CN215158008U

CN215158008U - Fork subassembly, transfer robot and warehouse system

Info

Publication number: CN215158008U
Application number: CN202121503616.2U
Authority: CN
Inventors: 高明; 孔哲; 詹庆鑫; 陈叶广
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-07-01
Filing date: 2021-07-01
Publication date: 2021-12-14
Anticipated expiration: 2031-07-01

Abstract

The application provides a fork assembly, a carrying robot and a warehousing system, wherein the fork assembly comprises a fork body and a locking mechanism, and the fork body is provided with an opening; a tray is arranged in the fork body and can extend out or retract towards the opening; the locking mechanism is installed between the pallet and the fork body and used for enabling the pallet to be locked relative to the fork body when the pallet extends out of the preset length. According to the pallet fork locking mechanism, after the pallet extends out of the preset length, the pallet is locked by the locking mechanism, so that the pallet and the pallet fork body are locked relatively, and the pallet is kept at the extending length and cannot retract; at this moment, can be with the tray butt on the goods shelves, and the goods shelves are difficult to rock because self weight is big or fixed with ground, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly balanced with the thrust of goods shelves to the tray, consequently the transfer robot can not produce and rock to stability when getting goods has been improved.

Description

Fork subassembly, transfer robot and warehouse system

Technical Field

The application relates to an intelligent warehouse logistics technology, in particular to a pallet fork assembly, a carrying robot and a warehousing system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is also increasing, and intelligent warehouse logistics has become the inevitable trend of end logistics development. The carrying robot is used as main equipment for realizing automatic carrying operation in intelligent warehouse logistics, and heavy physical labor of human can be greatly reduced.

In the scheme of the related art, the carrying robot can pick and place the packing box on the goods shelf, the carrying robot generally comprises a supporting seat and a fork assembly arranged on the supporting seat, the fork assembly can lift relative to the supporting seat along the vertical direction, and can also stretch relative to the supporting seat along the horizontal direction, so that the target goods are taken out of the goods shelf, or the target goods are transferred to the goods shelf.

However, by adopting the scheme, when the fork assembly takes goods from the goods shelf, the target goods can apply a reverse acting force to the fork assembly at the same time, so that the carrying robot shakes, and the stability of operation is reduced.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above-mentioned defect under the correlation technique, the utility model aims to provide a fork subassembly, transfer robot and warehouse system to improve the stability of fork subassembly when getting and put goods, reduce the probability that transfer robot produced and rock.

An embodiment of the present application provides a fork subassembly, includes:

a fork body having an opening;

a tray mounted within the fork body, the tray being extendable and retractable in a direction of the opening;

the locking mechanism is arranged between the pallet and the fork body and used for enabling the pallet to be locked relative to the fork body when the pallet extends out of a preset length.

Optionally, the locking mechanism is an active locking mechanism, and when the pallet extends out of a preset length, the locking mechanism applies a pre-tightening force to the pallet, so that the pallet and the pallet fork body are locked relatively.

As above, optionally, the locking mechanism includes a brake pad, a friction pad and a driving element, the brake pad is disposed on the tray, the friction pad is disposed on the driving element, and when the tray extends out of a preset length, the driving element drives the friction pad to abut against the brake pad, so that the tray is locked with the fork body relatively.

The pallet fork assembly as described above, optionally the locking mechanism comprising a telescopic member and a controller, the telescopic member being mounted on the pallet and being extendable or retractable with the pallet; the controller is connected the extensible member, the controller is used for controlling the extensible member to be locked when the tray extends out of the preset length, and therefore the tray and the fork body are locked relatively.

The fork assembly as described above, optionally the locking mechanism comprises a magnetically attractive assembly located on one of the fork body and the pallet and adapted to attract the other; when the tray stretches out the preset length, the fork body and the tray are attracted by the magnetic attraction assembly, so that the tray and the fork body are locked relatively.

Optionally, the locking mechanism is a passive locking mechanism, and when the pallet retracts, the locking mechanism is driven to move, so that the pallet is locked by the locking mechanism relative to the pallet fork body;

or part of the locking mechanism is connected to the pallet, and when the pallet retracts, part of the locking mechanism is driven to move, so that the locking mechanism is locked, and the pallet fork body are locked relatively.

The fork assembly as described above, optionally, a fork arm and a guide rail are further provided in the fork body, the fork arm can extend or retract relative to the fork body, and the extension direction of the guide rail is parallel to the extension direction of the fork arm;

the locking mechanism comprises a first locking piece and a second locking piece, the first locking piece is arranged on one side, facing the guide rail, of the tray, and the first locking piece is provided with an inclined surface facing the guide rail; the second locking piece is arranged between the tray and the guide rail and can move along the extension direction of the guide rail under the driving of the tray or the goods fork arm; when the tray retracts, the inclined plane can extrude the second locking piece between the inclined plane and the guide rail, and the inclined plane and an included angle between the guide rails are smaller than a friction angle between the second locking piece and the inclined plane, so that the tray and the guide rail are locked relatively.

the locking mechanism comprises a cam shaft and a maintaining piece, the cam shaft is arranged between the guide rail and the tray and comprises a cam shaft body and a convex part, and the convex part is arranged in the radial direction of the cam shaft body and is positioned on one side departing from the extending direction of the tray; the maintaining piece is used for providing a maintaining force for the cam shaft so as to maintain the cam shaft to be in contact with the tray;

when the tray retracts, the tray drives the cam shaft to rotate, so that the protruding portion is abutted to the guide rail, and an included angle between a connecting line of the abutting point of the cam shaft and the guide rail or the abutting point of the cam shaft and the tray and the axis of the cam shaft and a plane normal of the guide rail is smaller than a friction angle between the cam shaft and the guide rail, so that the tray and the guide rail are locked relatively.

the locking mechanism comprises a locking piece and a matching piece, the locking piece is arranged on one side, facing the pallet, of the pallet body, and the matching piece is arranged on one side, facing the bottom wall of the pallet, of the pallet; the first side of the locking piece is positioned between the fork body and the matching piece, and the second side of the locking piece is positioned between the fork body and the fork arm and is abutted against the fork arm; when the goods yoke with the tray stretches out, the goods yoke drives the locking piece orientation is close to the direction of fitting piece removes, when the tray stretches out predetermined length, the first side of locking piece with the fitting piece block, so that the tray with the relative locking of guide rail.

Another embodiment of the present application provides a transfer robot, including a supporting seat, a lifting device and the fork assembly as described in any one of the above, the lifting device and the fork assembly are disposed on the supporting seat, and the lifting device is connected with the fork assembly and used for driving the fork assembly to lift relative to the supporting seat.

Yet another embodiment of the present application provides a warehousing system, including goods shelves, as above transfer robot and confession the passageway that transfer robot removed, transfer robot removes when goods are got to goods shelves next door, last tray of transfer robot can stretch out with goods shelves butt and relative fork body locking.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a diagram illustrating a stress analysis performed when a transfer robot picks up a load according to the related art;

fig. 2 is a diagram illustrating a stress analysis performed by a transfer robot according to an embodiment of the present disclosure;

FIG. 3 is an exploded view of a fork assembly provided by one embodiment of the present application;

FIG. 4 is a top view of a fork assembly provided in accordance with an embodiment of the present application;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is an enlarged view of a portion A of FIG. 5;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 4;

FIG. 8 is an exploded view of a fork assembly provided in accordance with another embodiment of the present application;

FIG. 9 is a top view of a fork assembly provided in accordance with another embodiment of the present application;

FIG. 10 is a cross-sectional view taken along line C-C of FIG. 9;

FIG. 11 is an enlarged view of a portion B of FIG. 10;

FIG. 12 is a cross-sectional view taken along line D-D of FIG. 9;

FIG. 13 is a schematic illustration of a hydraulic system for controlling a telescoping member according to another embodiment of the present application;

FIG. 14 is a schematic structural view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 15 is a front view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 16 is a top view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 17 is a left side elevational view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 18 is a state diagram of the use of a fork assembly according to yet another embodiment of the present application;

FIG. 19 is a schematic structural view of a fork body, an electromagnet, a guide rail, and a tension spring of a fork assembly according to yet another embodiment of the present application;

FIG. 20 is a schematic structural view of a pallet in the fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 21 is a top view of a fork body of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 22 is an enlarged view of a portion J of FIG. 15;

FIG. 23 is a diagrammatic view of a fork assembly according to yet another embodiment of the present application;

FIG. 24 is an enlarged view of a portion C of FIG. 23;

FIG. 25 is an exploded view of a tray, rail and locking mechanism provided in accordance with yet another embodiment of the present application;

FIG. 26 is an isometric view of a tray, rail and locking mechanism provided in accordance with yet another embodiment of the present application;

FIG. 27 is an enlarged view of a portion D of FIG. 26;

FIG. 28 is a bottom view of FIG. 26;

FIG. 29 is a cross-sectional view E-E of FIG. 28;

FIG. 30 is an enlarged view of a portion E of FIG. 29;

FIG. 31 is an exploded view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 32 is a schematic view of a connection structure of a pallet mount and a rail according to yet another embodiment of the present application;

FIG. 33 is an exploded view of FIG. 32;

FIG. 34 is a front view schematic of FIG. 32;

