CN219585769U

CN219585769U - Fork device and storage robot

Info

Publication number: CN219585769U
Application number: CN202223609496.1U
Authority: CN
Inventors: 詹庆鑫; 张晓东
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-08-25
Anticipated expiration: 2032-12-30

Abstract

The application relates to a fork device and a storage robot. The fork device comprises a fork main body, a fork assembly and a fork assembly, wherein the fork main body comprises a base, a tray supported on the base and a telescopic assembly, the tray is supported on the base, and the telescopic assembly comprises a fetching mechanism connecting piece which can extend or retract relative to the tray along the goods moving direction; the goods taking mechanism is detachably arranged on the goods taking mechanism connecting piece; the picking comprises the following steps: a first picking mechanism including a first picking member for acting on the cargo in a first manner; or a second picking mechanism comprising a second picking member for acting on the cargo in a second manner different from the first manner. According to the scheme provided by the application, different goods taking mechanisms can be conveniently replaced on the fork main body, and the carrying difficulty of goods with different specifications is reduced.

Description

Fork device and storage robot

Technical Field

The application relates to the technical field of storage equipment, in particular to a fork device and a storage robot.

Background

Along with the development of the warehouse logistics industry, the carrying of the warehouse cargo boxes is generally realized by using a carrying robot, and the carrying robot can greatly improve the carrying efficiency of warehouse logistics.

In the related art, the carrying robot can only be used for scenes with the same container size specification, when the container size specification is different, the fork of the carrying robot is generally placed according to the size of the largest container when taking and placing the container, and the small-size containers are difficult to be compatible, so that the interval between the containers is overlarge, the storage density is reduced, and the storage cost is increased; meanwhile, as the fork of the transfer robot in the related art can only pick and place containers with the same specification, the transfer difficulty of containers with multiple specifications is high.

Disclosure of Invention

In order to solve or partially solve the problems in the related art, the utility model provides a fork device and a storage robot, which can conveniently replace different goods taking mechanisms on a fork main body and reduce the carrying difficulty of goods with different specifications.

A first aspect of the present utility model provides a fork assembly comprising:

the fork main body comprises a base, a tray supported on the base and a telescopic assembly, wherein the tray is supported on the base, and the telescopic assembly comprises a fetching mechanism connecting piece which can extend or retract relative to the tray along the goods moving direction; the method comprises the steps of,

Get goods mechanism, get goods mechanism detachably install in get goods mechanism connecting piece: the goods taking mechanism comprises: a first picking mechanism including a first picking member for acting on the cargo in a first manner; or a second picking mechanism comprising a second picking member for acting on the cargo in a second manner different from the first manner.

In one embodiment, the first picking mechanism includes a hook assembly; and/or

The second cargo taking mechanism comprises a sucker assembly.

In one embodiment, the first and/or second pickers act on a unidirectional surface of the cargo.

In one embodiment, the first picker acts on a unidirectional surface of the cargo and the second picker acts on at least two directional surfaces of the cargo.

In one embodiment, two telescopic assemblies are provided, and two telescopic assemblies are respectively arranged at two sides of the tray and are respectively provided with two telescopic assemblies and two goods taking mechanism connecting pieces;

the telescopic components are driven by the telescopic driving pieces through telescopic transmission mechanisms, and the telescopic transmission mechanisms of the telescopic components on two sides of the tray are synchronously driven by the single telescopic driving pieces.

In one embodiment, the first picking mechanism is detachably mounted on a first mounting bracket, the second picking mechanism is detachably mounted on a second mounting bracket, and the first mounting bracket and the second mounting bracket are respectively provided with a mounting part matched with the connecting piece of the picking mechanism; or (b)

The first goods taking mechanism or (and) the second goods taking mechanism are detachably arranged on a third mounting bracket, and the third mounting bracket is provided with a mounting part matched with the goods taking mechanism connecting pieces on two sides of the tray.

In one embodiment, the telescopic assembly comprises a second guide rail arranged along the goods moving direction, the goods taking mechanism connecting piece is connected with a second sliding piece in sliding fit with the second guide rail, and the goods taking mechanism connecting piece is connected with the tray in a sliding mode through the second sliding piece. In one embodiment, the telescopic transmission mechanism comprises a belt transmission mechanism, the belt transmission mechanism comprises a telescopic driving wheel, a telescopic driven wheel and a synchronous belt wound around the telescopic driving wheel and the telescopic driven wheel, and the telescopic driving wheel is connected with an output shaft of the telescopic driving piece; the synchronous belt is provided with a linear running part running along the goods moving direction, and the first sliding piece is connected with the linear running part.

In one embodiment, the telescoping assembly includes a first rail and a second rail disposed in parallel along the direction of travel; the goods taking mechanism connecting piece is connected with the tray in a sliding way through the first guide rail and a first sliding piece in sliding fit with the first guide rail, the tray is connected with the base in a sliding way through the second guide rail and a second sliding piece in sliding fit with the second guide rail,

in one embodiment, a linkage assembly is arranged between the goods taking mechanism and the tray, and the goods taking mechanism drives the tray to extend and/or retract through the linkage assembly in the extending and/or retracting process; the linkage assembly is arranged between the goods taking mechanism and the tray, and the goods taking mechanism drives the tray to extend and/or retract through the linkage assembly in the extending and/or retracting process.

In one embodiment, the linkage assembly comprises two linkage triggering pieces arranged on the tray and a linkage matching piece fixedly arranged relative to the goods taking mechanism;

the two linkage triggering pieces are respectively arranged at two ends of the tray along the goods moving direction, and the linkage matching piece is arranged between the two linkage triggering pieces; when the linkage matching piece moves to a preset position along with the goods taking mechanism in the extending or retracting direction, the linkage matching piece can be abutted to the corresponding linkage triggering piece so as to drive the tray to extend or retract.

In one embodiment, the device further comprises a locking mechanism arranged between the tray and the base, wherein the locking mechanism comprises a connecting rod assembly arranged on the tray and a locking piece arranged on the connecting rod assembly, the locking piece is used for being locked with or separated from the base, and the two linkage triggering pieces are arranged on the connecting rod assembly; when the linkage matching parts are respectively abutted against the two linkage triggering parts, the connecting rod assembly is driven to move along the extending or retracting direction, so that the locking part is locked or separated from the base.

In one embodiment, the locking mechanism further comprises an unlocking trigger piece, wherein the unlocking trigger piece is in transmission fit with the locking mechanism; when the goods taking mechanism pulls goods to touch the unlocking trigger piece, the unlocking trigger piece drives the locking mechanism to move, so that the locking piece and the base are unlocked.

In one embodiment, the base is provided with a latch plate, and the latch plate is provided with a plurality of latches along the goods moving direction; when the linkage matching piece drives the connecting rod assembly to move along the extending or retracting direction, the connecting rod assembly drives the locking piece to move towards the direction close to or far away from the clamping tooth plate along the direction forming an included angle relative to the goods moving direction, so that the locking piece is clamped between two adjacent clamping teeth or separated from the clamped clamping teeth.

In one embodiment, the link assembly comprises a first link, a second link, a third link and a fourth link which are sequentially and rotatably connected, the first link is fixed on the tray, the two linkage triggering pieces are respectively arranged on the second link and the fourth link, and the locking piece is arranged on the first link and the third link;

the lengths of the first connecting rod and the third connecting rod are longer than those of the second connecting rod and the fourth connecting rod.

In some embodiments, the first picking mechanism includes a claw assembly including at least one claw directly connected to the first mounting bracket and located between two sides of the tray so as to be opposite to the goods in the transferring direction.

In one embodiment, the first picking mechanism includes a hook assembly;

the hook component comprises a hook driving piece and at least one hook, and the at least one hook is connected with an output shaft of the hook driving piece;

the hook claw is arranged between two sides of the tray above the tray so as to be opposite to the goods along the goods moving direction;

the hook claw driving piece is used for driving the hook claw to ascend or descend along the vertical direction so as to enable the hook claw to be engaged with or disengaged from the goods.

In one embodiment, the second cargo handling mechanism includes a suction cup assembly;

the sucking disc assembly comprises a pneumatic control assembly and at least one sucking disc, wherein the at least one sucking disc is connected with the pneumatic control assembly, and the pneumatic control assembly is used for controlling the gas circulation state in the at least one sucking disc so as to enable the sucking disc to be adsorbed or separated from a container;

the sucking disc is arranged between two sides of the tray above the tray so as to be opposite to the goods along the goods moving direction.

In one embodiment, the base comprises a fixed seat and a rotating frame, wherein the rotating frame is rotatably installed on the fixed seat, and the tray and the telescopic component are installed on the rotating frame;

the rotating frame is driven by a rotary driving piece through a rotary transmission mechanism;

the rotary transmission mechanism comprises a rotating piece, a rotary driving wheel, a rotary driven wheel and a transmission piece wound on the rotary driving wheel and the rotary driven wheel, and the rotary frame is connected with the fixed seat through the rotating piece;

the rotary driving wheel is fixed on an output shaft of the rotary driving piece, and the rotary driven wheel is fixedly arranged relative to the rotary frame and is coaxially arranged with the rotary piece.

