccentric hole section and the shaft hole section, and a first screw hole is formed in the step surface;

the connecting rod is provided with a second shaft hole, the shaft hole section is communicated with the second shaft hole, the first shaft body is inserted into the shaft hole section and the second shaft hole, the first eccentric body is located in the eccentric hole section, and the first bolt penetrates through the first bolt through hole and then is matched with the first screw hole.

7. A material handling forklift robot as claimed in any one of claims 1 to 3, wherein:

the material transportation forklift robot further comprises a second rotating shaft and a second bolt;

the second rotating shaft comprises a second eccentric body and a second shaft body which are sequentially connected along the axial direction of the second rotating shaft, the second eccentric body is provided with a second eccentric part, and a second bolt through hole is formed in the second eccentric part;

the machine body is internally provided with a first hinge seat, the first hinge seat is provided with a third shaft hole, and one side of the third shaft hole of the first hinge seat is provided with a second screw hole;

a fourth shaft hole is formed in the extending end part of the linear telescopic driving unit;

the second shaft body sequentially penetrates through the third shaft hole and the fourth shaft hole, and the second bolt penetrates through the second bolt through hole and then is matched with the second screw hole.

8. A material handling forklift robot as claimed in any one of claims 1 to 3, wherein:

the material transportation forklift robot further comprises a third rotating shaft and a third bolt;

the connecting rod is provided with a clamping space which extends into a long shape along the extending direction of the connecting rod, the clamping space penetrates through the connecting rod along a first axial direction, the connecting rod forms a first clamping wall and a second clamping wall on two opposite sides of the clamping space respectively, the first clamping wall is provided with a third bolt through hole, and the second clamping wall is provided with a third screw hole;

the third bolt through hole, the clamping space and the third screw hole are communicated along a second direction, and the second direction is perpendicular to the extending direction of the connecting rod and perpendicular to the first axial direction;

the connecting rod is also provided with a fifth shaft hole, and the fifth shaft hole is formed in the middle of the clamping space in the extending direction of the connecting rod;

the third rotating shaft is inserted into the fifth shaft hole, the third bolt sequentially penetrates through the third bolt through hole and the clamping space and then is matched with the third screw hole, and the third rotating shaft is abutted between the first clamping wall and the second clamping wall.

9. A material handling forklift robot as claimed in any one of claims 1 to 3, wherein:

the linear telescopic driving unit is connected to the extending end part of the fork plate in the first direction.

10. The material handling forklift robot of claim 9, wherein:

the fork plate is provided with a bearing surface;

in the first direction, the extending end part of the fork plate is provided with a rotating connecting part extending upwards, and the rotating connecting part is positioned above the horizontal position of the bearing surface;

the linear telescopic driving unit is connected with the rotary connecting part.