FIG. 35 is an enlarged view of a portion F of FIG. 34;

FIG. 36 is a schematic illustration of a camshaft provided in accordance with yet another embodiment of the present application;

FIG. 37 is a view of the cooperative engagement of the fork assembly of the present application with a cargo box;

FIG. 38 is a cross-sectional view F-F of FIG. 37;

FIG. 39 is an enlarged view of a portion G of FIG. 38 with a tray in a locked condition according to yet another embodiment of the present application;

FIG. 40 is an enlarged fragmentary view of section H of FIG. 38 with the tray in a locked condition according to yet another embodiment of the present application;

FIG. 41 is a view of the cam shaft in relation to the guide rail and the pallet mount when the pallet is in a locked condition according to yet another embodiment of the present application;

FIG. 42 is an enlarged, fragmentary view of section G of FIG. 38 with a tray provided in accordance with yet another embodiment of the present application in an unlocked condition;

FIG. 43 is an enlarged, fragmentary view of section H of FIG. 38 with a tray provided in accordance with yet another embodiment of the present application in an unlocked condition;

FIG. 44 is a schematic structural view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 45 is an exploded view of a fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 46 is an enlarged view of a portion I of FIG. 45;

FIG. 47 is a schematic structural view of a locking assembly of the fork assembly provided in accordance with yet another embodiment of the present application;

FIG. 48 is an exploded view of a locking assembly of the fork assembly provided in accordance with yet another embodiment of the present application;

fig. 49 is a schematic structural view of a transfer robot according to an embodiment of the present application.

Reference numerals:

1-a fork assembly;

10-a fork body; 101-a first fixed seat; 102-a first region; 11-the bottom fork wall; 12-a first fork side wall; 13-a second fork side wall;

20-a cargo yoke; 201-finger; 21-a first unlocking part; 211-a first plate; 212-a second plate; 22-a cushion pad; 23-a first trigger surface; 24-a second trigger surface; 25-outer joint arm; 26-inner joint arm;

30-a tray; 301-a second holder; 302-a second region; 31-tray bottom wall; 311-a via hole; 32-first tray side wall; 33-second tray side wall; 331-tray recovery hook; 34-an abutment plate; 35-a guide wall; 300-a tray mount;

41-a guide rail; 42-a slide block;

51-a brake pad; 52-friction plate; 521-a first friction plate; 522 — a second friction plate; 53-a drive member; 531-motor; 532-screw mandrel; 5321-a first rod; 5322-a second rod; 54-driver mount; 541-a first mounting plate; 542-a second mounting plate;

61-a telescoping member; 62-a controller; 63-a hydraulic pump; 64-hydraulic lines;

71-a first locking member; 711-inclined plane; 72-a second lock; 73-unlocking plate; 731-unlocking the plate body; 7311-slotted holes; 732-a second unlocking portion; 7321-third plate; 7322-fourth plate; 733 — first stationary ear; 734-a second fixing ear; 74-a spring support; 75-a spring;

81-camshaft; 811-camshaft body; 812-a boss; 82-a cam link; 83-unlocking link; 831-first portion; 832-second part; 833-hinge hole; 834-first roller mounting hole; 835-first roller shaft; 84-a second pin; 85-a first roller; 86-torsion spring; 861-a helix; 862-a first torsion spring arm; 863-a second torsion spring arm;

91-a lock; 911-a trigger part; 912-a locking portion; 913-a connecting portion; 92-a mating member; 93-a mounting seat; 931-trigger via; 932-locking vias; 94-an elastic member; 95-a second roller;

100-a magnetic attraction component; 110-an electromagnet; 120-a detection member;

2-a cargo box;

3-a tension spring; 310-a first tension spring fixing part; 320-a second tension spring fixing part;

1000-a transfer robot; 1100-support base; 1200-a lifting device; 1300-storage shelves;

2000-shelf.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.

All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

However, by adopting the scheme, when the fork assembly takes goods from the goods shelf, the target goods can apply a reverse acting force to the fork assembly at the same time, so that the carrying robot shakes, and the stability of operation is reduced. Specifically, fig. 1 is a stress analysis diagram of a transfer robot in the related art when picking up a product. Referring to fig. 1, in the related art, when the transfer robot 1000 picks up a cargo from the pallet 2000, the fork arm 20 extends from the inside of the fork body 10 to the pallet and clamps the cargo box 2 from both sides, and at this time, the cargo box 2 receives a dragging force F2 of the fork arm 20 and a friction force F1, F1 of the pallet 2000 against the cargo box 2 is equal to F2. The cargo box 2 also provides a reaction force F3 to the fork arm 20, and when F3 is F2 is F1, the sum of the external forces applied to the transfer robot 1000 is F3, so that the transfer robot 1000 is prone to shake when picking up the cargo.

The inventor of the present application has found that, when the fork assembly picks up goods from the shelf, if the transfer robot and the shelf are relatively fixed and form a whole, the reaction force from the target goods received by the original fork assembly becomes the internal force of the transfer robot and the shelf and is balanced with each other.

In view of this, the embodiment of the present application aims to provide a fork assembly, a transfer robot and a warehousing system, when the transfer robot of the present application takes goods, the tray 30 in the fork assembly is abutted on the goods shelf through the locking mechanism, when the fork assembly takes goods from the goods shelf, the reaction force applied to the fork assembly by the target goods is transmitted to the goods shelf through the tray 30, so that the sum of external forces applied to the transfer robot and the goods shelf is zero, and therefore the transfer robot does not shake, thereby improving the stability of the operation.

Fig. 2 is a stress analysis diagram of a transfer robot according to an embodiment of the present disclosure. Referring to fig. 2, in the solution of the embodiment of the present application, when the transfer robot 1000 takes a cargo from the pallet 2000, the fork arm 20 extends from the inside of the fork body 10 to the pallet and clamps the cargo container 2 from both sides, and at this time, the dragging force F2 of the cargo container 2 to the fork arm 20 and the friction force F1, F1 of the pallet 2000 to the cargo container 2 are F2. The container 2 also provides a reaction force F3 to the fork arm 20, and F3 ═ F2 ═ F1; since the tray 30 is pushed against the shelf 2000 by the pushing force F4 of the shelf 2000, F4 is F3, and the sum of the external forces applied to the robot is 0, the transfer robot 1000 is not easily shaken when picking up the goods.

The following detailed description of the embodiments of the present application will be provided in conjunction with the accompanying drawings to enable those skilled in the art to more fully understand the contents of the present application.

Example one

FIG. 3 is an exploded view of a fork assembly provided by one embodiment of the present application; FIG. 8 is an exploded view of a fork assembly provided in accordance with another embodiment of the present application; FIG. 14 is a schematic structural view of a fork assembly provided in accordance with yet another embodiment of the present application; FIG. 23 is a diagrammatic view of a fork assembly according to yet another embodiment of the present application; FIG. 31 is an exploded view of a fork assembly provided in accordance with yet another embodiment of the present application; fig. 44 is a schematic structural view of a fork assembly according to yet another embodiment of the present application. Referring to fig. 3, 8, 14, 23, 31 and 44, the present embodiment provides a fork assembly, including:

a fork body 10, the fork body 10 having an opening. Specifically, the fork body 10 of this embodiment is roughly cuboid, including fork diapire 11, first fork lateral wall 12 and two second fork lateral walls 13 that set up relatively, and a second fork lateral wall 13 is connected respectively at the both ends of first fork lateral wall 12, and the opening is relative with first fork lateral wall 12, and one side relative with fork diapire 11 also is open state, can make things convenient for fork subassembly 10 to get and put the goods that highly is greater than fork body 10 height like this.

A fork arm 20 mounted in the fork body 10, the fork arm 20 being extendable and retractable toward the opening, and a guide rail 41 extending in a direction parallel to the extending and retracting direction of the fork arm 20. Specifically, the fork arms 20 are provided on the second fork side wall 13, and the fork arms 20 can be extended or retracted toward the opening side by a slide rail or the like mounted on the second fork side wall 13. In some possible embodiments, the end of the fork arm 20 away from the first fork side wall 12 is provided with a finger 201, and the fork arm 20 can move the target cargo by pushing. When the fork arm 20 extends to both sides of the target cargo, the finger 201 can be rotatably stopped at a side of the target cargo far from the fork body 10, so that when the fork arm 20 retracts, the finger 201 can deliver the target cargo into the fork body 10.

The guide rail 41 is provided on the fork bottom wall 11, and the extending direction of the guide rail 41 is parallel to the extending and retracting direction of the fork arm 20. The tray 30 is mounted on the guide rail 41, and the tray 30 can be extended or retracted along the guide rail 41. Specifically, the tray 30 is located between the two fork arms 20, and the tray 30 and the guide rail 41 can be slidably connected through a mechanism such as a slider, so that the tray 30 can extend or retract along the guide rail 41. The tray 30 of this embodiment is substantially rectangular parallelepiped, and includes tray bottom wall 31, first tray lateral wall 32 and two second tray lateral walls 33 that set up relatively, and a second tray lateral wall 33 is connected respectively at the both ends of first tray lateral wall 32, and the one side that the tray 30 deviates from first tray lateral wall 32 forms uncovered to in the goods fork arm 20 sent the goods to the tray 30 or sent the goods to the goods shelves from in the tray 30.