In one embodiment, the rotary driving wheel is a driving sprocket and the rotary driven wheel is a driven sprocket; the rotary driving wheel is connected with the rotary driven wheel through a chain;

in one embodiment, the rotary transmission mechanism further comprises a tensioning device, the tensioning device comprises a chain tensioning rod fixed on the rotary frame and a chain tensioning spring sleeved on the chain tensioning rod, one end of the chain tensioning spring is abutted to the mounting seat of the driving sprocket, and the other end of the chain tensioning spring is abutted to the rotary frame.

In one embodiment, the rotating frame comprises a rotating support plate, two fixing plates arranged on two sides of the rotating support plate, and a mounting frame arranged on one end, far away from goods, of the rotating support plate along the goods moving direction; wherein:

the telescopic components are correspondingly arranged on each fixed plate, and the rotary supporting plates are rotatably arranged on the fixed seats; and/or the number of the groups of groups,

the rotary driving piece and the telescopic driving piece for driving the telescopic assembly are arranged on the mounting frame; and the mounting frame is also provided with a control device, and the rotary driving piece and the telescopic driving piece are electrically connected with the control device.

In one embodiment, the belt tensioning device further comprises a tensioning adjusting mechanism, the tensioning adjusting mechanism comprises a guide rod mounted on the rotating frame, a synchronous belt tensioning spring is sleeved on the guide rod, the belt transmission mechanism further comprises a tensioning wheel, one end of the synchronous belt tensioning spring abuts against the rotating frame, and the other end of the synchronous belt tensioning spring abuts against the tensioning wheel.

A second aspect of the present application provides a warehousing robot comprising a fork arrangement as described above.

The technical scheme provided by the application can comprise the following beneficial effects:

the application provides a fork device, which comprises a fork main body, a fork assembly and a fork assembly, wherein the fork main body comprises a base, a tray supported on the base and a telescopic assembly, the tray is supported on the base, and the telescopic assembly comprises a fetching mechanism connecting piece which can extend or retract relative to the tray along the goods moving direction; and a pick-up mechanism detachably mounted to the pick-up mechanism connector; the goods taking mechanism comprises one of the following components: a first picking mechanism including a first picking member for acting on the cargo in a first manner; and a second picking mechanism including a second picking member for effecting the cargo in a second manner different from the first manner. The fork device that this embodiment provided, because first goods taking mechanism and second get goods mechanism and install in the fork main part interchangeably, consequently can realize getting different goods mechanisms in the fork main part conveniently, because different goods taking mechanisms can dispose first goods taking piece or second and get goods piece, first goods taking piece and second get goods piece can act on the goods of corresponding specification through the mode of difference, consequently reduced the transport degree of difficulty to the goods of different specifications.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

FIG. 1 is a schematic perspective view of a fork assembly according to an embodiment of the present application;

FIG. 2 is a schematic view of the bottom structure of the fork assembly shown in the embodiment of FIG. 1;

FIG. 3 is an enlarged partial schematic view of the fork assembly shown in the embodiment of FIG. 1;

FIG. 4 is a schematic view of the structure of the rotating frame of the fork assembly shown in the embodiment of FIG. 1;

FIG. 5 is a schematic diagram illustrating the cooperation of a linkage assembly of a fork assembly with a rotating frame according to an embodiment of the present application;

FIG. 6 is a schematic view of a locking mechanism of the fork assembly according to an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating the engagement of the latch mechanism of FIG. 6 with a latch plate;

FIG. 8 is a schematic view of a first pick mechanism of a fork assembly according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a second pick mechanism of the fork assembly shown in an embodiment of the present application;

fig. 10 is a schematic structural view of a stocker robot according to an embodiment of the present application;

FIG. 11 is a simplified schematic structural view of a transfer robot according to an embodiment of the present application;

FIG. 12 illustrates a pallet with a hanging cache layer in accordance with an embodiment of the present application;

FIG. 13 is a view of the placement of a cargo box in the lifting cache floor of FIG. 12;

FIG. 14 is a schematic diagram of another structure of a suspended buffer layer according to an embodiment of the present application;

FIG. 15 is a schematic view of the structure of a cache layer of a shelf according to another embodiment of the present application;

FIG. 16 is a schematic diagram of the structure of multiple cache layers of a pallet according to an embodiment of the application;

FIG. 17 illustrates a ramp of a picking workstation in accordance with an embodiment of the present application.

Reference numerals: 100. a fixing seat; 200. a rotating frame; 210. rotating the support plate; 211. a second camera; 220. a fixing plate; 221. a first slider; 230. a tooth clamping plate; 231. latch teeth; 300. a rotary transmission mechanism; 600. a telescopic transmission mechanism; 310. a driving wheel; 311. a rotating member; 320. driven wheel; 330. a chain; 340. a chain tensioning spring; 400. a tray; 402. the front end face of the tray; 410. a first guide rail; 420. a second guide rail; 430. an empty-avoiding groove; 440. unlocking the trigger; 450. a cargo handling mechanism connector; 460. a second slider; 470. a linkage fitting; 510. a first pick module, 511, and a claw drive; 512. a hook claw; 513. a suction cup; 5121. a connection part; 5122. a sliding shaft; 5123. a bearing; 520. the second goods taking module; 530. a first mounting bracket; 531. a bracket; 540. a cover plate; 550. a second mounting bracket; 610. a telescopic driving wheel; 611. a rotating shaft; 620. a telescopic driven wheel; 630. a synchronous belt; 640. a tensioning wheel; 700. a mounting frame; 710. a rotary driving member; 720. a telescopic driving member; 711. a first controller; 721. a second controller; 730. a first camera; 740. a vertical plate; 750. mounting a beam; 760. a network connection device; 2221. a synchronous belt tensioning spring; 2222. a guide rod; 2223. a support; 2224. a first fixing member; 800. a linkage assembly; 810. a first link; 811. a second fixing member; 820. a second link; 830. a third link; 840. a fourth link; 821. a linkage trigger; 831. a locking member; 900. a storage robot; 910. a base; 920. a lifting mechanism; 930. a storage area; 940. a fork device; 941. a cargo box; 1100. a transfer robot; 1110. a movable base; 1120. a lifting mechanism; 1130. a carrying device; 1200. a goods shelf; 1210. a high-level storage space; 1220. a lower layer buffer space; 1222. a supporting plate; 1224. hoisting the component; 1226. a cross beam; 1700. a ramp.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In view of the above problems, the embodiment of the application provides a fork device, which can conveniently replace different goods taking mechanisms on a fork main body, and reduces the carrying difficulty of goods with different specifications.

The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.

Referring to fig. 1, a fork apparatus according to an embodiment of the present application includes a fork main body and a pick mechanism mounted to the fork main body.

The fork main body includes: a base, a tray 400 supported by the base, and a telescoping assembly. The pallet 400 is supported on a base, and the retraction assembly includes a picking mechanism link 450 that can be extended or retracted relative to the pallet 400 in the direction of travel X.

Get goods mechanism detachably and install in getting goods mechanism connecting piece, get goods mechanism and include: the first goods taking mechanism comprises a first goods taking piece which acts on the goods in a first mode, or the second goods taking mechanism comprises a second goods taking piece which acts on the goods in a second mode different from the first mode. It is understood that the cargo may be, for example, but not limited to, a cargo box.

The fork device that this embodiment provided, because first goods taking mechanism and second get goods mechanism and install in the fork main part interchangeably, consequently can realize getting different goods mechanisms in the fork main part conveniently, because different goods taking mechanisms can dispose first goods taking piece or second and get goods piece, first goods taking piece and second get goods piece can act on the goods of corresponding specification through the mode of difference, consequently reduced the transport degree of difficulty to different specifications goods.

In some embodiments, the first picking mechanism includes a hook assembly.

In some embodiments, the second cargo retrieval mechanism includes a suction cup assembly. In some embodiments, the first picker and/or the second picker acts on a unidirectional surface of the cargo, for example on a surface of the cargo facing in the direction of transfer X.

In some embodiments, the first picker acts on a unidirectional surface of the cargo and the second picker acts on at least two directional surfaces of the cargo. For example, the first picking member may be a claw or a suction cup acting on the surface of the goods facing the direction of transfer X; the second picking member may be a gripping arm acting on opposite sides of the load.

In this embodiment, the base includes a fixing base 100 and a rotating frame 200, and the rotating frame 200 is rotatably mounted on the fixing base 100. The tray 400 and the telescopic assembly are mounted to the rotating frame 200. The rotary frame 200 is also provided with a rotary transmission mechanism and a telescopic transmission mechanism 600. The rotating frame 200 is driven by a rotation driving member through a rotation transmission mechanism, the goods taking mechanism is connected with a goods taking mechanism connecting member 450, the goods taking mechanism connecting member 450 is connected with a telescopic transmission mechanism 600, and the goods taking mechanism connecting member 450 can move relative to the tray 400.

