CN116730258A - Telescopic fork device and two-way shuttle - Google Patents

Abstract

The invention relates to a telescopic fork device and a two-way shuttle vehicle, which comprise a telescopic fork and a driving part, wherein the driving part comprises a shell, a driving motor, a threaded screw rod, an internal threaded sleeve, an external threaded sleeve shaft and a spline shaft. The first gear and the second gear are meshed to transmit power to the threaded screw rod to drive the threaded screw rod and the spline shaft to rotate; the threaded screw rotates to drive the internal threaded sleeve to rotate and axially move; the spline shaft rotates to drive the external thread cylinder shaft to rotate and axially move, so that the telescopic fork stretches. The parallel nested structure generates a driving stroke superposition effect to form a secondary stroke-increasing telescopic structure, and has the advantages of long working stroke, light weight, energy saving, thin thickness, compact structure and high space utilization rate. The first thread section and the second thread section form a positive and negative thread structure, the acting force of the driving motor is amplified, self-locking is formed, and the moving precision is high. The telescopic fork takes and puts goods, and provides a linear guiding function for the driving part. The integral hollow structure is matched with the spline shaft, so that goods with different weights can be effectively borne, and the bending resistance is good.

Description

Telescopic fork device and two-way shuttle

Technical Field

The invention relates to the technical field of logistics equipment, in particular to a telescopic fork device and a two-way shuttle.

Background

In a traditional automatic stereoscopic warehouse, goods are generally stored and taken out through a heavy-duty stacker and a telescopic fork. When the stacker is operated, taking stock as an example, the stacker firstly needs to take goods from a conveying line beside the goods shelves, then the stacker needs to move to the corresponding position of the goods shelves along a roadway between the goods shelves, then the object table of the stacker is moved to a proper position along the height direction of the goods shelves, and the goods are placed on the goods shelves through telescopic forks. Because the stacker is high and heavy, the defects of large inertia, low speed, low efficiency and high energy consumption exist; meanwhile, the telescopic action of the traditional telescopic fork is often driven by a gear rack and a chain wheel chain, and the defects of complex structure, large thickness, large weight, low moving precision and the like exist. For this purpose, existing automated stereoscopic warehouses replace stackers and telescopic forks with lightly loaded four-way shuttles.

In an automatic stereoscopic warehouse for carrying a four-way shuttle without telescopic forks, when goods are stored and taken, the four-way shuttle is moved to the lower part of the goods along a guide rail, and the goods are lifted through a jacking mechanism at the top. The change in structure makes the transportation efficiency of four-way shuttle obtain improving in comparison with the stacker, and warehouse space utilization also obtains improving simultaneously. However, four-way shuttles also have drawbacks. The multi-layer secondary transverse guide rail of the four-way shuttle is connected with the goods shelf, the whole structure is complex, the reliability requirement is high, and the transportation cost is increased. Meanwhile, due to the limitation of the self structure of the four-way shuttle, the four-way shuttle cannot transport goods with larger weight like a stacker, and can only transport goods with smaller size and weight. In view of the foregoing, there is a need for an article carrying apparatus that can satisfy high efficiency, high precision, and high performance at the same time.

Disclosure of Invention

Therefore, the invention aims to solve the technical problems that the carrying equipment in the existing automatic stereoscopic warehouse cannot meet the comprehensive requirements of efficiency, precision and performance at the same time, and provides the telescopic fork device and the two-way shuttle which have the advantages of long working stroke, high moving precision, light weight, energy saving, thin thickness, compact structure and high space utilization rate.

The invention provides a telescopic fork device which comprises two groups of telescopic forks and a driving part for driving the telescopic forks to extend or retract, wherein the telescopic forks provide linear guiding function for the driving part, the two groups of telescopic forks are respectively arranged at two sides of the driving part, and the driving part comprises a shell; the driving motor is connected with the shell, and an output shaft of the driving motor is connected with the first gear; the threaded lead screw is rotatably connected with the shell, one end of the threaded lead screw, which is positioned in the shell, is connected with a second gear, and the second gear is meshed with the first gear; the outer wall of the other end of the threaded screw rod is provided with a first threaded section, and a spline hole is axially and hollow in the threaded screw rod; an internal thread sleeve, an external thread sleeve shaft and a spline shaft which are coaxially arranged along the axial direction of the threaded lead screw; the inner wall of the cylinder shaft at the other end of the internal thread sleeve is provided with a second thread section, and the spiral direction of the second thread section is opposite to that of the first thread section; the outer cylinder wall of the external thread cylinder shaft is connected with the second thread section, and an accommodating space for accommodating the thread screw rod is axially formed in the external thread cylinder shaft; one end of the spline shaft can be arranged in the spline hole in a penetrating way along the axial direction of the threaded lead screw, and the other end of the spline shaft is connected with the external threaded cylinder shaft; the internal thread sleeve is connected with the telescopic fork, the external thread cylinder shaft is rotatably connected with the telescopic fork, and the first gear and the second gear are meshed to transmit the power of the driving motor to the thread screw rod so as to drive the thread screw rod and the spline shaft to rotate; the threaded lead screw rotates to drive the internal threaded sleeve to rotate and move along the axial direction of the threaded lead screw; the spline shaft rotates to drive the external thread cylinder shaft to rotate and move along the axial direction of the threaded screw rod, so that the telescopic fork stretches out or retracts.

In one embodiment of the invention, the threaded screw and the external threaded cylinder shaft are connected in a rolling friction spiral transmission mode through a ball spline structure.

In one embodiment of the invention, the pitch of the first thread segments is related to the pitch of the second thread segments.

In one embodiment of the present invention, each set of the telescopic forks includes a guide riser, a telescopic guide bar and a telescopic dental plate, the telescopic guide bar is connected to the guide riser and is fixedly connected to the female threaded sleeve, the telescopic dental plate is connected to the telescopic guide bar and is rotatably connected to the male threaded sleeve.

In one embodiment of the invention, a row of first guide bearings are symmetrically arranged on two side walls of the guide vertical plate along the length direction of the guide vertical plate, a first wide straight groove is formed in the end face of the telescopic guide bar, which is connected with the guide vertical plate, along the length direction of the guide vertical plate, first guide grooves are symmetrically formed in the inner walls of two sides of the first wide straight groove, and the telescopic guide bar is movably connected with the guide vertical plate through the first guide grooves and the first guide bearings; the telescopic guide bars are symmetrically provided with second guide grooves on two side walls of the first wide straight grooves, the telescopic tooth plates are connected with the end faces of the telescopic guide bars along the length direction of the telescopic guide bars, a row of second guide bearings are symmetrically arranged on the inner walls of two sides of each second wide straight groove, and the telescopic tooth plates can move through the second guide grooves and the second guide bearings and are connected with the telescopic guide bars.

The invention also provides a two-way shuttle which comprises a vehicle body and any one of the telescopic fork devices, wherein the vehicle body comprises travelling wheels and lifting components, and the telescopic fork device is connected with the lifting components.