Further, the tray bottom wall 31 of the present embodiment is provided with an abutting plate 34 towards the open side, and the abutting plate 34 extends towards the direction away from the first tray side wall 32. The abutting plate 34 can increase the abutting area between the tray 30 and the shelf, and reduce the abutting force per unit area, thereby preventing the shelf or the tray 30 from being damaged, and facilitating the improvement of the stability of the abutting between the tray 30 and the shelf.

Furthermore, a side of the second tray side wall 33 departing from the first tray side wall 32 of the present embodiment is further provided with a guide wall 35, the guide wall 35 is disposed obliquely to the second tray side wall 33, and the guide wall 35 connected to the second tray side wall 33 is inclined toward a direction departing from the second tray side wall 33 on the other side. In this way, the two oppositely arranged guide walls 35 can make the tray 30 form a horn-shaped opening, so that the goods can be conveniently taken and placed.

Optionally, the tray 30 of this embodiment is fixedly connected to a tray mounting bracket, and the guide rail 41 is further provided with a slider, and the tray mounting bracket is fixedly connected to the slider. The tray mounting bracket sets up on tray diapire 31, can realize through fasteners such as screws fixedly between tray 30 and the tray mounting bracket. The slider can be arranged on the guide rail 41 in a clamping connection mode, and the tray mounting frame and the slider can be fixedly connected through fasteners such as screws. In this way, the tray 30 can slide along the guide rail 41 by the slider, thereby being extended or retracted.

Preferably, two sets of guide rails 41 are arranged in the fork body 10 of the present embodiment, and the pallet 30 is connected with the two sets of guide rails 41 through two pallet mounting brackets respectively. The two tray mounts are symmetrically disposed on the tray bottom wall 31, so that stability of the tray 30 when sliding along the guide rail 41 can be improved.

In a preferred embodiment, the fork assembly of the present embodiment further includes a tension spring, a first tension spring fixing portion is disposed on one side of the guide rail 41 close to the opening, a second tension spring fixing portion is disposed on one side of the tray 30 away from the opening, and two ends of the tension spring are respectively connected to the first tension spring fixing portion and the second tension spring fixing portion. The tension spring can store a part of energy, thereby reducing the waste of energy. For example, the tension spring may be stretched as the tray 30 is extended and provide some tension to the tray 30 as the tray is retracted.

In order to stably abut the tray 30 to the goods shelf, the embodiment is further provided with a locking mechanism, the locking mechanism is arranged between the tray 30 and the fork body 10, and the locking mechanism is used for locking the tray 30 and the fork body 10 relative to each other when the tray 30 extends out of a preset length, and the tray 30 is kept at the extended length and cannot be retracted; at this time, the pallet 30 can be abutted on the shelf, and the shelf is difficult to shake due to the large self weight or the fixation with the ground, so that when the fork assembly takes the goods from the shelf, the force applied to the fork assembly by the target goods is balanced with the thrust of the shelf to the pallet, and therefore, the carrying robot does not shake, thereby improving the stability when taking the goods.

In a possible embodiment, the locking mechanism of the present embodiment is an active locking mechanism, and when the pallet 30 extends out by a preset length, the locking mechanism applies a pre-tightening force to the pallet 30 so as to lock the pallet 30 and the fork body 10 relatively. The active locking mechanism is a locking mechanism capable of actively applying a pretightening force to the tray 30 to lock the tray 30.

FIG. 4 is a top view of a fork assembly provided in accordance with an embodiment of the present application; FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4; FIG. 6 is an enlarged view of a portion A of FIG. 5; fig. 7 is a sectional view taken along the direction B-B of fig. 4.

Referring to fig. 3-7, in a specific embodiment, the locking mechanism includes a brake plate 51, a friction plate 52 and a driving member 53, the brake plate 51 is disposed on the tray 30, the friction plate 52 is disposed on the driving member 53, and when the tray 30 extends a predetermined length, the driving member 53 drives the friction plate 52 to abut against the brake plate 51, so as to lock the tray 30 and the assembly of the guide rail 41. Wherein the preset length may be determined according to a distance between the fork assembly and the shelf.

By adopting the above scheme, in the embodiment, after the tray 30 extends out of the preset length, the driving element drives the friction plate 52 to abut against the brake pad 51, and the friction force between the friction plate 52 and the brake pad 51 is relied on, so that the movement of the tray 30 connected with the brake pad 51 is prevented, the tray 30 is locked, and the tray 30 is kept at the extended length and can not retract; at this time, the pallet 30 can be abutted on the shelf, and the shelf is difficult to shake due to the large self weight or the fixation with the ground, so that when the fork assembly takes the goods from the shelf, the force applied to the fork assembly by the target goods is balanced with the thrust of the shelf to the pallet, and therefore, the carrying robot does not shake, thereby improving the stability when taking the goods.

In a possible embodiment, as shown in fig. 3, 5 and 6, the driving member 53 of the present embodiment includes a motor 531 and a lead screw 532, the motor 531 is connected to the lead screw 532 and can drive the lead screw 532 to rotate, a threaded hole is formed on the friction plate 52, and the friction plate 52 is in threaded connection with the lead screw 532 through the threaded hole.

By adopting the above scheme, the motor 531 drives the screw rod 532 to rotate when working, and because the screw rod 532 is in threaded connection with the friction plate 52, when the motor 531 is fixed, the friction plate 52 can move along the axial direction of the screw rod 532 due to the transmission function between threads, so as to be convenient to abut against the brake pad 51 or be far away from the brake pad 51. This embodiment can be convenient the displacement of control friction disc 52 to friction disc 52 and brake block 51 realization butt production frictional force of being convenient for, so that tray 30 keeps in the locking state, is convenient for with tray 30 butt on the goods shelves, makes fork subassembly and goods shelves form a whole.

Further, referring to fig. 3, fig. 5 and fig. 6, the friction plate 52 of the present embodiment includes a first friction plate 521 and a second friction plate 522 respectively disposed on two sides of the brake plate 51, the first friction plate 521 is provided with a first threaded hole, the second friction plate 522 is provided with a second threaded hole, and a thread turning direction in the first threaded hole is opposite to a thread turning direction in the second threaded hole.

The screw rod 532 comprises a first rod body 5321 and a second rod body 5322, the first rod body 5321 and the second rod body 5322 are coaxially arranged, the screw thread turning direction on the first rod body 5321 is the same as the screw thread turning direction in the first threaded hole, the screw thread turning direction on the second rod body 5322 is the same as the screw thread turning direction in the second threaded hole, the first rod body 5321 penetrates through the first threaded hole, and the second rod body 5322 penetrates through the second threaded hole.

By adopting the above scheme, when the motor 531 drives the screw 532 to rotate, the first rod 5321 can drive the first friction plate 521 sleeved on the first rod 5321 to move, and the second rod 5322 can drive the second friction plate 522 sleeved on the second rod 5322 to move; since the first rod 5321 and the second rod 5322 have opposite thread directions, the first friction plate 521 and the second friction plate 522 can move relatively at the same time to clamp the brake pad 51 from both sides of the brake pad 51; alternatively, the first friction plate 521 and the second friction plate 522 may be moved toward each other at the same time to release the brake plate 51. Compared with the above embodiment, the friction plate assembly has the advantages that the friction is realized between the two friction plates and the brake plate 51 from the two sides of the brake plate 51, so that larger friction force can be provided, the locking of the tray 30 connected with the brake plate 51 is facilitated, the tray 30 is abutted to the goods shelf, and the goods fork assembly and the goods shelf form a whole.

Alternatively, as shown in fig. 6 and 7, the brake plate 51 of the present embodiment is disposed along the extending direction of the guide rail 41, the friction plate 52 is parallel to the brake plate 51, and the driving member 53 is disposed on the side of the friction plate 52 away from the brake plate 51. The brake block 51 of this embodiment is arranged on the tray 30 in the extending direction of the guide rail 41, so as to facilitate the frictional contact between the friction plate 52 and the brake block 51, and ensure that the friction plate 52 and the brake block 51 can be in frictional contact to realize stable locking when the tray 30 extends for any length.

Further, as shown in fig. 5 and 6, the brake pads 51 of the present embodiment are provided on the side of the pallet bottom wall 31 facing the fork body, and the friction plates 52 and the driving members 53 are provided between the pallet bottom wall 31 and the fork body. With brake block 51, friction disc 52 and driving piece 53 all set up in the space between tray diapire 31 and the fork body, can realize reasonable overall arrangement, avoid putting goods to getting of fork subassembly and cause the influence.

Furthermore, the tray bottom wall 31 of the present embodiment is provided with two brake pads 51, the two brake pads 51 are respectively disposed on one side of the tray bottom wall 31 close to the second tray side wall 33, and each brake pad 51 is provided with a friction plate 52 and a driving member 53 matched therewith. By adopting two sets of locking mechanisms comprising the brake plate 51, the friction plate 52 and the driving piece 53 and respectively arranging the two sets of locking mechanisms at two sides of the extension direction of the tray 30, the locking of the tray 30 can be better realized, and the tray 30 is abutted to a goods shelf.