In this embodiment, the fork device is further provided with a driving mechanism. The driving mechanism comprises a rotary driving piece 710 and a telescopic driving piece 720, wherein the rotary driving piece 710 is in transmission connection with the rotary frame 200 through the rotary transmission mechanism 300, so that the rotary frame 200 is driven by the rotary transmission mechanism 300 to rotate relative to the fixed seat 100. The telescopic driving member 720 is connected to the telescopic driving mechanism 600, and is used for enabling the telescopic driving mechanism 600 to drive the cargo taking mechanism connecting member 450 to move relative to the rotating frame 200.

In this embodiment, the rotating frame 200 includes a rotating support plate 210, two fixing plates 220 disposed on two sides above the rotating support plate 210, and a mounting frame 700 disposed on one end of the rotating support plate 210 far away from the goods along the goods moving direction, where the fixing plates 220 can be connected with the rotating support plate 210 through screws to form a telescopic transmission mechanism. The rotary driving piece and the telescopic driving piece for driving the telescopic assembly are arranged on the mounting frame, the mounting frame is further provided with a control device, and the rotary driving piece and the telescopic driving piece are electrically connected with the control device. In some embodiments, the control device includes a first controller 711 electrically connected to the rotary driving member 710, and a second controller 721 electrically connected to the telescopic driving member 720.

The fork apparatus of this embodiment further includes a plurality of electronic components, please refer to fig. 1, 2 and 4, wherein the plurality of electronic components include a network connection device 760 and an image acquisition device, the network connection device 760 is in communication connection with a remote control device, the network connection device 760 is electrically connected with the first controller 711 and the second controller 721, and the network connection device can establish communication connection with the remote control device, so as to realize the operation of the remote control telescopic driving piece 720 and the rotary driving piece 710. The network connection device 760 includes, for example, a router.

In some embodiments, the electronic element further includes a rotation detection switch mounted on the fixing base 100 and/or the rotating frame 200, where the rotation detection switch is used to detect a position of the rotating frame, so as to accurately control rotation of the rotating frame.

In some embodiments, the fixing base and/or the rotating frame are/is provided with a rotation limiting block, and the rotation limiting block is used for limiting the rotation of the rotating frame 200 within a set range and preventing the rotating frame 200 from rotating beyond a proper position.

The rotating support plate 210 is further installed with a mounting frame 700 at one end far from the goods in the moving direction, and the mounting frame 700 includes two vertical plates 740 connected to both sides of the rotating support plate 210, and a mounting beam 750 (shown in fig. 4) is connected between the two vertical plates 740. The first controller 711, the second controller 721, the power supply controller, and the network connection device 760 may be mounted on the mounting beam 750, and the image capturing device includes a first camera 730 mounted on the top of the mounting frame 700, where the first camera 730 may be a code scanning camera for capturing identification information such as a shelf, a cargo space, and a cargo box by scanning a code.

With continued reference to fig. 4, the image capturing device further includes a second camera 211, wherein the second camera 211 is mounted in front of the rotating support plate 210, and a lens of the second camera 211 faces the front end of the tray 400, so as to identify the position of the cargo box.

In some embodiments, the electronic component further includes a cargo box detection switch for identifying a cargo box occupancy signal.

In some embodiments, the rotary driving member 710 and the telescopic driving member 720 may be motors, and the rotary driving member 710 and the telescopic driving member 720 are disposed in parallel in the vertical direction, and the rotary driving member 710 and the telescopic driving member 720 are fixed to the mounting frame 700.

Referring to fig. 2, the rotation transmission mechanism further includes a rotating member 311, and the rotating support plate 210 of the rotating frame is connected to the fixing base 100 through the rotating member 311, and the rotating member 311 may be a bearing, for example.

The rotating frame 200 is driven by a rotation driving member 710 through a rotation transmission mechanism 300. The rotation transmission mechanism 300 comprises a rotation driving wheel 310, a rotation driven wheel 320 and a transmission piece wound around the rotation driving wheel 310 and the rotation driven wheel 320. The rotary driving wheel 310 is fixed to an output shaft of the rotary driving member 710, and the rotary driven wheel 320 is fixedly disposed with respect to the rotary support plate 210 and is coaxial with the rotary member 311. The rotary driving wheel 310 can drive the rotary driven wheel 320 to rotate through the transmission member, so that the rotary supporting plate 210 rotates relative to the fixed seat 100.

In some embodiments, the rotary driving wheel 310 is a driving sprocket, the rotary driven wheel 320 is a driven sprocket, and the driving member may be a chain 330 wound around the driving sprocket 310 and the driven sprocket 320.

It will be appreciated that in other embodiments, the rotary drive 300 may be a belt drive, a gear drive, or the like.

In some embodiments, the rotation transmission mechanism 300 further comprises a tensioning device. The tensioning device comprises a chain tensioning rod fixed on the rotating frame and a chain tensioning spring 340 sleeved on the chain tensioning rod, one end of the chain tensioning spring is abutted against the mounting seat of the driving sprocket, and the other end of the chain tensioning spring is abutted against the rotating frame 200.

Referring to fig. 1 and 2, in the specific example shown in the drawings, a rotation member 311, such as a rotation bearing, is installed at the center of the rotation frame 200. The outer ring of the swivel bearing 311 is fixedly mounted to the fixing base 100, and the inner ring of the swivel bearing 311 is fixedly mounted to the swivel support plate 210.

The diameter of the driving sprocket 310 is smaller than the diameter of the driven sprocket 320. The driven sprocket 320 is fixedly mounted to the rotating frame 200, for example, on the rotating support plate 210. The chain tension lever is fixedly installed at the rear end of the rotary support plate 210 and extends in the transporting direction X. The chain tension spring 340 is sleeved on the chain tension rod, and the chain tension spring 340 is configured to slide on the chain tension rod. One end of the chain tension spring 340 abuts against the vertical sidewall of the rotation support plate, and the other end abuts against the mounting seat on which the driving sprocket 310 is mounted. The mount of the driving sprocket 310 is fixedly mounted to the rotary driver 710, and the driving sprocket 310 is rotatably mounted to the mount thereof and is connected to the output shaft of the rotary driver 710 by a flat key to rotate with the output shaft. When it is desired to rotate the fork, the rotation driving member 710 drives the driving sprocket 310, and the driving sprocket 310 is connected to the driven sprocket 320 through the chain 330, thereby achieving rotation of the rotary frame 200 and the components mounted thereon as a whole with respect to the fixed base 100.

In some embodiments, the telescopic assembly further includes a second rail that can be telescopic along the transferring direction X, the picking mechanism connector 450 is connected to a second sliding member slidably fitted to the second rail, and the picking mechanism connector 450 is slidably connected to the tray 400 through the second sliding member, so as to slide back and forth along the transferring direction X relative to the tray 400 under the guidance of the second rail, so that the picking mechanism can take the goods from the goods shelf or put the goods to the goods shelf. The second slider may be a second slider 460.

In some embodiments, the fork body includes two telescoping assemblies, telescoping transmission 600, disposed on opposite sides of the pallet. The two telescopic assemblies on both sides of the tray 400 are driven by telescopic driving members through the two telescopic driving mechanisms 600 on both sides of the tray 400. Wherein the two telescoping drive mechanisms 600 are driven synchronously by a single telescoping drive member 720 or by respective telescoping drive members.

Referring to fig. 2 and 3, in this embodiment, each fixing plate 220 is correspondingly provided with a telescopic assembly, and the rotary support plate is rotatably mounted on the fixing base. The two fixing plates 220 are respectively provided with a telescopic transmission mechanism 600. The telescopic transmission mechanism 600 comprises a belt transmission mechanism, and the belt transmission mechanism comprises a telescopic driving wheel 610, a telescopic driven wheel 620 and a synchronous belt 630 wound around the telescopic driving wheel 610 and the telescopic driven wheel 620. The telescopic driving wheel 610 is connected to an output shaft of the telescopic driving member 720. The timing belt 630 has a linear motion portion formed thereon, which moves in the transporting direction X, and the second slider is connected to the linear motion portion. The pickup mechanism connectors 450 on both sides of the tray are respectively fixed to the linear operation portions of the corresponding telescopic driving mechanisms 600. When the telescopic driving member 720 is operated, the two telescopic driving wheels 610 can be driven to rotate, so that the linear operation portions of the two synchronous belts 630 can be moved, and further the cargo picking mechanism connecting members 450 on both sides of the tray can be synchronously extended or retracted relative to the rotating frame 200.