In one embodiment of the invention, when the telescopic fork device is provided with only one, the telescopic fork device further comprises a swivel part connected with the lifting part, and the telescopic fork device is connected with the lifting part through the swivel part.

In one embodiment of the invention, when two telescopic fork devices are provided, the telescopic fork device further comprises a mounting platform connected with the lifting component, and the two telescopic fork devices are connected with the mounting platform; the telescopic direction of the telescopic forks of the two telescopic fork devices is perpendicular to the running direction of the travelling wheels, and the telescopic directions of the telescopic forks of the two telescopic fork devices are opposite; the two groups of telescopic forks of the first telescopic fork device are asymmetrically arranged on two sides of the corresponding driving part; the two groups of telescopic forks of the second telescopic fork device are asymmetrically arranged on two sides of the corresponding driving part and are positioned on the outer sides of the two groups of telescopic forks of the first telescopic fork device.

In one embodiment of the invention, the anti-overturning structure is used for preventing the two-way shuttle from overturning, and comprises a linear driver, wherein the linear driver is connected with a chassis of the vehicle body, and an output end of the linear driver is provided with a guide wheel mounting plate capable of moving; the linear guide post is connected with the chassis of the vehicle body, a guide sleeve is movably arranged on the linear guide post, and the guide sleeve is connected with the guide wheel mounting plate; the walking guide wheel can be rotationally connected with the guide wheel mounting plate, and the axial direction of the walking guide wheel is perpendicular to the axis of the walking wheel; when the telescopic fork extends out, the telescopic end of the linear driver rotates and drives the guide wheel mounting plate and the traveling guide wheel to move along the axial direction of the linear driver, so that the traveling guide wheel is abutted or separated from the side wall of the guide rail.

In one embodiment of the invention, the linear driver is configured as a double-ended screw drive motor, the double-ended screw drive motor comprising a first output end and a second output end, the first output end being movably connected to the guide wheel mounting plate, the second output end being movably connected to the lifting member; when the telescopic fork stretches out, the first output end and the second output end of the double-end screw driving motor synchronously rotate to drive the walking guide wheel and the lifting part to move along the axial direction of the double-end screw driving motor, so that the walking guide wheel is abutted or separated from the side wall of the guide rail, and the lifting part is lifted or lowered.

Compared with the prior art, the technical scheme of the invention has the following advantages:

according to the telescopic fork device and the two-way shuttle, the first gear and the second gear are meshed to transmit power of a driving motor to the threaded screw rod to drive the threaded screw rod and the spline shaft to rotate; the threaded screw rotates to drive the internal threaded sleeve to rotate and move along the axial direction of the threaded screw; the spline shaft rotates to drive the external thread cylinder shaft to rotate and move along the axial direction of the thread lead screw, so that the telescopic fork stretches out or retracts. The structure of the screw thread lead screw, the spline shaft, the internal thread sleeve and the external thread sleeve shaft nest produces the superposition effect of the driving stroke, so that the corresponding parts move along the axial direction to form a parallel secondary stroke-increasing telescopic structure, and the device has the advantages of long working stroke, light weight, energy saving, thinner thickness of the whole device, compact structure and high space utilization rate. Meanwhile, the first thread section and the second thread section form a positive and negative thread structure, so that the acting force of the driving motor can be amplified, self-locking can be formed, and the moving precision is high. The telescopic fork can be used for taking and placing goods and also provides a linear guiding function for the driving part. The hollow structure of the whole device is matched with the spline shaft, so that goods with different weights can be effectively borne, and the bending resistance is good.

Drawings

In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which

FIG. 1 is a rotational cross-sectional view of a telescopic fork assembly A-A in a preferred embodiment of the present invention;

FIG. 2 is a front cross-sectional view of the telescopic fork assembly B-B in a preferred embodiment of the present invention;

FIG. 3 is a partial cross-sectional view of the telescopic fork assembly C-C in a preferred embodiment of the present invention;

FIG. 4 is a schematic view of the telescopic fork apparatus according to the preferred embodiment of the present invention;

FIG. 5 is a schematic view of a telescopic fork of the telescopic fork apparatus according to the preferred embodiment of the present invention;

fig. 6 is a schematic front view of a two-way shuttle in accordance with a preferred embodiment of the present invention;

FIG. 7 is a schematic top view of the two-way shuttle of FIG. 6 in semi-section;

FIG. 8 is a schematic top view of another dichroic shuttle in accordance with a preferred embodiment of the present invention;

FIG. 9 is a schematic cross-sectional view of the two-way shuttle D-D of FIG. 8;

FIG. 10 is a front view of an anti-toppling structure E-E in accordance with a preferred embodiment of the present invention;

FIG. 11 is a F-F half cross-sectional top view of the anti-toppling structure of FIG. 10;

FIG. 12 is a front cross-sectional view of a traveling idler in accordance with a preferred embodiment of the present invention;

FIG. 13 is a front view, in section G-G, of another anti-toppling structure in accordance with a preferred embodiment of the present invention;

fig. 14 is a H-H half-section top view of the anti-toppling structure of fig. 13.

Description of the specification reference numerals: 100. a retractable fork; 101. a mounting base plate; 102. positioning pin shafts; 110. a guide vertical plate; 111. a first guide bearing; 120. a telescopic guide bar; 121. a first wide straight groove; 122. a first guide groove; 123. a second guide groove; 130. a retractable dental plate; 131. a second wide straight groove; 132. a second guide bearing; 200. a driving part; 201. supporting; 210. a housing; 211. a cover; 212. a support bearing; 220. a driving motor; 221. a first gear; 230. a threaded lead screw; 231. a second gear; 232. a first thread segment; 233. a spline hole sleeve; 240. an internally threaded sleeve; 241. a second thread segment; 242. a first lead screw nut; 243. an end cap with a handle; 244. a first fixing strip; 2441. a first eccentric V-shaped fixation bar; 2442. a second eccentric V-shaped fixation bar; 250. an external thread cylinder shaft; 251. an accommodation space; 252. an end surface cylinder shaft; 253. hanging seat type bearing with seat; 254. a second fixing strip; 2541. a first eccentric embedded fixing strip; 2542. the second eccentric embedded fixing strip; 260. a spline shaft; 261. a key; 262. a bearing shield cover; 310. a vehicle body; 311. a chassis; 320. a walking wheel; 331. a lifting plate; 332. lifting bars; 340. a rotating member; 341. a mounting platform; 350. a linear driver; 351. a guide wheel mounting plate; 360. a double-ended screw drive motor; 361. forward and backward rotation double-end screw rod; 3611. a first output terminal; 3612. a second output terminal; 362. a second lead screw nut; 363. a third lead screw nut; 364. a clasp for a shaft; 365. radial thrust bearing; 366. a radial bearing end cap; 367. a mounting shell; 368. a long sleeve; 3691. a third gear; 3692. a fourth gear; 370. a linear guide post; 371. guide sleeve; 380. a walking guide wheel; 381. a guide wheel shaft; 382. a guide wheel bearing; 383. a guide wheel body; 384. a thrust bearing; 400. and a guide rail.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.