Alternatively, as shown in fig. 6, the driving member 53 of the present embodiment is fixed on the fork body, specifically, a driving member mounting seat 54 is provided on the bottom wall of the fork, and the driving member 53 is fixed on the driving member mounting seat 54. The driving member mounting seat 54 comprises a first mounting plate 541 parallel to the bottom wall of the fork and a second mounting plate 542 perpendicular to the first mounting plate 541, the first mounting plate 541 and the bottom wall of the fork can be fixed by adopting a welding or threaded connection and other connection structures, and the second mounting plate 542 and the first mounting plate 541 can be fixed by adopting a welding connection mode. The second mounting plate 542 is parallel to the brake pad 51, a screw through hole is formed in the second mounting plate 542, and the screw penetrates through the screw through hole and then is connected with the friction plate 52.

FIG. 9 is a top view of a fork assembly provided in accordance with another embodiment of the present application; FIG. 10 is a cross-sectional view taken along line C-C of FIG. 9; FIG. 11 is an enlarged view of a portion B of FIG. 10; FIG. 12 is a cross-sectional view taken along line D-D of FIG. 9; FIG. 13 is a schematic diagram of a hydraulic system for controlling a telescoping member according to another embodiment of the present application.

Referring to fig. 8-13, in another possible embodiment, the locking mechanism includes a telescopic member 61 and a controller 62, the telescopic member 61 is mounted on the tray 30 and can extend or retract together with the tray 30; the controller 62 is connected with the telescopic member 61, and the controller 62 is used for controlling the telescopic member 61 to be locked when the tray 30 extends out of the preset length, so that the tray 30 is locked relative to the guide rail 41. Wherein the preset length may be determined according to a distance between the fork assembly and the shelf.

With the above scheme, in the present embodiment, after the tray 30 extends out of the preset length, the controller 62 is used to lock the telescopic member 61, so that the tray 30 and the guide rail 41 are locked relatively, and the tray 30 is kept at the extended length and cannot be retracted; at this moment, can be with tray 30 butt on the goods shelves for fork subassembly and goods shelves form a whole, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly had just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby has improved the stability when getting put goods.

In one possible embodiment, as shown in fig. 8, 12 and 13, the telescopic member 61 of the present embodiment may be a hydraulic cylinder, the controller 62 is a hydraulic valve, the locking mechanism further includes a hydraulic pump 63 and a hydraulic pipeline 64, the hydraulic pump 63 is disposed at one end of the hydraulic pipeline 64, the hydraulic cylinder is disposed at the other end of the hydraulic pipeline 64, and the hydraulic valve is disposed on the hydraulic pipeline 64.

As shown in fig. 13, the hydraulic valve of this embodiment has two positions, when the hydraulic valve is in one position, the hydraulic line 64 is closed and the hydraulic cylinder is locked; when the hydraulic valve is in the other position, the hydraulic line 64 is open and the hydraulic cylinder is telescopic. Therefore, in this embodiment, when the tray 30 extends out by a preset length, the controller 62 controls the hydraulic line 64 to be closed, so that the telescopic member 61 is locked, and the tray 30 is locked relative to the guide rail 41.

This embodiment adopts pneumatic cylinder, hydrovalve and supporting hydraulic system to realize that tray 30 stretches out after predetermineeing the length, with tray 30 and the relative locking of guide rail 41 to can make fork subassembly and goods shelves form a whole, when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed for the fork subassembly just becomes the internal force of fork subassembly and goods shelves and balances each other, consequently the fork subassembly can not produce and rock, thereby stability when having improved and getting put goods.

In another possible embodiment, the telescopic member 61 may also be a pneumatic cylinder, the controller 62 is a pneumatic valve, and the locking mechanism further includes a gas source and a pneumatic pipeline, the gas source is disposed at one end of the pneumatic pipeline, the pneumatic cylinder is disposed at the other end of the pneumatic pipeline, and the pneumatic valve is disposed on the pneumatic pipeline.

Similar to the above embodiment, this embodiment can realize through pneumatic cylinder, pneumatic valve and supporting pneumatic system that tray 30 stretches out after presetting the length, with tray 30 and the relative locking of guide rail 41 to can make fork subassembly and goods shelves form a whole, like this when the fork subassembly is got goods from the goods shelves, the power that the target goods was applyed to the fork subassembly has just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby stability when having improved and getting the goods.

Further, as shown in fig. 10, 11 and 12, a first fixing seat 101 is disposed in the fork body 10 of the present embodiment, a second fixing seat 301 is disposed on the tray 30, and two ends of the extension member 61 in the extending direction are respectively hinged to the first fixing seat 101 and the second fixing seat 301.

Specifically, the telescopic piece 61 is positioned between the bottom wall 11 of the fork and the bottom wall 31 of the tray, the first fixing seat 101 is arranged on the bottom wall 11 of the fork, and the second fixing seat 301 is arranged on the bottom wall 31 of the tray; alternatively, the first fixing seat 101 may be fixed to the bottom fork wall 11 by a fastener such as a screw, and the second fixing seat 301 may also be fixed to the bottom tray wall 31 by a fastener such as a screw. Be equipped with first articulated shaft in the first fixing base 101, be equipped with the second articulated shaft in the second fixing base 301, the both ends of extensible member 61 extending direction all are equipped with articulated shaft hole, and extensible member 61 is connected respectively on first articulated shaft and second articulated shaft through two articulated shaft holes.

As can be seen from the above description, the fork assembly of the present embodiment can lock the telescopic member 61 by using the controller 62 after the tray 30 is extended to a preset length, so that the tray 30 is locked with respect to the guide rail 41, and the tray 30 is kept at the extended length and is not retracted; at this moment, can be with tray 30 butt on the goods shelves for fork subassembly and goods shelves form a whole, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly had just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby has improved the stability when getting put goods.

FIG. 15 is a front view of a fork assembly provided in accordance with yet another embodiment of the present application; FIG. 16 is a top view of a fork assembly provided in accordance with yet another embodiment of the present application; FIG. 17 is a left side elevational view of a fork assembly provided in accordance with yet another embodiment of the present application; FIG. 18 is a state diagram of the use of a fork assembly according to yet another embodiment of the present application; FIG. 19 is a schematic structural view of a fork body, an electromagnet, a guide rail, and a tension spring of a fork assembly according to yet another embodiment of the present application; FIG. 20 is a schematic structural view of a pallet in the fork assembly provided in accordance with yet another embodiment of the present application; FIG. 21 is a top view of a fork body of a fork assembly provided in accordance with yet another embodiment of the present application; fig. 22 is a partially enlarged view of a portion J in fig. 15.

Referring to fig. 14-22, in yet another possible embodiment, the locking mechanism includes a magnetically attractive assembly 100, the magnetically attractive assembly 100 being located on one of the fork body 10 and the pallet 30 and being adapted to attract the other; when the tray 30 extends out to a preset length, the fork body 10 and the tray 30 are attracted by the magnetic attraction assembly 100, so that the tray 30 and the guide rail 41 are locked relatively. Wherein the preset length may be determined according to a distance between the fork assembly and the shelf.

In this embodiment, the magnetic attraction component 100 can be located on the fork body 10, and the magnetic attraction component 100 attracts the tray 30 to lock and fix the tray 30 relative to the fork body 10. Alternatively, the magnetic attraction component 100 is located on the pallet 30, and the magnetic attraction component 100 attracts the fork body 10 to lock and fix the pallet 30 relative to the fork body 10.

When the pallet 30 is moved away from the fork body 10 and slid into abutment with the pallet, the fork arms 20 pull the container 2 from the pallet onto the pallet 30. During the process of moving the container 2 from the shelf to the pallet 30, since the pallet 30 and the pallet fork body 10 are fixed by the magnetic attraction component 100, the pallet 30 and the pallet fork body 10 are locked relatively, and the pallet 30 is kept at the protruding length and can not be retracted; at this moment, can be with tray 30 butt on the goods shelves for fork subassembly and goods shelves form a whole, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly had just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby has improved the stability when getting put goods.

When the fork arm 20 finishes taking the goods and the container 2 moves to the pallet 30, the magnetic attraction component 100 contacts and attracts, the fork body 10 and the pallet 30 are released from being fixed, and the pallet 30 can slide relative to the guide rail 41 to enable the pallet 30 to be separated from the shelf.

As shown in fig. 19-20, in the present embodiment, the magnetic attraction assembly 100 includes a control member, an electromagnet 110 and a detection member 120; the detecting member 120 is electrically connected to the control member for detecting the position of the tray 30; the control member is used for controlling the electromagnet 110 to adsorb the fork body 10 or the pallet 30 when the pallet 30 extends out of a preset length.

In the present embodiment, the fork main body 10 and the pallet 30 may be made of iron or the like that can be attracted to the electromagnet 110. The sensing member 120 may be a contact sensor, a photoelectric switch, or a hall sensor, and the control member controls the electromagnet 110 to attract the fork body 10 or the tray 30 when the sensing member 120 is in contact with the shelf. When the container 2 moves to the pallet 30, the control member controls the electromagnet 110 to be powered off, and the attraction force of the electromagnet 110 is eliminated, so that the fork body 10 and the pallet 30 are released from being fixed.