In this embodiment, two telescoping drive mechanisms 600 are driven synchronously by a single telescoping drive member 720. The rotating frame 200 is provided with a rotating shaft 611, the rotating shaft 611 is provided at the rear end of the rotating frame 200, and extends along the second horizontal direction, two ends of the rotating shaft 611 are rotatably connected to the two fixing plates 220, for example, one bearing is mounted at each rear end of the two fixing plates 220, and the rotating shaft 611 is rotatable with respect to the fixing plates 220 through the bearings at the two ends. The two telescopic driving wheels 610 are fixed on the rotating shaft 611 and are disposed near two ends of the rotating shaft 611, and the telescopic driving member 720 is in transmission connection with the rotating shaft 611, for example, through a gear mechanism. When the telescopic driving piece 720 operates, the rotation shaft 611 can be driven to rotate, and the two telescopic driving wheels 610 are driven to rotate by the rotation shaft 611, so that the two synchronous belts 630 of the two telescopic driving mechanisms 600 operate synchronously.

Referring to fig. 3, in some embodiments, the base further includes a tension adjustment mechanism, the tension adjustment mechanism includes a guide bar 2222 mounted on the rotating frame, the guide bar 2222 is mounted on a first fixing element 2224, the first fixing element 2224 is fixedly mounted on the fixing plate 220, and a synchronous belt tension spring 2221 is sleeved on the guide bar 2222. The belt drive mechanism further includes a tensioning wheel 640, the tensioning wheel 640 is mounted on a support 2223, and the support 2223 is slidably mounted on the fixed plate 220. One end of the timing belt tensioning spring 2221 abuts against the rotating frame, for example, against the first fixing element 2224 on the rotating frame, and the other end abuts against the tensioning wheel 640, or may abut against the support 2223. Under the tensioning action of the synchronous belt tensioning spring 2221, the automatic tensioning and adjusting function of the synchronous belt can be realized, and abrasion and abnormal sound caused by long-time use of the synchronous belt are avoided.

Referring to fig. 3, the telescopic assembly of the present embodiment includes a first rail 410 and a second rail 420 disposed on two sides of the tray, the tray 400 is slidably connected to the base through the first rail 410 and a first sliding member 221 slidably engaged with the first rail 410, and the pickup mechanism connector 450 is slidably connected to the tray 400 through the second rail 420 and a second sliding member slidably engaged with the second rail 420.

In this embodiment, the first sliding member may be the first sliding block 221, and the second sliding member may be the second sliding block 460.

The first guide rail 410 and the second guide rail 420 are disposed in parallel in the transfer direction X. The tray 400 is slidably coupled to the fixed plate 220 of the base through the first guide rail 410 and the first slider 221. The picking mechanism connector 450 is slidably connected to the tray 400 via the second guide rail 420 and the second slider 460. In the present embodiment, the cargo handling mechanism connector 450 is fixed to the second slider 460, and it will be appreciated that in other embodiments, the slider may be replaced by another type of slider such as a pulley.

In some embodiments, the first guide rail 410 and the second guide rail 420 are both disposed on the tray 400, and two guide rail connection plates may be respectively installed on both sides of the tray 400, where each guide rail connection plate is provided with the first guide rail 410 and the second guide rail 420.

The first guide rail 410 is slidably engaged with the first slider 221, and the second guide rail 420 is slidably engaged with the second slider 460. The first slider 221 is fixedly coupled to the fixing plate 220. The second slider 460 is fixedly connected to the picking mechanism connector 450. The bottom of the second slider 460 is provided with a timing belt fixing member, which is fixedly connected to the linear running portion of the timing belt 630. The timing belt fixing member is, for example, a timing belt clamping block. When the telescopic driving piece 720 drives the telescopic driving mechanism 600 to move, the synchronous belt 630 can drive the second slider 460 to slide along the second guide rail 420.

Referring to fig. 4 to 6, in the present embodiment, a linkage assembly 800 is disposed between the picking mechanism and the tray 400, and when the picking mechanism is in the process of extending and/or retracting, the tray 400 can be driven to extend and/or retract by the linkage assembly 800, so as to implement two-stage telescopic movement.

The linkage assembly 800 includes two linkage triggers 821 provided on the pallet and a linkage engagement 470 (shown in fig. 2) fixedly disposed with respect to the picking mechanism. The two interlocking pieces 821 are provided at both front and rear ends of the tray 400 in the transporting direction X. The linkage engagement member 470 is disposed at the bottom of the cargo picking mechanism, and the linkage engagement member 470 is disposed between the two linkage trigger members 821.

The two linkage trigger pieces 821 and the linkage matching pieces 470 can be arranged along the same straight line, so that when the linkage matching pieces 470 move to a preset position along the extending or retracting direction along with the goods taking mechanism, the linkage matching pieces 470 can abut against the corresponding linkage trigger pieces 821 to drive the tray 400 to extend or retract.

Referring to fig. 1 and 2, the tray 400 is provided with a clearance groove 430 extending along a telescopic direction, and the linkage matching member 470 is fixed at the bottom of the mounting bracket of the picking mechanism and extends to the bottom of the tray 400 through the clearance groove 430. The linkage assembly 470 can move along the keep-out slot 430 as the access mechanism 500 moves relative to the tray 400.

When the linkage fitting 470 moves forward with the goods taking mechanism to a preset position, the linkage fitting 470 abuts against the front linkage trigger 821 and pushes the front linkage trigger 821 to move forward. Since the front linkage trigger 821 is disposed on the tray 400, the pickup mechanism 500 can drive the tray to move forward.

When the linkage fitting 470 moves backward with the goods taking mechanism to another preset position, the linkage fitting 470 abuts against the linkage trigger 821 at the rear end and pushes the linkage trigger 821 at the rear end to move backward. Since the rear linkage trigger 821 is provided on the tray 400, the pickup mechanism can drive the tray to move backward.

In some embodiments, the electronic component further includes a tray position detection switch mounted to the rotating frame 200 for detecting whether the tray 400 is returned to its original position.

Referring to fig. 5, in some embodiments, the fork assembly further includes a locking mechanism disposed between the pallet 400 and the base. A locking mechanism may be provided between the tray 400 and the fixing plate 220 of the base. The locking mechanism includes a link assembly provided on the tray 400 and a locking member 831 provided on the link assembly, wherein the locking member 831 is used for locking or separating from the base, for example, the locking member 831 is locked or separated from the fixing plate 220, and two linkage trigger members 821 are provided on the link assembly.

In the initial state, i.e. before picking up the goods, the locking member 831 is locked with the fixing plate 220, so that the tray 400 is fixed on the fixing plate 220, and thus, the picking mechanism will not drive the tray 400 to move during operation. When the linkage matching member 470 moving along with the picking mechanism abuts against the linkage triggering member 821, the link assembly can be driven to move along the extending or retracting direction, so that the locking member 831 provided on the link assembly is separated from the fixing plate 220, and the tray 400 is unlocked from the fixing plate 220. After unlocking, the pick mechanism can move the tray 400 together. When the linkage matching member 470 moving with the cargo taking mechanism is not abutted against the linkage triggering member 821, the link assembly is not driven to move along the extending or retracting direction, and the locking member 831 is not separated from the fixing plate 220, so that the locking state is maintained.

In some embodiments, the latch plate 230 is mounted on a side of the base close to the locking member 831. The latch plate may be disposed on the fixing plate 220 of the base, and the latch plate 230 is provided with a plurality of latches 231 along the extension direction (i.e. the transporting direction X) of the tray 400. When the linkage matching member 470 drives the link assembly to move along the extending or retracting direction, the link assembly can drive the locking member to move along the direction of forming an included angle relative to the moving direction X toward or away from the latch plate 230, so that the locking member is clamped between two adjacent latches or separated from the clamped latches. When the locking piece 831 is clamped between two adjacent latches 231, locking can be achieved, and when the connecting rod assembly drives the locking piece 831 to be separated from the latches 231, unlocking can be achieved. It will be appreciated that the angle formed with respect to the direction of travel X may be an acute angle, a right angle or an obtuse angle.

Referring to fig. 6, the link assembly includes a first link 810, a second link 820, a third link 830, and a fourth link 840 that are rotatably connected in sequence. The first link 810 may be disposed along the transferring direction X and fixed to the bottom of the tray 400 at both ends by the second fixing members 811 without relative movement with the tray 400. The second link 820, the third link 830, and the fourth link 840 are movable with respect to the tray. Two linkage triggers 821 are fixed to second link 820 and fourth link 840, respectively. The locking member 831 is provided to the third link 830, or the locking member 831 may be provided to the first link 810 and the third link 830. Wherein the lengths of the first link 810 and the third link 830 are greater than the lengths of the second link 820 and the fourth link 840. In some embodiments, the linkage assembly further includes an unlocking trigger 440, the unlocking trigger 440 in driving engagement with the locking mechanism; when the goods taking mechanism pulls goods to touch the unlocking trigger piece 440, the unlocking trigger piece 440 drives the locking mechanism to move, so that the locking piece 831 is unlocked from the base.