The invention discloses a telescopic fork device, which comprises two groups of telescopic forks 100 and a driving part 200 for driving the telescopic forks 100 to extend or retract, wherein the telescopic forks 100 provide linear guiding function for the driving part 200, the two groups of telescopic forks 100 are respectively arranged at two sides of the driving part 200, and the driving part 200 comprises a shell 210; a driving motor 220, wherein the driving motor 220 is connected with the housing 210, and an output shaft of the driving motor 220 is connected with a first gear 221; a threaded screw 230, wherein the threaded screw 230 is rotatably connected with the housing 210, one end of the threaded screw 230 positioned in the housing 210 is connected with a second gear 231, and the second gear 231 is meshed with the first gear 221; the outer wall of the other end of the threaded screw 230 is provided with a first threaded section 232, and a spline hole is axially and hollow in the threaded screw 230; an internal thread sleeve 240, an external thread sleeve shaft 250 and a spline shaft 260 coaxially arranged in the axial direction of the threaded screw 230; a cylinder shaft of the internal thread sleeve 240 near one end of the shell 210 is connected with the first thread section 232, a second thread section 241 is arranged on the inner wall of the cylinder shaft of the other end of the internal thread sleeve 240, and the spiral direction of the second thread section 241 is opposite to the spiral direction of the first thread section 232; the outer cylinder wall of the external thread cylinder shaft 250 is connected with the second thread section 241, and an accommodating space 251 for accommodating the thread screw 230 is axially formed in the external thread cylinder shaft 250; one end of the spline shaft 260 is movably inserted into the spline hole along the axial direction of the threaded screw 230, and the other end of the spline shaft 260 is connected with the external threaded cylinder shaft 250; the internal thread sleeve 240 is connected with the telescopic fork 100, the external thread sleeve 250 can rotate, the telescopic fork 100 connected with the telescopic fork 100 is connected with the internal thread sleeve 240, the telescopic fork 100 can rotate and is connected with the external thread sleeve 250, the first gear 221 and the second gear 231 are meshed to transmit the power of the driving motor 220 to the threaded screw 230, and the threaded screw 230 and the spline shaft 260 are driven to rotate; the rotation of the threaded screw 230 drives the internal threaded sleeve 240 to rotate and move along the axial direction of the threaded screw 230; the spline shaft 260 rotates to drive the external threaded cylinder shaft 250 to rotate and move along the axial direction of the threaded screw 230, so that the telescopic fork 100 is extended or retracted.

Referring to fig. 1, the telescopic fork apparatus according to the present invention includes two sets of telescopic forks 100 for picking up goods. The drive member 200 provides power for extension or retraction of the telescoping fork 100, and the telescoping fork 100 also provides a linear guide for the drive member 200. Two sets of flexible forks 100 set up in the both sides of drive unit 200 respectively, compare in that two sets of flexible forks 100 all are located the same side of drive unit 200, the structural arrangement of setting up in both sides can ensure that flexible fork 100 atress is even, improve the stability of whole flexible fork device. Preferably, the driving part 200 is centrally located. Preferably, the telescopic fork 100 and the driving unit 200 are both provided on a single mounting base 101 for connection to other equipment, such as a two-way shuttle. Referring to fig. 2, the driving part 200 includes a housing 210, a driving motor 220, a threaded screw 230, an internally threaded sleeve 240, an externally threaded sleeve shaft 250, and a spline shaft 260.

The casing 210 serves as a protective shell, protects an internal structure, prevents external dust and the like from affecting parts, and ensures the service life of the whole driving part 200; and the support seat is connected with the mounting bottom plate 101 to ensure the stability of the whole telescopic fork device. Preferably, the shell 210 is provided with a shell cover 211, and the shell cover 211 and the shell cover are detachably connected through a fastener, so that the shell is convenient to install and detach. The housing 210 is connected to the mounting base plate 101 through a support 201.

The driving motor 220 serves as a power source for the driving part 200. The driving motor 220 is connected to the housing 210, and an output shaft of the driving motor 220 is connected to the first gear 221. Preferably, the first gear 221 and the output shaft of the driving motor 220 are fixedly connected by a set screw or are connected by a key to stably transmit torque.

The threaded screw 230 is rotatably connected to the housing 210, and one end of the threaded screw 230 located in the housing 210 is connected to the second gear 231, and the second gear 231 is meshed with the first gear 221. This structure transmits power of the driving motor 220 to the screw shaft 230 through the second gear 231 and the first gear 221. Preferably, the second gear 231 and the threaded screw shaft 230 are fixedly coupled by a set screw or are coupled by a key at one end thereof within the housing 210 to stably transmit torque. Preferably, two support bearings 212 are disposed in the housing 210, a threaded screw 230 is connected to the support bearings 212, and a second gear 231 is disposed between the two support bearings 212, and the threaded screw 230 is rotatably connected to the housing 210 via the support bearings 212. Specifically, an outer ring of one of the support bearings 212 is fixed on the housing cover 211, and an inner ring is fastened and connected with the threaded screw 230 through bolts and gaskets; the outer race of the other support bearing 212 is fixed to the housing 210. Preferably, the support bearing 212 is configured as a radial thrust bearing 365, and the radial thrust bearing 365 is mainly used for mounting and fixing a radial and axial load transmission shaft, so that the rotation precision and rigidity of the threaded screw 230 can be well improved. The end of the threaded screw 230 that is connected to the support bearing 212 is provided with a fixing member to prevent the threaded screw from being separated from the support bearing 212. Preferably, the fixing part is provided with a fixing nut and a backing ring; in some other embodiments, the securing can also be achieved by means such as a key and slot fit, as long as disengagement of the two can be avoided. The outer wall of the other end of the threaded screw 230 is provided with a first threaded section 232, the first threaded section 232 being adapted to form a threaded transmission with the internally threaded sleeve 240, thereby enabling the internally threaded sleeve 240 to move in the axial direction of the threaded screw 230. At the same time, the first thread segments 232 can also be used to create a self-lock that ensures that the telescoping fork 100 does not retract during extension operations or does not extend when retracted. Further, the screw structure ensures high moving accuracy of the telescopic fork 100. The threaded screw 230 is axially hollow and provided with a splined hole, and the splined hole is used for matching with the spline shaft 260, so that the threaded screw 230 provided with the splined hole can synchronously rotate with the spline shaft 260 and transmit torque. The axially hollow structure enables the spline shaft 260 to retract into the threaded screw 230, so that the whole telescopic fork device is ensured to have small volume when the telescopic fork 100 is retracted and not operated, and the space utilization rate is improved. The spline hole can be formed integrally with the threaded screw shaft 230, and the same effect can be achieved by a structure such as the spline hole cover 233 and a through hole formed along the axial direction of the threaded screw shaft 230.