As shown in fig. 16 and 21, the fork body 10 is provided with a first area 102, the pallet 30 has a second area 302 opposite to the first area 102, when the pallet 30 extends out by a preset length, the first area 102 overlaps the second area 302, and the electromagnet 110 is located on the first area 102 or the second area 302. Thereby, the electromagnet 110 can attract the fork main body 10 or the pallet 30, and the pallet 30 is locked and fixed to the fork main body 10.

Specifically, the first area 102 may be located on the bottom wall 11 of the fork, the second area 302 may be located on the bottom wall 31 of the pallet, the electromagnet 110 is located at the middle of the first area 102 near the opening, and the detecting member 120 is located at the bottom wall 31 of the pallet near the opening. By disposing the electromagnet 110 in the middle of the first region 102 near the opening, the end surface of the electromagnet 110 can be flush with the end surface of the fork bottom wall 11, thereby facilitating the installation of the electromagnet 110. The detecting member 120 is located on the tray bottom wall 31 near the opening, thereby facilitating accurate detection of the position of the tray 30 and ensuring accuracy of locking the tray 30.

With continued reference to fig. 16, the fork arm 20 of the present embodiment optionally includes an outer knuckle arm 25 and an inner knuckle arm 26 that are slidably connected in sequence, the outer knuckle arm 25 is connected to the second fork sidewall 13, and the inner knuckle arm 26 is used for clamping the cargo box 2 from both sides of the cargo box 2, so as to facilitate picking and placing the cargo box.

In another possible embodiment, the locking mechanism of the present embodiment is a passive locking mechanism, and the tray 30 is retracted to drive the locking mechanism to move, so that the locking mechanism locks the tray 30 and the fork body 10 relative to each other. Or, part of the locking mechanism is connected to the pallet 30, and the pallet 30 retracts to drive the part of the locking mechanism to move, so that the locking mechanism is locked, and the pallet 30 and the pallet fork body are locked relatively. The passive locking mechanism is driven by external force, and locking action is realized by utilizing the principle of friction self-locking.

FIG. 24 is an enlarged view of a portion C of FIG. 23; FIG. 25 is an exploded view of a tray, rail and locking mechanism provided in accordance with yet another embodiment of the present application; FIG. 26 is an isometric view of a tray, rail and locking mechanism provided in accordance with yet another embodiment of the present application; FIG. 27 is an enlarged view of a portion D of FIG. 26; FIG. 28 is a bottom view of FIG. 26; FIG. 29 is a cross-sectional view E-E of FIG. 28; fig. 30 is a partially enlarged view of a portion E in fig. 29.

Referring to fig. 23-30, in one embodiment, the locking mechanism includes a first locking member 71 and a second locking member 72, the first locking member 71 is disposed on a side of the tray 30 facing the guide rail 41, the first locking member 71 is provided with an inclined surface 711 disposed facing the guide rail 41; the second locking member 72 is disposed between the tray 30 and the rail 41, and is movable in the extending direction of the rail 41 by the tray 30 or the fork arm 20.

Specifically, the first locking member 71 and the tray 30 of the present embodiment may be integrally formed, or the first locking member 71 may be fixed on the tray 30 by welding or bolting, and after the fixing, the inclined surface of the first locking member 71 faces the guide rail 41. The second latch member 72 may be indirectly coupled to the pallet 30 or the fork arm 20 via other components and may be movable along the track 41. With the above arrangement, as shown in fig. 8, when the tray is retracted, the inclined surface 711 can press the second lock member 72 between the inclined surface 711 and the guide rail 41, and the included angle a between the inclined surface 711 and the guide rail 41 is smaller than the friction angle between the second lock member 72 and the inclined surface 711; according to the principle of friction self-locking, the tray 30 cannot be retracted continuously in the above state, and the tray 30 is locked relative to the guide rail 41. At this moment, can be with tray 30 butt on the goods shelves for fork subassembly and goods shelves form a whole, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly had just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby has improved the stability when getting put goods.

Further, with continued reference to fig. 23-27, the first locking member 71 in this embodiment may be a wedge fixedly connected to a side of the tray 30 facing the guide rail 41, and in this embodiment, the wedge may be fixed to the tray 30 by a plurality of screws. The first locking member 71 is located between the two sliders 42, and the inclined surface 711 of the first locking member 71 is disposed toward the slider 42 on the side away from the opening.

The second locking member 72 may be a cylindrical pin, the axis of which is perpendicular to the extending direction of the guide rail 41, the cylindrical pin can slide on the guide rail 41, and the second locking member 72 is located between the first locking member 71 and the slider 42 on the side facing away from the opening.

The locking mechanism further comprises an unlocking plate 73, the unlocking plate 73 comprises an unlocking plate body 731, the unlocking plate body 731 can be a sheet metal part and is generally in a plate shape, and the specific shape and the structure can be set as required. In this embodiment, the unlocking plate body 731 is disposed on one side of the tray 30 facing the guide rail 41, two first fixing lugs 733 are disposed on one side of the unlocking plate body 731 facing away from the tray 30, the two first fixing lugs 733 are respectively disposed on two sides of the extending direction of the guide rail 41, and the cylindrical pin is disposed on the two first fixing lugs 733 in a penetrating manner.

The unlocking plate 73 is movable in the extending direction of the guide rail 41 by the tray 30 or the fork arm 20.

Further, as shown in fig. 23 to 26, the fork arm 20 of the present embodiment is provided with a first unlocking portion 21 facing the rail 41; the unlocking plate body 731 is further provided with a second unlocking part 732 on a side facing the tray 30, and when the fork arm 20 is retracted, the first unlocking part 21 can be abutted against the second unlocking part 732, so that the second locking member 72 is separated from the first locking member 71 to unlock the tray 30, and at this time, the tray 30 can be retracted along the guide rail 41.

The tray 30 is provided with a tray recovery hook 331, and when the tray is extended, the tray recovery hook 331 can abut against the second unlocking part 732 to drive the second locking part 72 and the unlocking plate 73 to move along with the tray 30.

That is, in the present embodiment, when the tray 30 is extended, the tray recovery hook 331 abuts on the second unlocking portion 732, and thus the second locking member 72 is driven to move together with the tray 30, and since the first locking member 71 is fixed to the tray 30, the gap between the first locking member 71 and the second locking member 72 is kept constant when the tray 30 is extended.

When the tray 30 retracts, since the tray recovery hook 331 does not drive the second unlocking part 732 to move any more, the inclined surface 711 on the first locking member 71 presses the second locking member 72 between the inclined surface 711 and the guide rail 41, so that the included angle a between the inclined surface 711 and the guide rail 41 is smaller than the friction angle between the second locking member 72 and the inclined surface 711; according to the principle of friction self-locking, the tray 30 cannot be retracted continuously in the above state, and the tray 30 is locked relative to the guide rail 41.

When unlocking is required, the fork arm 20 can be retracted so that the first unlocking portion 21 abuts against the second unlocking portion 732, thereby moving the second locking member 72 away from the first locking member 71, and the tray 30 can be smoothly retracted.

The tray recovery hook 331 of the embodiment is disposed on the second tray sidewall 33, and when the fork arm 20 retracts, the second unlocking portion 732 may abut on the tray recovery hook 31 by the first unlocking portion 21 to drive the tray 30 to retract.

Further, the first unlocking part 21 of the present embodiment includes a first plate 211 and a second plate 212 which are vertically connected, the first plate 211 is disposed parallel to the fork arm 20 and is fixedly connected to the fork arm 20, the second plate 212 is perpendicular to the first plate 211, and a side of the second plate 212 facing the second unlocking part 732 is provided with a cushion 22. The second plate 212 is a plate that contacts the second unlocking portion 732, and the shock force can be effectively reduced by providing the buffer member 22, which is advantageous to increase the service life.

The second unlocking part 732 includes two third plates 7321 and a fourth plate 7322, the fourth plate 7322 is parallel to the second plate 212, two ends of the fourth plate 7322 are respectively connected to the two third plates 7321 perpendicularly, the two third plates 7321 both extend toward the side of the fourth plate 7322 away from the second plate 212, and the third plate 7321 near the side of the unlocking plate body 731 is fixedly connected to the unlocking plate body 731.

The two third flat plates 7321 and the fourth flat plate 7322 jointly form a structure with a C-shaped cross section, the tray recovery hook 31 is parallel to the fourth flat plate 7322, and when the second unlocking part 732 abuts against the tray recovery hook 31, the tray recovery hook 31 is located in a space surrounded by the fourth flat plate 7322 and the two third flat plates 7321 and abuts against the fourth flat plate 7322, thereby ensuring the stability of connection between the fourth flat plate 7321 and the fourth flat plate 7322.

Preferably, as shown in fig. 27, the unlocking plate 73 of the present embodiment can also achieve movement within a certain range with respect to the tray 30. Specifically, the locking mechanism further comprises a spring support 74, the spring support 74 is fixed on the tray 30, and a spring 75 is arranged on the spring support 74; a second fixing lug 734 is further arranged on one side of the unlocking plate body 731 facing the guide rail 41, one end of the spring 75 is fixed on the spring bracket 74, and the other end of the spring 75 is fixed on the second fixing lug 734; the unlocking plate body 731 is further provided with a long hole 7311, the long hole 7311 is arranged along the extending direction of the guide rail 41, one side of the tray 30 facing the guide rail 41 is provided with a first pin shaft, the first pin shaft penetrates through the long hole 7311 and then is fixedly connected with the spring support 74, and the first pin shaft can slide along the long hole 7311. With the above arrangement, when the fork arm 20 drives the unlocking plate 73 to move, the unlocking plate 73 can slide along the long hole 7311 by using the first pin shaft, so that the first locking member 71 and the second locking member 72 are separated from each other to unlock.