In the embodiment shown in fig. 3, the unlocking trigger 440 is rotatably disposed at the bottom of the tray 400, and the rotation axis of the unlocking trigger 440 is parallel to the upper surface of the tray for supporting the cargo box and perpendicular to the telescopic direction of the tray 400, so that the unlocking trigger 440 can rotate up and down. The unlocking trigger 440 is accommodated in a through groove 421 formed on the tray. The cargo taking mechanism pulls the cargo box to rotate downwards in the process of retracting along the cargo transferring direction X on the tray, and then drives the locking piece 831 to move, so that the locking piece 831 and the latch plate 230 on the base are unlocked. When the cargo is away from the unlocking trigger 440, it can be rotated upward and can protrude from the through slot 421 to the upper surface of the tray 400.

In some embodiments, the unlocking trigger 440 may be mounted on a link assembly at the bottom of the tray 400, for example, provided on the first link 810, where the unlocking trigger 440 is connected to the reset elastic member, and the unlocking trigger 440 extends out of the upper surface of the tray 400 before the cargo box does not contact the unlocking trigger 440. The cargo box moves back on the pallet 400 to touch the unlock trigger 440, triggering the unlock trigger 440 to rotate downward.

When the tray 400 is in the initial state, the locking member 831 is engaged with the latch plate 230 of the rotating frame 200, and a space exists between the interlocking fitting member 470 and the two interlocking trigger members 821 in the expansion and contraction direction of the tray 400. When the linkage matching piece 470 moves to a preset position along with the goods taking mechanism in the extending direction, the linkage triggering piece 821 at the front end can be pushed to drive the third connecting rod 830 to move, so that the third connecting rod 830 drives the locking piece 831 to be separated from the latch plate 230, and the tray and the rotating frame are unlocked, so that the goods taking mechanism can drive the tray 400 to move in the extending direction together.

When the linkage matching member 470 moves to another preset position along with the picking mechanism in the retracting direction, the third connecting rod 830 can be moved by pushing the linkage triggering member 821 at the rear end, so that the third connecting rod 830 drives the locking member 831 to be separated from the latch plate 230, and the tray and the rotating frame are unlocked, so that the picking mechanism can drive the tray 400 to move together in the retracting direction.

After the arrangement, the goods taking mechanism and the tray can be driven to move sequentially through the movement of the telescopic transmission mechanism 600, so that two-stage telescopic movement is realized; by arranging the telescopic components on two sides of the tray driven by the single telescopic driving piece, the structure of the fork device can be simplified.

In some embodiments, a third mounting bracket is disposed between the pickup mechanism connectors 450 on both sides of the tray 400, and the first and second pickup mechanisms are selectively detachably mounted on the third mounting bracket. The third mounting bracket may be disposed above the tray 400, and the third mounting bracket is connected to the corresponding cargo taking mechanism connector 450 at two sides of the width direction of the tray 400, and the cargo taking mechanism connector 450 is slidably connected to the second guide rail 420 at the corresponding side through the second sliding member. For example, when the first picking mechanism needs to be replaced by the second picking mechanism, the first picking mechanism can be detached from the third mounting bracket, and then the second picking mechanism can be mounted on the third mounting bracket.

In some embodiments, a first cargo retrieval mechanism is mounted to the first mounting bracket 530 and a second cargo retrieval mechanism is mounted to the second mounting bracket 550. The first mounting bracket 530 and the second mounting bracket 550 are provided with mounting portions that cooperate with the cargo handling mechanism connector 450, and the first mounting bracket 530 and the second mounting bracket 550 are selectively detachably mounted to the cargo handling mechanism connector 450. The first mounting bracket 530 and the first pick mechanism are configured as a first pick module and the second mounting bracket 550 and the second pick mechanism are configured as a second pick module 520. For example, when the first picking mechanism needs to be replaced by the second picking mechanism, the first mounting bracket 530 of the first picking module can be detached from the picking mechanism connector 450, and then the second mounting bracket 550 of the second picking module 520 can be connected to the picking mechanism connector 450.

Referring to fig. 8, in some applications, the first retrieval mechanism is a hook component. The pawl assembly includes a pawl driving member 511 and at least one pawl 512. The hook 512 is connected to an output shaft of the hook driving member 511, and the hook driving member 511 is used for driving the hook 512 to move so as to engage or disengage the hook 512 with or from a predetermined position of the cargo box.

In some embodiments, the hook component may not include a hook driving member, but the lifting mechanism drives the fork device to lift to achieve lifting of the hook. Specifically, the hook claw may be directly connected to the first mounting bracket and located between two sides of the tray so as to be opposite to the goods in the goods transferring direction. In the direction in which the telescopic assembly extends, the hooking claw protrudes from the first mounting bracket, so that when the first mounting bracket slides to the front end of the extending direction of the tray, the hooking claw protrudes from the tray, and thus the hooking claw can be inserted into the groove of the target container.

In some embodiments, the hook component and the first mounting bracket 530 form a first pick module 510. The first mounting bracket 530 includes a push plate for pushing a container carried on the pallet 400 out of the pallet 400 as the first pick module 510 is advanced. A bracket 531 is fixed above the middle of the push plate, and the claw driving member 511 is fixed to the bracket 531. The hooking jaw 512 is provided with a connection portion 5121 connected to the output shaft of the hooking jaw driving part 511. The claw assembly further includes a sliding shaft 5122 and a bearing 5123. The bearing 5123 is disposed on the bracket 531, and the sliding shaft 5122 is disposed through the bearing 5123. The connection portion 5121 is connected to one end of the sliding shaft 5122 to slidably fit with the bearing 5123 through the sliding shaft 5122, thereby realizing the moving function of the hooking jaw 512.

In the present embodiment, the hooking claw 512 is disposed above the tray 400 and between two sides of the tray, and the hooking claw 512 is configured to be opposite to the cargo in the transporting direction X. In this way, the hooking jaw 512 can pick up the goods by acting on the surface of the goods facing the goods moving direction X.

In some embodiments, the hook driving member 511 is disposed along a vertical direction, and an output shaft of the hook driving member 511 can move linearly along the vertical direction, so as to drive the hook 512 to lift. When the hook claw 512 rises, the hook claw can be engaged with a container; the hook 512 can be disengaged from the container when it is lowered; alternatively, the hook 512 may engage the container as it descends; the hook 512 can be disengaged from the container as it is raised.

In some embodiments, the pawl driving member 511 may be disposed in other directions, such as in a lateral direction, for driving the pawl 512 to move laterally.

In some embodiments, the claw assembly further includes a driving controller electrically connected to the claw driving member 511 for controlling the operation state of the claw driving member 511.

In some embodiments, the pawl driver 511 can be an electric push rod. The output shaft of the pawl driving member 511 may be a telescopic shaft of the electric push rod.

Referring to fig. 9, in some applications, the first pick module 510 may be removed from the pick mechanism connector 450 and the second pick module 520 may be removably mounted to the pick mechanism connector 450. The second goods taking mechanism is a sucker assembly, the sucker assembly comprises a pneumatic control assembly and at least one sucker 513, the sucker 513 is connected with the pneumatic control assembly, and the pneumatic control assembly is used for controlling the gas circulation state in the sucker 513 so that the sucker 513 is adsorbed or separated from a container.

The pneumatic control assembly comprises an electromagnetic valve, and the gas circulation of the sucker is controlled by controlling the on-off energy of the electromagnetic valve. In this embodiment, a cover plate 540 is further fixed to the rear side of the second mounting bracket 550, the pneumatic control assembly is disposed between the second mounting bracket 550 and the cover plate 540, and the cover plate 540 is used for protecting the pneumatic control assembly.

In this embodiment, a plurality of suction cups 513 are provided, and the plurality of suction cups 513 are disposed on the front side of the second mounting bracket 550 and are arranged at intervals on the second mounting bracket 550, and the openings of the plurality of suction cups 513 are located on the same plane and can be simultaneously attached to a cargo box.

In the present embodiment, by disposing the suction cups 513 between the two sides of the pallet 400 above the pallet, the suction cups 513 can be made to face the load in the transfer direction X by acting on one side of the load in the transfer direction X.

In the embodiment of the application, different goods taking mechanisms (such as a goods taking mechanism with a hook claw and a goods taking mechanism with a sucker) can be replaced on the fork main body, so that the device is simple and easy to operate, and can be suitable for scenes with different specification containers.

The working process of the fork device of the embodiment of the application for acquiring a container from a goods shelf and storing the container to the goods shelf is as follows:

before the goods taking piece performs the goods taking action, the rotating frame of the fork device can be controlled to rotate, so that the front end of the tray along the goods moving direction faces the target goods position, and the goods taking piece is aligned with the goods taking part of the goods (such as a container). The goods taking part can be arranged at one end of the goods facing the fork device.