The internal thread bushing 240, the external thread bushing shaft 250 and the spline shaft 260 are coaxially arranged along the axial direction of the threaded screw 230, and the coaxial arrangement ensures that each component can normally rotate, and simultaneously ensures the space utilization and the strength of the whole structure. The shaft of the internal thread sleeve 240 near one end of the housing 210 is connected with the first thread segment 232, that is, the shaft of the internal thread sleeve 240 near one end of the housing 210 is also provided with the first thread segment 232, and the two thread segments are different in that one is a male thread and the other is a female thread. The internally threaded sleeve 240 and the threaded lead screw 230 form a first stage drive telescopic structure of the entire drive member 200. Preferably, the internal thread sleeve 240 includes an internal thread sleeve body and a first screw nut 242 disposed at one end of the internal thread sleeve body near the housing 210, and meanwhile, the first screw nut 242 is set to be a ball screw nut, and the screw 230 is set to be a ball screw, so that rolling friction replaces sliding friction, friction force is reduced, the telescoping action is smoother, and efficiency is improved. The inner wall of the barrel shaft at the other end of the internal thread sleeve 240 is provided with a second thread section 241, the spiral direction of the second thread section 241 is opposite to that of the first thread section 232, the barrel wall of the external thread barrel shaft 250 is connected with the second thread section 241, namely, the outer barrel wall of the external thread barrel shaft 250 is also provided with the second thread section 241, and the two thread sections are different in that one is a male thread and the other is a female thread. The second thread segment 241 is used to threadably drive the internally threaded sleeve 240 with the externally threaded sleeve shaft 250, thereby enabling the externally threaded sleeve shaft 250 to move along the axial direction of the threaded lead screw 230. At the same time, the second thread segments 241 can also be used to create a self-lock that ensures that the telescoping fork 100 does not retract during extension operations or does not extend when retracted. Further, the screw structure ensures high moving accuracy of the telescopic fork 100. Preferably, the lengths of the first thread segment 232 and the second thread segment 241 can be adjusted according to actual requirements, so that the telescopic fork device obtains a longer working stroke. An accommodating space 251 for accommodating the threaded screw 230 is axially formed in the external threaded cylindrical shaft 250, and the accommodating space 251 is arranged, so that the threaded screw 230 is conveniently accommodated in the accommodating space 251 when retraction is required, the effect of reducing the minimum volume of the whole device is achieved, and the space utilization rate is improved; secondly, the hollow and external thread structure in the external thread cylinder shaft 250 is matched with the internal thread sleeve 240 and the spline shaft 260 to form a second-stage driving telescopic structure of the whole driving part 200, so that the working stroke is further improved; meanwhile, the second-stage driving telescopic structure is connected with the first-stage driving telescopic structure in parallel, so that the thickness of the whole device is thinner than that of a serial structure, and the volume of the final contracted state is smaller, so that the device is suitable for goods sorting operation in a narrower space; finally, the hollow structure reduces the weight, effectively avoids rollover during carrying, and simultaneously increases the structural strength and has stronger bending resistance. One end of the spline shaft 260 is inserted into the spline hole so as to be movable in the axial direction of the threaded screw 230, and the other end of the spline shaft 260 is connected to the externally threaded cylindrical shaft 250. The primary function of the spline shaft 260 is to transmit torque such that the externally threaded cylindrical shaft 250 moves in the axial direction of the threaded lead screw 230 under the torque provided by the spline shaft 260. At the same time, spline shaft 260 also serves to improve the bending resistance of the telescoping forks and drive components during telescoping. The telescopic structure of the traditional telescopic fork is usually realized by means of gear rack and chain wheel and chain driving, the volume, the weight and the performance cannot be considered, one or more points are often required to be sacrificed, so that one advantage is obtained, and the telescopic structure is difficult to achieve. Therefore, the spline shaft 260 is arranged, and the threaded screw 230, the internally threaded sleeve 240 and the externally threaded sleeve shaft 250 are matched, so that the whole hollow structure is good in bending resistance compared with a solid structure, and meanwhile, the structure is lighter in weight and thinner in thickness, and is convenient for driving the motor 220 and saving energy. Because of the hollowness, the four are formed into a nested structure, and the space utilization rate is high. Specifically, the entire structure can be retracted into another component when retracted, so as to improve space utilization and make the thickness thinner. When the two-stage telescopic structure is extended, the design of the two-stage telescopic structure in parallel can ensure long working stroke; meanwhile, the spline shaft 260 is matched with the extended external thread cylinder shaft 250 to form a double-layer structure with hollow outside and solid inside, and the bending resistance of the whole structure can be well ensured. Preferably, the spline shaft 260 is provided with a spline section, a cylindrical section, and a connecting thread section in this order from an end thereof near the second gear 231 to an end thereof far. The spline section is provided with splines to mate with the splined holes. The cylindrical section is used to set a key to transmit torque in cooperation with the externally threaded barrel shaft 250. The connecting thread section is used for forming threaded connection with the external thread cylinder shaft 250 through a nut, so that the spline shaft 260 can be firmly connected with the external thread cylinder shaft 250 and transmit torque no matter when the spline shaft is extended or retracted; meanwhile, the spline shaft 260 can provide supporting force during extension, so that goods with different weights can be effectively borne, the problem that the external thread cylinder shaft 250 is bent and broken due to overlarge acting force of the goods is prevented, and the running stability and the service life of the whole telescopic fork device are effectively improved. The internally threaded sleeve 240 is coupled to a corresponding component of the telescoping fork 100 and the externally threaded sleeve shaft 250 is rotatably coupled to a corresponding component of the telescoping fork 100. To ensure that the driving part 200 can work normally and drive the telescopic motion.

Referring to fig. 4 and 5, in the telescopic fork device according to the present invention, the first gear 221 and the second gear 231 are engaged to transmit the power of the driving motor 220 to the threaded screw 230, so as to drive the threaded screw 230 and the spline shaft 260 to rotate; the threaded screw 230 rotates to drive the internal threaded sleeve 240 to rotate and move along the axial direction of the threaded screw 230; the spline shaft 260 rotates to drive the external threaded cylinder shaft 250 to rotate and move along the axial direction of the threaded screw 230, so that the telescopic fork 100 is extended or retracted. The nested structure of the threaded screw 230, the spline shaft 260, the internal threaded sleeve 240 and the external threaded sleeve shaft 250 produces the effect of overlapping driving strokes, so that corresponding parts move along the axial direction to form a parallel secondary stroke-increasing telescopic structure, and the device has the advantages of long working stroke, light weight, energy saving, thinner overall device thickness, compact structure and high space utilization rate. Meanwhile, the first thread section 232 and the second thread section 241 form a positive and negative thread structure, so that the acting force of the driving motor 220 can be amplified, self-locking can be formed, and the moving precision is high. The telescopic pallet fork 100 is not only used for taking and placing goods, but also provides a linear guiding function for the driving part 200. The hollow structure of the whole device is matched with the spline shaft 260, so that goods with different weights can be effectively borne, and the bending resistance is good.