FIG. 33 is an exploded view of FIG. 32; FIG. 34 is a front view schematic of FIG. 32; FIG. 35 is an enlarged view of a portion F of FIG. 34; FIG. 36 is a schematic illustration of a camshaft provided in accordance with yet another embodiment of the present application; FIG. 37 is a view of the cooperative engagement of the fork assembly of the present application with a cargo box; FIG. 38 is a cross-sectional view F-F of FIG. 37; FIG. 39 is an enlarged view of a portion G of FIG. 38 with a tray in a locked condition according to yet another embodiment of the present application; FIG. 40 is an enlarged fragmentary view of section H of FIG. 38 with the tray in a locked condition according to yet another embodiment of the present application; FIG. 41 is a view of the cam shaft in relation to the guide rail and the pallet mount when the pallet is in a locked condition according to yet another embodiment of the present application; FIG. 42 is an enlarged, fragmentary view of section G of FIG. 38 with a tray provided in accordance with yet another embodiment of the present application in an unlocked condition;

fig. 43 is a partially enlarged view of a portion H in fig. 38 when the tray provided in the embodiment of the present application is in an unlocked state.

Referring to fig. 31 to 43, in another specific embodiment, the locking mechanism includes a cam shaft 81 and a retainer, the cam shaft 81 is disposed between the guide rail 41 and the tray 30, the cam shaft 81 includes a cam shaft body 811 and a boss portion 812, the boss portion 812 is disposed in a radial direction of the cam shaft body 811 and is located on a side facing away from an extending direction of the tray 30; the maintaining member is used to provide a maintaining force to the cam shaft 81 to maintain the cam shaft 81 in contact with the tray 30.

Specifically, in the present embodiment, the diameter of the cam shaft body 811 is smaller than the gap between the tray 30 and the guide rail 41, and the sum of the distance from the boss 812 to the axis of the wheel shaft body 311 and the radius of the wheel shaft body 311 is larger than the gap between the tray 30 and the guide rail 41, so that the cam shaft 81 can abut between the tray 30 and the guide rail 41. The maintaining member serves to provide a maintaining force to the cam shaft 81, that is, a stable external force to the cam shaft 81, so that the cam shaft 81 can maintain contact with the tray 30.

By the above scheme, when the tray retracts, the tray 30 drives the cam shaft 81 to rotate, so that the protruding portion 812 abuts on the guide rail 41, and an included angle b between a connecting line of an abutting point P of the cam shaft 81 and the guide rail 41 and the axis of the cam shaft 81 and a plane normal of the guide rail 41 is smaller than a friction angle between the cam shaft 81 and the guide rail 41, or an included angle b between a connecting line of the abutting point of the cam shaft 81 and the tray 30 and the axis of the cam shaft 81 and the plane normal of the guide rail 41 is smaller than a friction angle between the cam shaft 81 and the guide rail 41; according to the principle of friction self-locking, the tray 30 can not be retracted continuously under the two states, and the tray 30 and the guide rail 41 are locked relatively. At this moment, can be with tray 30 butt on the goods shelves for fork subassembly and goods shelves form a whole, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly had just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby has improved the stability when getting put goods.

Further, as shown in fig. 33 and 35, the locking mechanism of this embodiment further includes a transmission member, the transmission member includes a cam link 82 and an unlocking link 83, an end of the cam shaft 81 is fixedly connected to a first end of the cam link 82, a second end of the cam link 82 is hinged to a first end of the unlocking link 83, a second end of the unlocking link 83 is a free end, a hinge hole 833 is further provided between the first end of the unlocking link 83 and the second end of the unlocking link 83, and the second pin 84 is hinged and fixed to the tray 30 or the guide rail 41 after passing through the hinge hole 833. Specifically, the unlocking link 83 includes a first portion 831 and a second portion 832, a first end of the unlocking link 83 is disposed on the first portion 831, a second end of the unlocking link 83 is disposed on the second portion 832, the first portion 831 is disposed obliquely to the second portion 832, a hinge hole 833 is formed at a connection portion of the first portion 831 and the second portion 832, and the second pin 84 is hinge-fixed to the tray mounting bracket 300 after passing through the hinge hole 833.

As shown in fig. 5, when the second end of the unlocking link 83 rotates around the second pin 84, the cam link 82 may be driven to rotate downward, so that the cam shaft 81 rotates clockwise, and at this time, the cam shaft 81 gradually abuts between the tray 30 and the guide rail 41, and the tray 30 is locked; when the second end of the unlocking link 83 rotates downward around the second pin 84, the cam link 82 is driven to rotate upward, so that the cam shaft 81 rotates counterclockwise, and at this time, the cam shaft 81 gradually separates from the tray 30 and the guide rail 41, and the tray 30 is unlocked and can slide along the guide rail 41.

In the present embodiment, the maintaining member is used to provide a maintaining force to the unlocking link 83, and the unlocking link 83 transmits the maintaining force to the cam shaft 81 through the cam link 82 to maintain the cam shaft 81 in contact with the tray 30.

With continued reference to fig. 33 and 35, the maintaining member of the present embodiment may be a torsion spring 86, the torsion spring 86 includes a spiral portion 861 and a first torsion arm 862 and a second torsion arm 863 connected to two ends of the spiral portion 861, the spiral portion 861 is disposed on the second pin 84, the first torsion arm 862 is fixed on the tray 30, the tray 30 is configured to provide a supporting force to the first torsion arm 862, the second torsion arm 863 is fixed at a second end of the unlocking link 83, and the unlocking link 83 is configured to provide a pressing force to the second torsion arm 863. Specifically, the first torsion spring arm 862 may be fixed above the tray mount 300, the second torsion spring arm 863 is fixed below the unlocking link 83, and the torsion spring 86 is sandwiched between the unlocking link 83 and the tray mount 300 and provides a maintaining force to the cam shaft 81 at all times.

Further, as shown in fig. 31, 38 and 39, the tray bottom wall 31 of the present embodiment is provided with a through hole 311, and when the tray 30 is locked with respect to the guide rail 41, the second end of the unlocking link 83 at least partially passes through the through hole 311. Through the scheme, when goods enter the tray 30, the unlocking connecting rod 83 can be pressed down, so that the cam shaft 81 rotates anticlockwise, and the tray 30 is unlocked.

Referring to fig. 33, in the present embodiment, a first roller mounting hole 834 is further disposed at the second end of the unlocking link 83, a first roller shaft 835 is fixedly connected in the first roller mounting hole 834, a first roller 85 is sleeved at an end of the first roller shaft 835 departing from the unlocking link 83, and the first roller 85 can rotate around the first roller shaft 835; when the tray 30 is locked relative to the guide rail 41, the first roller 85 is at least partially inserted through the through hole 311.

Through setting up first gyro wheel 85 can reduce the frictional force between goods and the unblock connecting rod 83 to reduce the contact degree of difficulty of the two, make the goods that get into in the tray 30 can be smooth push down unblock connecting rod 83, realize the unblock of tray 30.

As shown in fig. 31 to 33, the axial direction of the cam shaft 81 of the present embodiment is perpendicular to the extending direction of the guide rail 41, and a transmission member and a holding member are connected to both ends of the cam shaft 81. The supporting force and the unlocking force can be better provided for the cam shaft 81 by arranging the supporting pieces at both ends of the cam shaft 81, so that the aim of locking the tray 30 by using the cam shaft 81 is conveniently fulfilled.

As shown in fig. 35, two sliding blocks 42 are disposed on the guide rail 41, a cam shaft limiting groove is disposed on the tray mounting frame 300 between the two sliding blocks 42, and the cam shaft 81 is disposed in the cam shaft limiting groove. The camshaft 81 is arranged in the camshaft limiting groove, so that the camshaft 81 can be prevented from moving along the guide rail 41, and the overall stability of the lifting device is facilitated.

Referring to fig. 37-43, the locking mechanism of the present embodiment has two relative states, namely, a locked state and an unlocked state, with respect to the tray 30 and the guide rail 41.

In the locked state, as shown in fig. 38 to 41, when the second end of the unlocking link 83 extends into the tray 30, no container 2 is in the tray 30, or the container 2 is not moved to the unlocking link 83, an angle between a contact point P of the cam shaft 81 and the guide rail 41 or a connecting line of the contact point of the cam shaft 81 and the tray 30 and the axis of the cam shaft 81 and the normal line of the plane of the guide rail 41 is smaller than a friction angle between the cam shaft 81 and the guide rail 41, and according to the principle of friction self-locking, the tray 30 cannot be retracted continuously, and the tray 30 and the guide rail 41 are locked relatively. At this moment, can be with tray 30 butt on the goods shelves for fork subassembly and goods shelves form a whole, and when the fork subassembly was got goods from the goods shelves like this, the power that the target goods was applyed the fork subassembly had just become the internal force of fork subassembly and goods shelves and mutual equilibrium, therefore the fork subassembly can not produce and rock, thereby has improved the stability when getting put goods.