In the initial state, the tray 400 is locked with the rotating frame 200 when taking out the box. The telescopic driving member 720 drives the timing belt 630 to move forward, and the second slider 460 moves forward with the timing belt 630. When the picking mechanism moves to a preset position along with the second sliding block 460 along the extending direction, the linkage matching piece 470 fixed on the picking mechanism abuts against the linkage triggering piece 821 at the front end of the tray, and the linkage triggering piece 821 drives the locking piece 831 to move to be separated from the rotating frame 200 through the connecting rod assembly arranged on the tray, so that the tray 400 is unlocked from the rotating frame 200. After unlocking, the goods taking mechanism drives the tray 400 to extend forwards together, and the goods taking mechanism stops after the tray 400 touches a goods shelf or the distance between the goods and the goods is within a preset range. At this time, the picking member (the suction cup assembly or the hook assembly) of the picking mechanism 500 is located at the front edge of the fork device, and the picking member of the picking mechanism 500 starts to perform the picking action.

When the goods taking part of the goods taking mechanism is a hook claw assembly, the goods taking part of the goods can be a handle with grooves on the side face of the container. When the hook claw is downward, the groove is provided with an upward opening. When picking up goods, the hook claw driving piece 511 drives the hook claw 512 to rise to the opening of the goods picking up part of the container and stretches out of the hook claw 512 to align with the opening of the groove, and then drives the hook claw 512 to descend so that the hook claw 512 stretches into the groove to enable the hook claw 512 to be connected with the handle of the container. After the goods taking member of the goods taking mechanism is stably engaged with the container, the telescopic driving member 720 drives the synchronous belt 630 to move backwards, and the second sliding block 460 drives the goods taking mechanism to move backwards along with the synchronous belt 630, namely, the hook claw 512 moves backwards, so that the container is pulled to retract, and the container is pulled to the tray 400. In the process, the container pulled by the hook 512 (also referred to as the target container) pulls the following container pallet to the outermost side of the pallet. At this point, the fork assembly can be controlled to move upwardly to raise the target container and separate it from the subsequent containers. During the backward movement of the picking mechanism, the linkage engagement member 470 is separated from the front linkage trigger 821, the pallet is locked with the rotating frame again, and the picking mechanism pulls the cargo box to move backward on the pallet 400. After the linkage matching piece 470 continues to move backwards to abut against the linkage triggering piece 821 at the rear end of the tray, the tray 400 is unlocked from the rotating frame, and the cargo taking mechanism drives the tray 400 to retract together.

In some embodiments, when the tray in-situ detection switch senses a signal that the second slider 460 moves to the preset position, and the container detection switch detects a signal that the container moves to the preset position, the telescopic driving member 720 stops running, and the container taking is completed.

When the container is put in the initial state, the tray 400 is in an unlocked state with the spin stand 200. The telescopic driving member 720 drives the picking mechanism forward through the synchronous belt 630, the picking mechanism drives the pallet 400 to move to a target position together with the container on the pallet 400 (for example, the pallet 400 touches a goods shelf), and the pallet is locked with the rotating frame. The pick mechanism pushes the container forward on the pallet 400 until after the container is moved onto the pallet, the pick mechanism stops and the pick begins to perform a discharging action, disengaged from the container. For example, when the pick member is a claw assembly, the claw driving member drives the claw 512 to lift so that the claw 512 is separated from the handle of the container. The telescopic drive 720 then drives the retrieval mechanism back to retract, and the pallet 400 retracts with the retrieval mechanism after the pallet is unlocked from the swivel mount. When the tray in-situ detection switch senses a signal that the second sliding block moves to a preset position, the telescopic driving piece 720 stops running, and the box placing is completed.

In some embodiments, the same deck on the pallet is provided with a plurality of cargo positions along the direction of travel X of the fork device. The cargo on the plurality of cargo spaces is sequentially acquired by the fork device through controlling the telescopic length of the telescopic component of the fork device.

In some embodiments, the containers of the plurality of cargo sites may be sequentially joined; for example, a cargo picking portion is disposed at one end of the cargo container facing the fork device, a connecting portion (e.g., a hook portion matched with the handle) is disposed at the other end of the cargo container facing away from the fork device, and adjacent cargo containers are connected with the connecting portion through the cargo picking portion. After the goods taking part of the fork device is stably jointed with the target container, the goods taking part pulls the target container to the tray 400, meanwhile, adjacent containers connected with the target container can be pulled to the outermost side of the goods shelf, and then the fork main body ascends, so that the hook-shaped part at one end of the target container, which is away from the fork device, is separated from the handle of the adjacent containers.

When a target container is placed on a pallet, there may be a problem in that the target container cannot be engaged with a container on an adjacent cargo space. In some embodiments, the operating speed of the telescopic operating mechanism (e.g., the telescopic assembly) can be reduced in advance when the target container is about to reach the shelf, so as to reduce the impact force, and avoid the problem that the target container collides with the adjacent container to cause the two to be unable to be jointed due to too fast movement of the goods taking mechanism. For example, during the picking process, the following steps may be included: the telescopic driving piece drives the telescopic assembly to extend out at a first speed; after reaching the preset position, the telescopic driving piece drives the telescopic assembly to extend at a second speed until the goods taking piece (such as a claw) reaches the connecting part (such as a groove) of the target container, wherein the first speed is higher than the second speed. The remaining picking steps are similar to the picking steps of other embodiments of the present application and will not be described in detail herein.

In some embodiments, when the goods are put, the target container is pushed to the goods shelf for a certain distance, then the fork main body is controlled to drive the target container to descend, and the target container is pushed while descending, so that pressure is kept between the target container and the adjacent container in the process that the hook-shaped part of the target container hooks into the handle of the adjacent container, and the problem that the goods put in the target container are not enough in extending distance and cannot reach the joint position with the adjacent container can be avoided. For example, during the picking process, the following steps may be included; the telescopic driving piece drives the telescopic assembly to extend towards the direction of the target container until the goods taking piece (such as a hook claw) touches the target container and pushes the target container to move; when the target container is pushed to a preset distance, the telescopic driving piece controls the telescopic assembly to extend continuously, and meanwhile, the driving piece (such as the claw driving piece) of the goods taking piece drives the goods taking piece to descend, so that the goods taking piece is inserted into the connecting part (such as the groove) of the target container. The remaining picking steps are similar to the picking steps of other embodiments of the present application and will not be described in detail herein.

In some embodiments, each level of cargo space of the pallet has an upper end beam and a lower end beam, and the upper end beam of the lower level of cargo space may be the lower end beam of the upper level of cargo space. In the process of placing the cargo, the container is placed in a position in which its side facing the pallet is substantially vertically aligned with the side of the lower end rail of the cargo space facing the pallet. In some embodiments, in order to avoid failure of picking due to failure of the hook 512 to reach a position where the picking portion of the container is engaged, such as due to errors in the distance between the pushing out of the telescopic mechanism, vibration, etc., the container and the pallet beam are not flush or have too large a deviation, the hook 512 may be configured to extend out of the pallet 400 a predetermined distance in the transfer direction X.

In some embodiments, in order to avoid that when the picking mechanism drives the tray 400 to extend, the front end of the tray 400 pushes away the container, the front end face 402 of the tray 400 is set to a preset height in the vertical direction, so that the front end face 402 of the tray overlaps the lower end beam of the current cargo space in the horizontal direction, so as to ensure that the tray 400 is limited by the lower end beam when extending, and the container cannot be pushed away. Specifically, the front end of the pallet 400 is provided with an abutment plate for abutting against a pallet (for example, a lower end cross member of a cargo space). For example, the abutment plate is generally perpendicular to the pallet 400 and extends downward (away from the side of the pallet 400 carrying the cargo box). The abutment plate extends downwards by a preset height which satisfies the following conditions: in the process of picking or placing goods, the tray is abutted against the goods shelf, and can not enter the goods shelf to push the goods box.

In some embodiments, such as where a pallet is provided without a pallet, there are various deviations in the position of the container due to the random position of the container on the pallet, such as deviations in the direction of travel of the container relative to the pallet, deviations in the direction of non-travel relative to the pallet, and angular deviations relative to the pallet, which can result in the hook jaw 512 being difficult to accurately engage with the handle of the container. The guide strips extending along the goods moving direction can be arranged on the goods shelves, and the guide strips can limit the deviation and the angle deviation of the goods boxes relative to the goods shelves in the advancing direction when goods are put; alternatively, the recessed space of the container handle may be provided large enough to allow the hooking jaw 512 to engage the handle in the event of such misalignment of the container position; alternatively, a guide structure may be provided on the hooking jaw 512 that can facilitate hooking of the hooking jaw 512 into the handle of the container.

In some embodiments, the rotating frame 200 is provided with a drag chain support, a telescopic drag chain is installed on the drag chain support, a wire harness is arranged in the telescopic drag chain, a fixed end of the telescopic drag chain is fixedly installed on the drag chain support, a moving end of the telescopic drag chain is fixed on a drag chain support, the drag chain support is fixed on the second sliding block 460, and the telescopic function of the wire harness can be met when the tray 400 and the cargo taking mechanism run.