In some embodiments, the threaded screw 230 and the externally threaded cylinder shaft 250 are coupled in a rolling friction screw drive with a ball spline configuration. Preferably, the spline shaft 260 is configured as a ball spline shaft 260, the threaded screw 230 includes a threaded screw body, and a spline hole cover 233 provided at an end of the threaded screw body remote from the second gear 231, and the spline hole cover 233 is configured as a ball spline hole cover 233. The rolling friction is used for replacing sliding friction, friction force is reduced, the telescopic action is smoother, and the sorting efficiency of goods is improved. In some embodiments, the pitch of the first thread segments 232 is related to the pitch of the second thread segments 241. In some other embodiments, the pitch of the first thread segments 232 is equal to the pitch of the second thread segments 241 such that the linear movement speed and travel of the corresponding internally threaded sleeve 240 and externally threaded sleeve shaft 250 are equal. In some other embodiments, due to the different axial distances between the receiving space 251 of the male threaded shaft 250 and the hollow interior of the female threaded sleeve 240, the respective thread segments have different expansion and contraction strokes, and in the case of consistent rotational angular displacement, the pitch of the first thread segment 232 and the second thread segment 241 are matched in any single or combination of the following ways in order to achieve an axial minimum dimension in the contracted to final position: according to the pitch, match according to the type of screw thread is trapezoidal screw thread or rectangular screw thread or triangle-shaped screw thread, match according to single thread or double thread to guarantee to possess high space utilization when can satisfy different working stroke's demand.

Referring to fig. 1 and 3, in some embodiments, each set of the telescopic forks 100 includes a guide riser 110, a telescopic guide bar 120 and a telescopic tooth plate 130, and preferably, the guide riser 110 is disposed on the mounting base plate 101. The telescopic guide bar 120 can move along the length direction of the guide vertical plate 110, is connected with the guide vertical plate 110, the telescopic guide bar 120 is fixedly connected with the internal thread sleeve 240, the telescopic tooth plate 130 can move along the length direction of the telescopic guide bar 120, is connected with the telescopic guide bar 120, and is rotatably connected with the external thread sleeve shaft 250. Through setting up fixed direction riser 110, cooperation can be followed the flexible conducting bar 120 and the flexible dental lamina 130 of direction riser 110 length direction displacement to the drive part 200 of cooperation second grade increase range extending structure stretches out and draws back, stable in structure, firm, space utilization is high, and working stroke is long, also can provide sharp guide effect for drive part 200. The guide vertical plate 110, the telescopic guide bar 120 and the telescopic tooth plate 130 can select sliding friction in direct contact, and can select structures such as bearings and the like to realize rolling friction. Preferably, referring to fig. 2, 4 and 5, the end of the female threaded sleeve body far away from the second gear 231 is fixedly connected with a handle end cover 243, and the handles of the handle end covers 243 of the two telescopic forks 100 are connected with a first fixing strip 244; at the same time, the first securing strap 244 is also connected to the telescoping boom 120 to ensure that the telescoping boom 120 of both telescoping forks 100 telescope simultaneously. Preferably, the external thread cylinder shaft 250 comprises an external thread cylinder shaft body, an end surface cylinder shaft 252 and a bearing baffle cover 262 which are arranged at one end of the external thread cylinder shaft body far away from the second gear 231, wherein the end surface cylinder shaft 252 and the bearing baffle cover 262 are fixedly connected, the end surface cylinder shaft 252 is connected with a cylindrical section of the spline shaft 260 through a key 261 to transmit torque, a hanging seat type bearing 253 is arranged on the outer cylinder wall of the end surface cylinder shaft 252, and the bearing baffle cover 262 is fixedly connected with the end surface cylinder shaft 252 through a nut and a threaded section of the spline shaft 260. The hanger bracket bearing 253 is embedded in the second fixing strip 254, and the second fixing strip 254 is also connected with the telescopic dental plate 130, so as to ensure that the telescopic dental plates 130 of the two telescopic forks 100 are simultaneously telescopic. Preferably, the handle end cap 243 is disposed near the middle of the first fixing bar 244 and the hanger type belt bearing 253 is disposed near the middle of the second fixing bar 254 to form a longer arm of force for energy saving. Preferably, the first fixing strip 244 is provided as a V-shaped fixing strip, which can ensure the force transmission effect and save space in the height direction as compared with a linear fixing strip, so that the thickness of the whole device is thinner. Preferably, the second fixing strip 254 is configured to be embedded in the fixing strip and is embedded in the retractable dental plate 130 to be firmly and stably.

It should be noted that, the threaded screw 230 may be a non-standard component formed integrally, and includes a first threaded section and a splined hole; a combination of a threaded screw body and a splined hole cover 233 is also possible. The internal thread sleeve 240 can be an integrally formed non-standard component and comprises a first thread section and a second thread section so as to respectively form two screw nut pairs, namely a first-stage driving telescopic structure and a second-stage driving telescopic structure with the threaded screw 230 and the external thread sleeve shaft 250; the present invention may be a combination of an internally threaded sleeve body and a first screw nut 242, wherein the first screw nut 242 and the threaded screw 230 form a screw nut pair, that is, a first-stage drive expansion structure, and the internally threaded sleeve body and the externally threaded sleeve shaft 250 form a screw nut pair, that is, a second-stage drive expansion structure. The externally threaded cartridge shaft 250 can be an integrally formed non-standard piece and includes a second threaded section and a receiving space; the present invention may be a combination of an externally threaded cylindrical shaft body and an end surface cylindrical shaft 252.

Further, referring to fig. 1 and 3, in some embodiments of the telescopic fork device according to the present invention, a row of first guide bearings 111 are symmetrically disposed on two side walls of the guide riser 110 along the length direction thereof, a first wide straight groove 121 is formed on an end surface of the telescopic guide bar 120 connected to the guide riser 110 along the length direction thereof, first guide grooves 122 are symmetrically formed on inner walls of two sides of the first wide straight groove 121, and the telescopic guide bar 120 is movably connected to the guide riser 110 through the first guide grooves 122 and the first guide bearings 111; the telescopic guide bars 120 are symmetrically provided with second guide grooves 123 on two opposite side walls of the first wide straight groove 121, the telescopic tooth plates 130 are connected with the end faces of the telescopic guide bars 120 along the length direction of the telescopic guide bars, the two side inner walls of the second wide straight groove 131 are symmetrically provided with a row of second guide bearings 132, and the telescopic tooth plates 130 can move through the second guide grooves 123 and the second guide bearings 132 and are connected with the telescopic guide bars 120.