In the unlocked state, as shown in fig. 42-43, the cargo box 2 is moved to the unlocking link 83 and the unlocking link 83 is pressed down below the pallet 30, the cam shaft 81 and the pallet 30 or the guide rail 41 are not in contact, and the pallet 30 can continue to slide relative to the guide rail 41.

In addition, in other possible embodiments, the fork assembly of the present embodiment may also rely on the fork arms 20 to extend to a certain length to achieve the locking of the pallet 30.

FIG. 45 is an exploded view of a fork assembly provided in accordance with yet another embodiment of the present application; FIG. 46 is an enlarged view of a portion I of FIG. 45; FIG. 47 is a schematic structural view of a locking assembly of the fork assembly provided in accordance with yet another embodiment of the present application; FIG. 48 is an exploded view of a locking assembly of a fork assembly provided in accordance with yet another embodiment of the present application.

44-48, in one possible embodiment, the locking mechanism includes a locking member 91 and a mating member 92, the locking member 91 is disposed on the side of the bottom fork wall 11 facing the pallet 30, and the mating member 92 is disposed on the side of the bottom pallet wall 31 facing the bottom fork wall 11; a first side of the locking member 91 is positioned between the bottom fork wall 11 and the engagement member 92, and a second side of the locking member 91 is positioned between the bottom fork wall 11 and the fork arm 20 and abuts against the fork arm 20; when the cargo yoke 20 and the tray 30 are extended, the cargo yoke 20 drives the locking member 91 to move towards the direction close to the fitting member 92, and when the tray 30 is extended to a preset length, the first side of the locking member 91 is engaged with the fitting member 92, so that the tray 30 and the guide rail 41 are locked relatively.

This embodiment is when fork arm 20 and tray 30 stretch out, and fork arm 20 drives the direction removal that locking piece 91 orientation is close to fitting piece 92, stretches out to when with the goods shelves butt at tray 30, and locking piece 91's first side and fitting piece 92 block to can prevent that tray 30 from rocking getting goods in-process production, and then be favorable to improving the stability when fork subassembly gets the goods.

Optionally, the locking member 91 includes a triggering portion 911 and a locking portion 912, the triggering portion 911 is located between the bottom fork wall 11 and the fork arm 20, and the locking portion 912 is located between the bottom fork wall 11 and the pallet 30. The trigger portion 911 abuts a surface of the fork arm 20 facing the fork bottom wall 11. In the process of extending the fork arm 20, the trigger part 911 moves along the abutting surface of the fork arm 20; when fork arm 20 stretches out when targetting in place, tray 30 also stretches out to with the goods shelves butt, at this moment, trigger portion 911 can drive locking portion 912 and move and with fitting piece 92 block towards the direction that is close to fitting piece 92 to with tray 30 locking in the position with the goods shelves butt, and then be favorable to guaranteeing the stability of tray 30 at the in-process of getting goods.

During the concrete implementation, when fork arm 20 and tray 30 stretched out, fork arm 20 can drive trigger portion 911, and trigger portion 911 can drive locking portion 912 and move and with fitting piece 92 block towards the direction that is close to fitting piece 92 to realize locking tray 30's purpose. When the cargo yoke 20 and the tray 30 are retracted, the cargo yoke 20 can drive the triggering portion 911, and the triggering portion 911 can drive the locking portion 912 to move towards a direction away from the engaging member 92 and disengage from the engaging member 92, so that the locking state of the tray 30 is released, and the tray 30 can be retracted smoothly.

Optionally, the locking mechanism may further include a mounting seat 93, the mounting seat 93 includes a mounting seat side wall and a mounting seat top wall, a bottom end of the mounting seat side wall is connected to the bottom wall 11 of the fork, and the mounting seat top wall is connected to a top end of the mounting seat side wall. For example, the side wall of the mounting seat can completely surround the top wall of the mounting seat, or can partially surround the top wall of the mounting seat; the bottom end of the side wall of the mounting seat and the bottom wall 11 of the fork can be connected through a fastener or can be connected through welding. A limiting space is formed between the mounting seat side wall, the mounting seat top wall and the pallet fork bottom wall 11, the bottom end of the locking piece 91 is located in the limiting space, the top end of the locking piece 91 upwards extends out of the mounting seat top wall, and the locking piece 91 can move up and down relative to the mounting seat 93 under the driving of the pallet fork arm 20. By providing the mounting seat 93, on the one hand, the mounting and arrangement of the locking member 91 is facilitated; on the other hand, it is advantageous to improve the reliability of the installation of the lock member 91.

Optionally, a trigger through-hole 931 and a locking through-hole 932 penetrating through the top wall of the mounting seat are disposed on the top wall of the mounting seat 93. The locking piece 91 further includes a connecting portion 913, the triggering portion 911 and the locking portion 912 are both disposed on the connecting portion 913, and the connecting portion 913 is located in the limiting space. The trigger part 911 protrudes from the top wall of the mounting seat through the trigger through hole 931, and the trigger part 911 is movable relative to the trigger through hole 931, and for example, the trigger part 911 may be a cylindrical shape and the trigger through hole 931 may be a circular through hole matching the cylindrical trigger part. The locking portion 912 extends out of the top wall of the mounting base via a locking through hole 932, and the locking portion 912 is movable relative to the locking through hole 932. for example, the locking portion 912 may have a quadrangular prism shape, and the locking through hole 932 may have a quadrangular shape matching the quadrangular prism-shaped locking portion. Of course, the triggering portion 911 and the triggering through hole 931 can be set to other shapes according to actual needs, and the locking portion 912 and the locking through hole 932 can also be set to other shapes according to actual needs, as long as the requirements of the present embodiment can be met, and the description is omitted here.

The limiting space can limit the moving range of the connecting part 913, and on one hand, the telescopic lengths of the triggering part 911 and the locking part 912 can be controlled, so that the reliability that the locking piece 91 extends out and locks the tray 30 is guaranteed; on the other hand, the trigger portion 911 and the lock portion 912 can be positioned and guided by the connecting portion 913, and the lock member 91 can be prevented from being locked.

In specific implementation, the fork arm 20 can push the triggering portion 911, the triggering portion 911 pushes the connecting portion 913, and the connecting portion 913 drives the locking portion 912 to move toward a direction away from the mating member 92, so as to disengage from the mating member 92, thereby enabling the tray 30 to be in a state of being capable of freely extending and retracting. Alternatively, the fork arm 20 may release the pushing of the triggering portion 911, so that the triggering portion 911 may drive the connecting portion 913, and the connecting portion 913 drives the locking portion 912 to move toward the direction close to the mating member 92, so as to engage with the mating member 92, thereby achieving the purpose of locking the tray 30.

In an alternative implementation manner, the locking mechanism further includes an elastic member 94, the elastic member 94 is sleeved on a portion of the triggering portion 911 extending out of the limiting space, one end of the elastic member 94 abuts against the mounting seat 93, the other end of the elastic member 94 abuts against one end of the triggering portion 911 far away from the mounting seat 93, and the elastic member 94 has a tendency of pushing the locking portion 912 to move towards the direction close to the mating member 92.

In concrete implementation, when the fork arm 20 pushes the triggering portion 911, the elastic member 94 is compressed, the triggering portion 911 pushes the connecting portion 913, and the connecting portion 913 drives the locking portion 912 to move toward a direction away from the mating member 92, so as to disengage from the mating member 92, thereby enabling the tray 30 to be in a freely retractable state. When the fork arm 20 loosens the pushing of the triggering portion 911, the triggering portion 911 can extend out toward the direction away from the mounting seat 93 under the elastic force of the elastic member 94, and simultaneously drives the connecting portion 913, and the connecting portion 913 drives the locking portion 912 to move toward the direction close to the mating member 92, so as to engage with the mating member 92, thereby achieving the purpose of locking the tray 30.

In another alternative implementation, a resilient member may be provided between the connecting portion and the bottom fork wall 11, such that when the fork arm 20 pushes against the triggering portion 911 and the triggering portion 911 pushes against the connecting portion 913, the resilient member 94 is compressed; when the fork arm 20 releases the pushing of the triggering portion 911, the elastic member 94 can push the connecting portion 913, and the connecting portion 913 pushes the locking portion 912 to engage with the engaging member 92, so as to lock the tray 30. Of course, the elastic element 94 may have other arrangement modes according to actual needs, as long as the requirements of the present embodiment can be met, and the description is omitted here.

Alternatively, the elastic member 94 is a coil spring. Of course, the elastic member may be of other types according to actual needs, as long as the requirements of the present embodiment can be met, and the details are not described herein.

Optionally, the locking mechanism may further include a second roller 95, the second roller 95 is disposed at one end of the trigger portion 911 facing the cargo fork arm 20, and the second roller 95 may roll along the telescopic direction of the cargo fork arm 20 to reduce the friction resistance between the cargo fork arm 20 and the trigger portion 911, so as to ensure smooth telescopic movement of the cargo fork arm 20, and ensure that the cargo fork arm 20 pushes against the trigger portion 911 to lock the tray 30 or release the reliability of locking the tray 30.