According to the scheme provided by the embodiment, through changing different goods taking mechanisms, the goods taking and placing problems of different types of containers can be achieved, the goods taking mechanisms can adopt sucking disc assemblies or hook claw assemblies, sucking discs and hook claws can act on one surface (for example, the front surface opposite to a fork assembly) of the container, and as goods shelves in a warehouse are generally placed back to back with the goods shelves, the distance between the back-to-back lamination of the container is reduced, and the density of the container is improved.

In addition, through configuration getting the goods mechanism and getting goods or stock through only acting on the front surface that packing box and fork subassembly are relative, the fork device can not establish and get goods mechanical finger, consequently also saved the packing box back and got the space that mechanical finger occupy, when reducing the packing box and laminating back to back between the distance, also avoided in the correlation technique fork to hold formula and lift the fork and get according to the biggest packing box size and put and lead to the too big problem of packing box density.

The fork device provided by the embodiment of the application is introduced, and correspondingly, the application also provides a storage robot.

Fig. 10 is a schematic structural view of a stocker robot according to an embodiment of the present application.

Referring to fig. 10, a warehousing robot 900 according to an embodiment of the present application includes a robot body and a fork device 940 disposed on the robot body, where the fork device 940 has the features of the above embodiment and is not described herein again.

The warehousing robot 900 of the embodiment includes a base 910 and a lifting mechanism 920 provided on the base 910. The fork device 940 is mounted to the elevating mechanism 920 and is capable of elevating along the elevating mechanism 920. A storage rack is provided at one side of the elevating mechanism 920, and has a plurality of storage areas 930 in the vertical direction.

In some embodiments, the initial angle of the rotating frame of the fork device 940 is, for example, 0 degrees relative to the moving direction of the base 910, and when the fork device 940 is lifted to be aligned with one of the storage areas 930 in the vertical direction, the cargo box can be placed in the storage area 930 or taken out from the storage area 930 by controlling the telescopic driving mechanism 600 to drive the cargo taking mechanism to stretch.

When picking or placing a cargo from the pallet, before the picking member performs the picking or placing operation, the rotating frame 200 of the fork device 940 is controlled to rotate forward by a predetermined angle (for example, 90 degrees with respect to the moving direction of the base 910), so that the front end of the pallet 400 along the transporting direction X faces the target cargo space, and the picking member is aligned with the picking portion of the cargo box. In some embodiments, the relative position of the fork device and the pallet code may be fine-tuned by reading the pallet code.

When the fork device 940 needs to move the goods carried on the pallet 400 to the storage area 930, the lifting mechanism 920 moves the fork device 940 to be aligned with the storage area 930 in the vertical direction, and the rotating frame 200 reversely rotates by a preset angle to return to the initial angle state; the telescoping drive mechanism 600 moves the pick mechanism forward and the pusher of the claw assembly advances the cargo box 941 into the storage area 930. When the container 941 is completely pushed into the storage area 930, the claw driving member drives the claw 512 to lift, so that the claw 512 is separated from the handle of the container, and the container is completely put, and then the telescopic transmission mechanism 600 drives the pickup mechanism to retract, so that the fork device returns to the initial state for the next pickup and put. If the storage areas are required to be fully filled, repeating the steps.

The warehousing robot 900 of the present embodiment may also be applied to conveyor lines, buffer racks, or docking automated loaders to pick or place goods.

In some embodiments, the warehousing robot 900 is used to place goods into a conveyor line or buffer rack. After the storage robot 900 moves to the area of the conveying line through the base 910 according to the received goods placing instruction, the lifting mechanism 920 of the storage robot 900 drives the fork device 940 to ascend or descend to the height of a certain layer of storage area 930, the goods taking mechanism takes the goods in the storage area 930 to the tray 400, then the position of the tray 400 is adjusted, and the goods in the tray 400 is pushed into the storage position of the conveying line or the buffer goods shelf. The above process may be repeated to transfer all of the bins of each tier of storage areas 930 to a conveyor line or buffer rack.

In some embodiments, the warehousing robot 900 is used to pick from a conveyor line or cache rack. After the storage robot 900 moves to the connection area of the conveyor line or the buffer storage rack through the base 910 according to the received goods taking instruction, the lifting mechanism 920 drives the fork device 940 to move to a preset connection height, and the rotating rack rotates, so that the front end of the tray faces the container. By reading the identification code at the corresponding position, the relative positions of the fork device 940 and the identification code are adjusted, so that the picking mechanism can pick up the cargo box to the tray 400 smoothly and then place the cargo box into the storage area 930.

The picking and placing process of this embodiment will be described with the hook facing downward and the recess in the container having an upward opening.

When picking up goods, the lifting mechanism drives the fork device (comprising the hook claw) to ascend or descend until the hook claw is positioned above the groove of the target container. At this time, the horizontal position of the pallet may be higher than the horizontal position at which the bottom of the target container is located. The telescopic driving piece drives the telescopic assembly to extend out, so that the hook claw extends out until the hook claw is positioned above the opening of the groove. The lifting mechanism drives the fork device to descend until the hooking claw is inserted into the groove from the opening of the groove of the target container, and at the moment, the horizontal position of the tray is flush with the horizontal position of the bottom of the target container. The telescopic driving piece drives the telescopic assembly to retract, so that the hook claw is retracted until the target container enters the tray. At this time, since the hook portion of the target container is hooked with the handle of the container (if any) located behind the target container, the container located behind the target container is pulled to the original position of the target container. The lifting mechanism drives the fork device to lift again, so that the target container on the tray lifts, and the hook-shaped part of the target container is separated from the handle of the container positioned behind the hook-shaped part, so that the goods taking is realized.

When the goods are put, the lifting mechanism drives the fork device (comprising the hook claw) to ascend or descend to the position above the handle of the container on the target goods place, and at the moment, the horizontal position of the tray is higher than the horizontal position of the target goods place. The lifting mechanism drives the fork device to descend so that the hook-shaped portion of the target cargo box is inserted into the handle of the cargo box on the target cargo space, and at this time, the horizontal position of the pallet is flush with the horizontal position of the target cargo space. The telescopic driving mechanism drives the telescopic assembly to drive the first mounting bracket to extend out, so that the first mounting bracket pushes the target cargo container out of the tray to the target cargo space, and meanwhile, the target cargo container pushes the cargo container on the target cargo space to a deeper cargo space. When the target container is completely placed in the target cargo space, the lifting mechanism drives the fork device to ascend again, and the hook claw is separated from the groove of the target container.

Fig. 11 is a simplified structural schematic diagram of a transfer robot 1100 according to an embodiment of the present application. Referring to fig. 11, the transfer robot 1100 of the present embodiment includes a moving base 1110, a lifting mechanism 1120 provided on the moving base 1110, and a carrying device 1130 provided on the lifting mechanism 1120. The carrier 1130 may be a carrier plate, pallet, or fork assembly as described in the embodiments above, or the like. It will be appreciated that in other embodiments, the transfer robot may not include a lifting mechanism, and the carrier 1130 may be disposed on the mobile base 1110.

Referring to fig. 12 and 13, in some embodiments, the shelf 1200 has a high-level storage space 1210 and a low-level cache space 1220. The lower-layer buffer space 1220 may use a lifting buffer bit to buffer the container. For example, the cache layer of the cache space 1220 is provided with a plurality of trays 1222 arranged at intervals. The length of the pallet 1222 is along the width of the pallet. The adjacent pallets 1222 form a buffer location therebetween, and both sides of the container 941 may be supported by the adjacent pallets 1222, respectively. The pallet 1222 is lifted to the bottom deck of the storage space 1210 by the lifting members 1224. The lifting members 1224 may be, for example, lifting bars, lifting chains, etc., secured to the underlying pallet by hole site locking, welding, or other forms.

In one exemplary specific application, the containers 941 are transferred between the storage space 1210 of the racks 1200 and the buffer space 1220 by a bin handling robot (which may be, for example and without limitation, the warehousing robot 900 shown in fig. 10), and the containers 941 are transferred between the buffer space 1220 and the destination site of the warehouse by a transfer robot (which may be, for example and without limitation, the transfer robot 1100 shown in fig. 11). When the transfer robot 1100 picks up a load, it may walk along the length of the pallet 1222 from either side of the pallet 1200 to between two adjacent pallets 1222, the carrier 1130 lifts the container 941 from the bottom, and the transfer robot 1100 moves the container 941 along the length of the pallet 1222 from either side of the pallet 1200 to the destination site. Likewise, the transfer robot 1100 may walk from either side of the pallet 1200 to the middle of two adjacent pallets 1222 to complete a put. Because the pallet 1222 is lifted, a beam can be omitted in the buffer space 1220, interference caused by the beam to the movement of the transfer robot can be avoided, and the transfer robot can pick up or put goods from any side of the goods shelf 1200; therefore, the degree of freedom of movement of the transfer robot is greater, and the scheduling space is also greater, so that the overall efficiency of the system can be improved.