Preferably, both the first guide bearing 111 and the second guide bearing 132 are connected to the corresponding side wall by the positioning pin 102. Preferably, the positioning pin 102 is configured as a threaded step pin, and the first guide bearing 111 and the second guide bearing 132 are sleeved on the middle section of the threaded step pin. Specifically, taking the first guide bearing 111 as an example, a step surface at one end of the threaded step pin shaft axially limits one side of an inner ring of the first guide bearing 111, the guide vertical plate 110 axially limits the other side of the inner ring of the first guide bearing 111, a gap is formed between an outer ring of the first guide bearing 111 and the guide vertical plate 110, and the middle section of the threaded step pin shaft is in clearance fit with a hole on the guide vertical plate 110 and is fixed on the guide vertical plate 110 by a nut; the upper plane of the guide vertical plate 110 is provided with a straight groove for fastening nuts on the threaded step pin shaft, so that the guide vertical plate 110 and the telescopic guide bar 120 are limited along the cross section direction, the fixing and transmission effects are good, the guide precision is high, the relative displacement is smoother, and the sorting efficiency of goods is improved. In some other embodiments, the fixing of the first guide bearings 111 at both sides of the guide riser 110 can be achieved by a long pin without providing a straight groove. Preferably, the width dimension of the first guide groove 122, the outer diameter dimension of the first guide bearing 111, the width dimension of the second guide groove 123 and the outer diameter dimension of the second guide bearing 132 are in clearance fit, so that the relative displacement is smoother, and the sorting efficiency is improved. The first wide straight groove 121 and the second wide straight groove 131 are arranged, so that the cross sections of the corresponding telescopic conducting bars 120 and the corresponding telescopic tooth plates 130 are in an inverted U shape, and the corresponding guiding bearings and the corresponding positioning pin shafts 102 are matched, so that the problems of rollover, derailment and the like of the telescopic conducting bars 120 and the telescopic tooth plates 130 can be well prevented, and the stability is good.

The invention also discloses a two-way shuttle, which comprises a vehicle body 310 and at least one telescopic fork device according to any one of the embodiments, wherein the vehicle body 310 comprises a travelling wheel 320 and a lifting component, and the telescopic fork device is connected with the lifting component. The traveling wheels 320 are used for displacement along the guide rail 400. The lifting component is used for lifting the telescopic fork device. The lifting component is provided, so that the light and thin two-way shuttle formed by the lifting structure is convenient to use and maintain compared with the high and thick vehicle body 310, and the light and thin two-way shuttle is wider in application range, and can be applied to a narrow space or a wide space. The two-way shuttle disclosed by the invention has the advantages due to the fact that the two-way shuttle comprises the telescopic fork device disclosed by the embodiment, and the telescopic fork device also has all the advantages.

Preferably, the lifting member includes a lifting bar 332 and a lifting plate 331 disposed on the lifting bar 332, and the lifting plate 331 is disposed to facilitate installation of the telescopic fork device.

The stacker is high in rated load and suitable for scenes with heavier goods. The defects are large inertia, low speed, low efficiency and high energy consumption. Meanwhile, the telescopic fork 100 used for the stacker has the defects of complex structure, large thickness, large weight, low moving precision and the like. The four-way shuttle is an intelligent moving robot capable of freely shuttling in a stereoscopic warehouse. Can move on the goods shelf guide rail and finish the picking and carrying of goods, and is efficient and flexible. When working, the four-way shuttle needs to move along the guide rail in the horizontal direction. The horizontal guide rail comprises a longitudinal guide rail and a transverse guide rail, so that the four-way shuttle is generally provided with two pairs of driving wheels and driven wheels, and at least one pair of driving wheels and driven wheels can contact the guide rail to play a role in driving, guiding and supporting when the transverse guide rail and the longitudinal guide rail are switched. Taking goods as an example, after moving to the lower part of the goods, the top of the four-way shuttle lifts and lifts the goods, and then the goods enter the lifter. After the goods are lowered to the ground, the goods are transported to a conveying line or a mother-son vehicle for cooperative transportation. It is clear that, although the four-way shuttle is more efficient and flexible than the stacker, the four-way shuttle and the transportation guide rail thereof have more complex structures and have higher requirements on reliability. And also cannot transport heavy goods.

Therefore, the two-way shuttle is matched with the telescopic fork device, and firstly, the whole structure is light and thin, and the problems of the stacker such as weight, energy consumption, moving precision, space utilization rate and the like are solved; secondly, compared with a four-way shuttle vehicle support, the two-way shuttle vehicle body 310 has the advantages of simpler structure, low cost, low requirement on guide rails, convenience in maintenance and wide application range; finally, the telescopic fork device has good bending resistance and long working stroke, and can carry heavy goods well.

Referring to fig. 6 and 7, in some embodiments, when the telescopic fork device is provided with only one, the bidirectional shuttle further includes a swivel member 340 connected to the lifting member, and the telescopic fork device is connected to the lifting member through the swivel member 340. Preferably, the revolving part 340 is a worm-and-worm-wheel type numerical control revolving table, which has high precision and can effectively meet the rotation of heavy goods. Preferably, the installation base plate 101 is connected with a rotary disc of a worm and worm wheel type numerical control rotary table, and the rotary table of the worm and worm wheel type numerical control rotary table is connected with the lifting plate 331. When the operation is performed, the two-way shuttle is moved to a proper position, the worm and worm wheel type numerical control rotary table is indexed, and then the driving part 200 drives the telescopic fork 100 to extend; when the telescoping forks 100 are extended in place, the lifting bar 332 is raised and lowered to effect the placement of the items on the telescoping lugs 130 on the shelves or the lifting of the items on the shelves. Specifically, the worm and worm wheel type numerical control rotary table is shifted for 180 degrees, so that goods on two sides of a roadway where the two-way shuttle is located are accessed; the worm and worm wheel type numerical control rotary table is rotated for 90 degrees to realize goods exchange with a conveying line or a workbench.

In some embodiments, when two telescopic fork devices are provided, the two telescopic fork devices further comprise a mounting platform 341 connected with the lifting component, and the two telescopic fork devices are connected with the mounting platform 341; the telescopic direction of the telescopic forks 100 of the two telescopic fork devices is perpendicular to the traveling direction of the traveling wheels 320, and the telescopic directions of the telescopic forks 100 of the two telescopic fork devices are opposite. The two telescopic fork devices can be arranged symmetrically by selecting the mounting positions according to actual requirements; the space utilization rate can be improved by the staggered arrangement of the asymmetric eccentric structures. Preferably, two telescopic fork devices are arranged, so that the mounting bottom plate 101 with a smaller area is replaced by the mounting platform 341 with a large area, and the two telescopic fork devices are arranged on the mounting platform 341; the mounting platform 341 is provided on the elevating bar 332. For the limitation of the telescopic direction of the telescopic fork 100, the goods on the shelves at the two sides of the roadway where the two-way shuttle is located can be directly stored and taken well, and the rotary part 340 is required to rotate instead of just arranging one telescopic fork device, so that the sorting efficiency of the relative goods is improved.