In an alternative implementation manner, the matching element 92 is a clamping element, and one surface of the locking portion 912 facing the matching element 92 is a clamping structure matched with the clamping element, so as to achieve the engagement between the locking portion 912 and the matching element 92 or release the engagement.

Illustratively, the latch member may be a rack, and a surface of the locking portion 912 facing the engaging member 92 has a tooth-shaped structure matching with the rack. The length of the rack may be greater than the length of the locking portion 912 along the extension direction of the tray 30, so as to ensure the reliability of the locking portion 912 and the rack. Of course, the engaging element 92 and the locking portion 912 may be configured as other structures that can be engaged with and disengaged from each other according to actual needs, as long as the requirements of the present embodiment can be met, and the details are not described herein.

In another alternative implementation manner, a structure capable of engaging with or disengaging from the locking portion 912 may be directly disposed at a position of the tray 30 corresponding to the locking portion 912, and for example, a groove or a through hole may be disposed at a position of the tray 30 corresponding to the locking portion 912, and the locking portion 912 is configured to be capable of extending into the groove or the through hole, so that the locking mechanism can achieve the purpose of locking the tray 30 without providing a separate fitting member.

Optionally, along the extending direction of the fork arm 20, one side of the fork arm 20 facing the fork bottom wall 11 is sequentially provided with a first triggering surface 23 and a second triggering surface 24, the distance between the first triggering surface 23 and the fork bottom wall 11 is greater than the distance between the second triggering surface 24 and the fork bottom wall 11, and the first triggering surface 23 and the second triggering surface 24 are connected through a connecting inclined surface 213. The second trigger surface 24 is used for pushing the trigger part 911 so as to disengage the locking part 912 from the fitting part 92; the first trigger surface 23 is used to release the trigger portion 911 so that the lock portion 912 engages with the mating member 92.

In the specific implementation, the process of extending the fork assembly to pick up goods is taken as an example for explanation: when the pallet is not taken, the second trigger surface 24 of the fork arm 20 pushes against the trigger portion 911, the trigger portion 911 drives the locking portion 912 to be away from the pallet 30 through the connecting portion 913, and at this time, the positions of the locking portion 912 and the matching portion 42 are also in a state of being staggered from each other, so that the pallet 30 can be smoothly extended. When goods are taken, the fork arms 20 and the tray 30 extend outwards, the tray 30 stops extending after extending for a preset length, and at the moment, the position of the fitting piece 92 corresponds to that of the locking part 912; the fork arm 20 can continue to stretch out one section after the tray 30 stops stretching out, in the process that the fork arm 20 stretches out, the second gyro wheel 95 at trigger portion 911 top rolls along second trigger surface 24 and gets into first trigger surface 23 after connecting inclined plane 213, at this moment, trigger portion 911 can stretch out towards the direction that is close to first trigger surface 23 under the effect of elastic component 94, and drive locking portion 912 and cooperation piece 92 block through connecting portion 913, the tray 30 is locked in the position of stretching out, so that the fork arm 20 transfers the target object to the tray 30, thereby can place the tray 30 and rock, influence the stability and the reliability of fork subassembly. The return process after the fork assembly picks up the goods can refer to the description of the extending goods picking process, and the details are not repeated herein.

Optionally, the fork arm 20 includes an outer arm 25 and at least one inner arm 26, and the outer arm 25 and the at least one inner arm 26 are telescopically connected in sequence from a position close to the side of the fork body 10 to a position far away from the side of the fork body 10. The outer joint arm 25 is telescopically installed on the side surface of the pallet fork body 10, and the outer joint arm 25 is abutted to the locking mechanism to trigger the locking mechanism. Illustratively, the first trigger surface 23, the second trigger surface 24, and the connecting ramp 213 are formed on a side of the outer link arm 25 facing the fork body 10.

Example two

Referring to fig. 49, the present embodiment provides a transfer robot 1000, which includes a supporting base 1100, a lifting device 1200 and the fork assembly 1 of the first embodiment, wherein the lifting device 1200 and the fork assembly 1 are disposed on the supporting base 1100, and the lifting device 1200 is connected to the fork assembly 1 for driving the fork assembly 1 to lift relative to the supporting base 1100.

The supporting base 1100 is a supporting structure of the transfer robot 1000, and is used for supporting and carrying other components and/or devices of the transfer robot 1000 for walking, in this embodiment, the supporting base 1100 can move along with the fork assembly 1, and when a target cargo is stored on the fork assembly 1, the target cargo can also be moved along with the target cargo. Elevating gear 1200 can include motor, action wheel, follow driving wheel and drive belt, of course, elevating gear 1200's constitution and mounting means also can set up according to actual need, as long as can drive fork subassembly 1 and go up and down for supporting seat 1100, and it is no longer repeated here. The transfer robot 1000 may further include a storage rack 1300, the storage rack 1300 may include a plurality of storage units, and the lifting device 1200 may drive the fork assembly 1 to move up and down, so that the fork assembly 1 is aligned with any one of the storage units on the storage rack 1300, or aligned with a rack and/or goods, so as to transfer goods between the rack and the storage unit.

The transfer robot that this embodiment provided is owing to adopted the fork subassembly of above-mentioned embodiment one, consequently can pass through locking mechanism with the tray locking, makes the tray butt in the fork subassembly on the goods shelves, and when the fork subassembly was got goods from the goods shelves, the reaction force that the target goods was applyed to the fork subassembly was transmitted for the goods shelves through the tray for the external force sum that transfer robot and goods shelves received is zero, consequently the transfer robot can not produce and rock, thereby has promoted the stability of operation.

EXAMPLE III

The embodiment provides a warehousing system, including goods shelves, the transfer robot of the second embodiment above, and the passageway that supplies the transfer robot to move, when the transfer robot moved to goods shelves side and got goods, the tray on the transfer robot can stretch out and support with goods shelves butt and relative fork body locking.

Specifically, can be equipped with a plurality of storage cell check that are used for the storage goods in the goods shelves of this embodiment, transfer robot can move to the goods shelves side along the passageway, can utilize elevating gear to rise the fork subassembly to a take the altitude after transfer robot moves to target in place to the fork subassembly is deposited the target goods in the storage cell check or is taken out the target goods from the storage cell check. When the target goods are taken out, the tray of the fork assembly is locked through the locking mechanism and is abutted against the goods shelf, so that the goods shelf and the fork assembly are connected into a whole. Therefore, when the fork assembly takes goods from the goods shelf, the reaction force of the target goods received by the fork assembly is changed into the internal force of the carrying robot and the goods shelf, and the carrying robot can not shake, so that the stability of operation is improved.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that, in the description of the present application, the terms "first" and "second" are used merely for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

The embodiments or implementation manners in the present application are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments can be referred to each other.

In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this application, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A pallet fork assembly, comprising:

a fork body having an opening;

2. The fork assembly of claim 1, wherein the locking mechanism is an active locking mechanism that applies a pre-load to the pallet when the pallet is extended a predetermined length to lock the pallet relative to the fork body.

3. The fork assembly of claim 2, wherein the locking mechanism comprises a brake pad disposed on the pallet, a friction pad disposed on the drive member, and a drive member, wherein the drive member drives the friction pad into abutment with the brake pad when the pallet is extended a predetermined length, thereby locking the pallet relative to the fork body.

4. The fork assembly of claim 2, wherein the locking mechanism comprises a telescoping member mounted on the pallet and extendable or retractable with the pallet and a controller; the controller is connected the extensible member, the controller is used for controlling the extensible member to be locked when the tray extends out of the preset length, and therefore the tray and the fork body are locked relatively.

5. The fork assembly of claim 2, wherein the locking mechanism comprises a magnetically attractive assembly on one of the fork body and the pallet that can attract the other; when the tray stretches out the preset length, the fork body and the tray are attracted by the magnetic attraction assembly, so that the tray and the fork body are locked relatively.

6. The fork assembly of claim 1, wherein the locking mechanism is a passive locking mechanism, wherein retraction of the pallet moves the locking mechanism such that the locking mechanism locks the pallet relative to the fork body;

7. The fork assembly of claim 6, further comprising a fork arm and a rail disposed within the fork body, the fork arm being extendable and retractable relative to the fork body, the rail extending parallel to the extension and retraction of the fork arm;

8. The fork assembly of claim 6, further comprising a fork arm and a rail disposed within the fork body, the fork arm being extendable and retractable relative to the fork body, the rail extending parallel to the extension and retraction of the fork arm;

9. The fork assembly of claim 1, further comprising a fork arm and a rail disposed within the fork body, the fork arm being extendable and retractable relative to the fork body, the rail extending parallel to the extension and retraction of the fork arm;

10. A transfer robot comprising a support base, a lifting device and a fork assembly as claimed in any one of claims 1 to 9, the lifting device and the fork assembly being provided on the support base, the lifting device being connected to the fork assembly for driving the fork assembly to lift relative to the support base.

11. A warehousing system characterized by comprising a pallet, the transfer robot of claim 10 and a passage for movement of the transfer robot, the pallet on the transfer robot being extendable to abut the pallet and locked relative to the fork body when the transfer robot moves beside the pallet to pick up a product.