Further, referring to fig. 8 and 9, in some embodiments, two sets of the telescopic forks 100 of the first telescopic fork apparatus are asymmetrically disposed at two sides of the corresponding driving member 200; the two groups of telescopic forks 100 of the second telescopic fork device are asymmetrically arranged at two sides of the corresponding driving part 200, and are positioned at the outer sides of the two groups of telescopic forks 100 of the first telescopic fork device. Preferably, both telescoping fork assemblies are positioned in the middle of body 310 to improve stability. The driving part 200 of the first telescopic fork device is arranged at one side of the axis in a deflection way, and is connected with the corresponding telescopic fork 100 through the first eccentric V-shaped fixing strip 2441 and the first eccentric embedded fixing strip 2541; the driving part 200 of the second telescopic fork device is arranged at the other side of the axial direction in a biased manner, and is connected with the corresponding telescopic fork 100 through the second eccentric V-shaped fixing strip 2442 and the second eccentric embedded fixing strip 2542. The length of the first eccentric V-shaped securing strap 2441 is less than the second eccentric V-shaped securing strap 2442; the first eccentric embedded fixation bar 2541 has a length less than that of the second eccentric embedded fixation bar 2542. Compared with the direct symmetrical arrangement on two sides, the two telescopic fork devices are arranged in a staggered way through the asymmetric eccentric structures, so that the space can be further reasonably utilized, the volume is reduced, and the space utilization rate is improved. Simultaneously, the structure reduces the volume and simultaneously ensures that the two telescopic fork devices can work independently without mutual influence. When the operation is carried out, the two telescopic fork devices are respectively responsible for storing and taking goods on the goods shelf on one side of the roadway where the two-way shuttle is located.

The present invention, in some embodiments, further comprises an anti-capsizing structure for preventing the dichroic shuttle from capsizing. Considering that the bending resistance of the telescopic fork device is improved, heavier goods can be borne, for this reason, in order to ensure the stability of the two-way shuttle, an anti-overturning structure is provided to avoid the problems of shaking, overturning and the like during the extension process of the telescopic fork 100.

Further, referring to fig. 10 and 11, in some embodiments, the anti-overturning structure of the present invention includes: a linear actuator 350, wherein the linear actuator 350 is connected with the chassis 311 of the vehicle body 310, and an output end of the linear actuator 350 is movably provided with a guide wheel mounting plate 351; a linear guide post 370, wherein the linear guide post 370 is connected with the chassis 311 of the vehicle body 310, a guide sleeve 371 is movably arranged on the linear guide post 370, and the guide sleeve 371 is connected with the guide wheel mounting plate 351; a traveling guide wheel 380, wherein the traveling guide wheel 380 is rotatably connected with the guide wheel mounting plate 351, and the axial direction of the traveling guide wheel 380 is perpendicular to the axis of the traveling wheel 320; when the telescopic fork 100 extends, the telescopic end of the linear driver 350 rotates and drives the guide wheel mounting plate 351 and the traveling guide wheel 380 to move along the axial direction of the linear driver 350, so that the traveling guide wheel 380 abuts against or is separated from the side wall of the guide rail 400. The linear actuator 350 is used to provide lifting power to the traveling guide wheel 380. The guide post is matched with the guide sleeve 371, so that stability and precision in the lifting process are ensured; meanwhile, the traveling guide wheel 380 can perform displacement formed longer, and the descending position is lower, so that the anti-overturning effect is further ensured to be good. The walking guide wheel 380 descends and abuts against the side wall of the guide rail 400 to form an anti-overturning structure in cooperation with the walking wheel 320, stability of the two-way shuttle is guaranteed, and the structure is simple and good in effect. Preferably, only one linear driver 350 is provided, four walking wheels 320, linear guide columns 370 and walking guide wheels 380 are provided, and the four walking guide wheels 380 are symmetrically fixed on the guide wheel mounting plate 351.

Preferably, referring to FIG. 12, traveling guide 380 includes a guide shaft 381, a guide shaft 381 bearing 382, a guide body 383, and a thrust bearing 384. The guide wheel shaft 381 is fixedly connected with the guide wheel mounting plate 351, the inner ring of the guide wheel shaft 381 is sleeved on the guide wheel shaft 381, the outer ring of the guide wheel shaft 381 is arranged in a step hole of the guide wheel body 383, the step surface on the guide wheel body 383 limits the outer ring of the guide wheel shaft 381 to axially move, the thrust bearing 384 is arranged in the step hole of the guide wheel body 383, the step surface on the lower surface of the guide wheel body 383 limits the rotating piece on the thrust bearing 384 to axially move, and the screw and the gasket fasten the stator on the guide wheel shaft 381; therefore, the rotating sheets on the outer ring of the guide wheel body 383, the outer ring of the guide wheel bearing 381 and the thrust bearing 384 rotate together, the inner ring of the guide wheel shaft 381, the inner ring of the guide wheel bearing 382 and the stator below the thrust bearing 384 do not rotate, and the anti-overturning effect is good.

Further, referring to fig. 13 and 14, in some embodiments, the linear driver 350 is configured as a double-ended screw driving motor 360, the double-ended screw driving motor 360 includes a first output end 3611 and a second output end 3612, the first output end 3611 is movably connected to the guide wheel mounting plate 351, and the second output end 3612 is movably connected to the lifting member; when the telescopic pallet fork 100 extends, the first output end 3611 and the second output end 3612 of the double-end screw driving motor 360 rotate synchronously, so as to drive the traveling guide wheel 380 and the lifting component to move along the axial direction of the double-end screw driving motor 360, so that the traveling guide wheel 380 abuts against or separates from the side wall of the guide rail 400, and the lifting component rises or falls. The elevating bar 332 and the traveling guide wheel 380 are reversely linked by the double-headed screw driving motor 360. When the lifting bar 332 is lifted, the walking guide wheel 380 correspondingly descends, so that the efficiency is higher, and the anti-overturning effect is better. Preferably, the linear guide post 370 is also provided as a double-ended linear guide post 370, ensuring lifting stability. The lifting bar 332 is configured as a multi-boss lifting bar 332, the multi-boss lifting bar 332 comprises five cylindrical hollow bosses, wherein four cylindrical hollow bosses are connected with the double-head linear guide post 370 through a guide sleeve 371, and the centered cylindrical hollow bosses are rotatably connected with a second output end 3612 of the double-head linear guide post 370 through a third screw nut 363; the guide wheel mounting plate 351 is rotatably connected to the first output end 3611 of the double-ended linear guide post 370 by a second lead screw nut 362. The hollow cylindrical hole depths of the five cylindrical hollow bosses all meet the lifting stroke of the multi-boss lifting bar 332. The installation housing 367 of the double-ended screw driving motor 360 is fixed in the middle of the chassis 311, and the forward and reverse rotation double-ended screw 361 is rotatably arranged in the installation housing 367 by two radial thrust bearings 365. The structure of the forward and reverse rotation double-end screw rod 361 is sequentially provided with a third thread section, a long cylinder, a step cylinder and a fourth thread section, wherein the third thread section, the long cylinder and the step cylinder are matched with the third screw rod nut 363, and the fourth thread section is matched with the second screw rod nut 362 from top to bottom along the axial direction. The end of the long cylinder is provided with a ring groove for installing the shaft snap ring 364. The forward/reverse rotation double-headed screw 361 is provided with a third screw nut 363, a radial bearing end cap 366, a shaft snap ring 364, a radial thrust bearing 365, a long sleeve 368, a third gear 3691, a radial thrust bearing 365, and a second screw nut 362 in this order from top to bottom in the axial direction. The output shaft of the double-ended screw driving motor 360 is vertically downward fixed at the lower step surface of the mounting shell 367, a fourth gear 3692 is arranged on the output shaft of the double-ended screw driving motor 360, and the fourth gear 3692 is meshed with the third gear 3691. The structure is simple, and the reverse linkage of the lifting bar 332 and the traveling guide wheel 380 can be effectively realized. The output shaft of the double-ended screw driving motor 360 rotates to drive the fourth gear 3692 and the third gear 3691 to rotate, so that the forward and reverse rotation double-ended screw 361 rotates, and the second screw nut 362 and the third screw nut 363 simultaneously move along the axial direction of the forward and reverse rotation double-ended screw 361, so that the multi-boss lifting bar 332 and the traveling guide wheel 380 reversely move to lift the telescopic fork device and simultaneously lower the traveling guide wheel 380 to prevent overturning.

The pitch of the third thread segments and the fourth thread segments are related. Since the travel of the multi-boss lifter bar 332 is generally greater than the travel of the idler mounting plate 351, the pitch of the fourth thread segments is preferably less than the pitch of the third thread segments.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims (10)

1. The utility model provides a flexible fork device, its characterized in that includes two sets of flexible forks and is used for the drive part that flexible fork stretches out or contracts, flexible fork is for drive part provides the straight line guide effect, two sets of flexible fork sets up respectively drive part's both sides, drive part includes:

a housing;

the driving motor is connected with the shell, and an output shaft of the driving motor is connected with the first gear;

The threaded lead screw is rotatably connected with the shell, one end of the threaded lead screw, which is positioned in the shell, is connected with a second gear, and the second gear is meshed with the first gear; the outer wall of the other end of the threaded screw rod is provided with a first threaded section, and a spline hole is axially and hollow in the threaded screw rod;

an internal thread sleeve, an external thread sleeve shaft and a spline shaft which are coaxially arranged along the axial direction of the threaded lead screw; the inner wall of the cylinder shaft at the other end of the internal thread sleeve is provided with a second thread section, and the spiral direction of the second thread section is opposite to that of the first thread section; the outer cylinder wall of the external thread cylinder shaft is connected with the second thread section, and an accommodating space for accommodating the thread screw rod is axially formed in the external thread cylinder shaft; one end of the spline shaft can be arranged in the spline hole in a penetrating way along the axial direction of the threaded lead screw, and the other end of the spline shaft is connected with the external threaded cylinder shaft;

the internal thread sleeve is connected with the telescopic fork, the external thread cylinder shaft is rotatably connected with the telescopic fork, and the first gear and the second gear are meshed to transmit the power of the driving motor to the thread screw rod so as to drive the thread screw rod and the spline shaft to rotate; the threaded lead screw rotates to drive the internal threaded sleeve to rotate and move along the axial direction of the threaded lead screw; the spline shaft rotates to drive the external thread cylinder shaft to rotate and move along the axial direction of the threaded screw rod, so that the telescopic fork stretches out or retracts.

2. The telescopic fork device of claim 1, wherein: the threaded screw rod is connected with the external threaded cylinder shaft in a rolling friction spiral transmission mode through a ball spline structure.

3. The telescopic fork device of claim 1, wherein: the pitch of the first thread segments is related to the pitch of the second thread segments.

4. The telescopic fork device of claim 1, wherein: every group flexible fork all includes direction riser, flexible conducting bar and flexible dental lamina, flexible conducting bar can follow the length direction of direction riser remove with the direction riser is connected, just flexible conducting bar with internal thread sleeve fixed connection, flexible dental lamina can follow flexible conducting bar's length direction remove with flexible conducting bar is connected, just flexible dental lamina with external screw thread cylinder axle can pivoted is connected.

5. The telescopic fork apparatus of claim 4, wherein: a row of first guide bearings are symmetrically arranged on two side walls of the guide vertical plate along the length direction of the guide vertical plate, a first wide straight groove is formed in the end face of the guide vertical plate, which is connected with the telescopic guide strip, along the length direction of the guide vertical plate, first guide grooves are symmetrically formed in the inner walls of the two sides of the first wide straight groove, and the telescopic guide strip is movably connected with the guide vertical plate through the first guide grooves and the first guide bearings; the telescopic guide bars are symmetrically provided with second guide grooves on two side walls of the first wide straight grooves, the telescopic tooth plates are connected with the end faces of the telescopic guide bars along the length direction of the telescopic guide bars, a row of second guide bearings are symmetrically arranged on the inner walls of two sides of each second wide straight groove, and the telescopic tooth plates can move through the second guide grooves and the second guide bearings and are connected with the telescopic guide bars.

6. A two-way shuttle comprising a body and at least one telescopic fork device according to any one of claims 1-5, said body comprising road wheels and lifting members, said telescopic fork device being connected to said lifting members.

7. The two-way shuttle of claim 6, wherein: when only one telescopic fork device is arranged, the telescopic fork device further comprises a rotary part connected with the lifting part, and the telescopic fork device is connected with the lifting part through the rotary part.

8. The two-way shuttle of claim 6, wherein: when two telescopic fork devices are arranged, the telescopic fork device also comprises an installation platform connected with the lifting part, and the two telescopic fork devices are connected with the installation platform; the telescopic direction of the telescopic forks of the two telescopic fork devices is perpendicular to the running direction of the travelling wheels, and the telescopic directions of the telescopic forks of the two telescopic fork devices are opposite; the two groups of telescopic forks of the first telescopic fork device are asymmetrically arranged on two sides of the corresponding driving part; the two groups of telescopic forks of the second telescopic fork device are asymmetrically arranged on two sides of the corresponding driving part and are positioned on the outer sides of the two groups of telescopic forks of the first telescopic fork device.

9. The dichroic shuttle according to any one of claims 6-8, further comprising an anti-capsizing structure for preventing the dichroic shuttle from capsizing, the anti-capsizing structure comprising:

the linear driver is connected with the chassis of the vehicle body, and the output end of the linear driver can move and is provided with a guide wheel mounting plate;

the linear guide post is connected with the chassis of the vehicle body, a guide sleeve is movably arranged on the linear guide post, and the guide sleeve is connected with the guide wheel mounting plate;

the walking guide wheel can be rotationally connected with the guide wheel mounting plate, and the axial direction of the walking guide wheel is perpendicular to the axis of the walking wheel;

when the telescopic fork extends out, the telescopic end of the linear driver rotates and drives the guide wheel mounting plate and the traveling guide wheel to move along the axial direction of the linear driver, so that the traveling guide wheel is abutted or separated from the side wall of the guide rail.

10. The bi-shuttle of claim 9, wherein: the linear driver is arranged as a double-end screw driving motor, the double-end screw driving motor comprises a first output end and a second output end, the first output end is movably connected with the guide wheel mounting plate, and the second output end is movably connected with the lifting component;

When the telescopic fork stretches out, the first output end and the second output end of the double-end screw driving motor synchronously rotate to drive the walking guide wheel and the lifting part to move along the axial direction of the double-end screw driving motor, so that the walking guide wheel is abutted or separated from the side wall of the guide rail, and the lifting part is lifted or lowered.