Fig. 14 shows another implementation of a hoist buffer layer. Wherein, the buffer layer is provided with a plurality of support plates 1222 arranged at intervals, adjacent buffer positions are provided with one support plate 1222, and the support plates 1222 are in a zigzag shape, so that the number of the required support plates can be reduced, the weight of the support plates is reduced, and the materials are saved.

In some embodiments, referring to FIG. 15, the cache layer of cache space 1220 of shelf 1200 may take a different form than that of FIG. 12. Specifically, the caching layer is provided with a plurality of trays 1222 arranged at intervals. The length of the pallet 1222 is along the width of the pallet. A buffer location is formed between adjacent pallets 1222 and a container 941 can be placed between adjacent pallets 1222. The same side of the plurality of pallets 1222 are connected as one body by a cross beam 1226, and fixedly mounted to the pallet by the cross beam 1226. The transfer robot may pick or place a load from the other side of the pallet 1200. The cache layer in this embodiment may be referred to as a beam-mounted cache layer.

It can be understood that the lifting type buffer storage position can also realize buffer storage of the container in a hook and other modes.

In some embodiments, the warehouse system is provided with a plurality of shelves at intervals, a roadway is formed between adjacent shelves, and the length direction of the shelves is parallel to the length direction of the roadway. The plurality of shelves may be all shelves having a lifting type buffer layer, or may be all shelves having a beam-mounted buffer layer, or may be used in combination of both types of shelves.

In some embodiments, the warehousing system is an intelligent sorting system, the bin handling robot handles bins stored in the storage space of the shelves to the buffer space for buffering, and the conveyor robot transports buffered bins to the picking workstation to enable the picker to sort materials in the bins to the order bins.

In one embodiment, among a plurality of shelves that the interval set up of intelligent letter sorting system, all shelves are equipped with low-level buffer layer. For example, at least one low-level buffer bit is provided at the low-level position corresponding to each high-level storage bit, in other words, each high-level storage bit corresponds to at least one low-level buffer bit, that is, buffer bits are all arranged at the low level of the shelf. Wherein, the lower layer buffer layer of at least part of goods shelves is a hoisting buffer layer. In some embodiments, the lower cache layers of all shelves are the lifting cache layers. In other embodiments, the shelves at both ends may be shelves with beam-mounted buffer layers, and the shelves in the middle of the shelves at both ends may be partially or fully shelves with suspended buffer layers. Compared with a goods shelf with a beam-mounted cache layer, the goods shelf with the lifting cache layer is introduced, so that cache positions can be arranged on the lower layers of the goods shelf, and a space without the cache positions is not required to be reserved for movement of the conveying robot. The conveying robot can move in the space corresponding to the hoisting type buffer position, so that the moving degree of freedom of the conveying robot is larger, the dispatching space is also more, the movable space of the conveying robot is increased, the conveying distance of the conveying robot is shortened, the possibility of blockage is reduced, and the efficiency of the sorting system is improved.

In some embodiments, when one higher-level storage bit corresponds to a plurality of lower-level cache bits, the corresponding lower-level cache bits may be arranged in a vertical direction, that is, the lower-level cache layers may have multiple levels. Referring to fig. 16, a plurality of buffer layers are provided in a buffer space of a shelf, each buffer layer is provided with a plurality of trays 1222 arranged at intervals, at least some trays 1222 of different buffer layers are correspondingly arranged in a height direction, and the corresponding trays 1222 of different buffer layers are connected into a whole by a lifting component 1224 and lifted on a bottom pallet of the storage space. The conveying robot can take or put goods from any one of the buffer layers by adjusting the height of the lifting mechanism.

In some embodiments of the intelligent sortation system, referring to fig. 17, a transfer robot 1100 transfers a container 941 to a picking station, and may move along a ramp 1700 provided to the picking station to a stop at a preset station; the ramp is arranged such that at a preset picking station, the picker can directly perform a picking operation on a container on the transfer robot without bending over. The ramp 1700 may have an ascending slope section, a descending slope section, or may also have a flat top slope section; each of the segments may include a planar segment and/or a curved segment, etc. It will be appreciated that the set picking height H may not be fixed and may be set based on the height of the transfer robot, the height of the container, and/or the height of the picker, etc. In some embodiments, the transfer robot 1100 moves along the ramp 1700 to stop after the height of the container reaches the set pick height H for the picker to pick the container directly on the transfer robot. By providing a ramp at the picking station, it is facilitated to quickly supply containers to the picking station without having to remove the containers from the transfer robot or to control the transfer robot to lift; in addition, the conveyor robot does not need to be additionally scheduled to take away the picked container after picking, so that the control difficulty of the system can be reduced.

In some embodiments of the intelligent sorting system, the transport robot may also move the container to a liftable console provided at the picking station after transporting the container to the picking station; then, the height of the container can be adjusted to the picking height of the picker by controlling the lifting operation table to rise. In this embodiment, occupation of the picking workstation to the transfer robot may be reduced, accelerating transfer efficiency of the transfer robot.

In some embodiments, when docking the robotic handler, the storage robot 900 moves to the area where the robotic handler is located through the base 910 according to the received instructions, and then controls the fork device 940 to move to the designated position and angle, and the robotic arm of the robotic handler transfers the pallet from the storage area 930 or transfers the pallet from another location to the storage area 930.

It will be appreciated that, when applied to a conveyor line, a buffer storage rack, or a docking robot, the specific process of picking or placing the cargo by the fork device may be referred to the description of the foregoing embodiments, and will not be repeated.

The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A fork assembly comprising:

a fork body comprising a base, a pallet, and a telescoping assembly, the pallet being supported on the base, the telescoping assembly comprising a pick mechanism connector that can extend or retract relative to the pallet in a pick direction; the method comprises the steps of,

a pick mechanism detachably mounted to the pick mechanism connector;

the goods taking mechanism comprises:

a first picking mechanism including a first picking member for acting on the cargo in a first manner; or (b)

And a second picking mechanism including a second picking member for effecting the cargo in a second manner different from the first manner.

2. The fork apparatus of claim 1 wherein:

the first goods taking mechanism comprises a hook claw assembly; and/or

The second cargo taking mechanism comprises a sucker assembly.

3. The fork assembly of claim 1, wherein,

the first and/or second picking member acts upon a unidirectional surface of the cargo.

4. The fork assembly of claim 1, wherein,

the first goods taking piece acts on a unidirectional surface of the goods, and the second goods taking piece acts on surfaces of the goods in at least two directions.

5. The fork assembly of any one of claims 1-4, wherein:

the two telescopic assemblies are arranged on two sides of the tray respectively;

6. The fork assembly of claim 1 wherein:

the first goods taking mechanism is detachably arranged on the first mounting bracket, the second goods taking mechanism is detachably arranged on the second mounting bracket, and the first mounting bracket and the second mounting bracket are respectively provided with a mounting part matched with the goods taking mechanism connecting piece; or (b)

The first goods taking mechanism and/or the second goods taking mechanism are detachably arranged on a third mounting bracket, and the third mounting bracket is provided with a mounting part matched with the connecting piece of the goods taking mechanism.

7. The fork assembly of claim 5, wherein:

the telescopic assembly comprises a second guide rail arranged along the goods moving direction, the goods taking mechanism connecting piece is connected with a second sliding piece in sliding fit with the second guide rail, and the goods taking mechanism connecting piece is connected with the tray in a sliding mode through the second sliding piece.

8. The fork assembly of claim 7 wherein:

the telescopic transmission mechanism comprises a belt transmission mechanism, the belt transmission mechanism comprises a telescopic driving wheel, a telescopic driven wheel and a synchronous belt wound on the telescopic driving wheel and the telescopic driven wheel, and the telescopic driving wheel is connected with an output shaft of the telescopic driving piece; the synchronous belt is provided with a linear running part running along the goods moving direction, and the second sliding piece is connected with the linear running part.

9. The fork assembly of claim 1 wherein:

the telescopic assembly comprises a first guide rail and a second guide rail which are arranged in parallel along the goods moving direction; the tray is connected with the base in a sliding way through the first guide rail and the first sliding part which is in sliding fit with the first guide rail, and the goods taking mechanism connecting piece is connected with the tray in a sliding way through the second guide rail and the second sliding part which is in sliding fit with the second guide rail.

10. The fork assembly of claim 1 wherein:

a linkage assembly is arranged between the goods taking mechanism and the tray, and the goods taking mechanism drives the tray to extend and/or retract through the linkage assembly in the extending and/or retracting process; the linkage assembly comprises two linkage triggering pieces arranged on the tray and a linkage matching piece fixedly arranged relative to the goods taking mechanism;

11. The fork apparatus of claim 10 wherein:

the locking mechanism comprises a connecting rod assembly arranged on the tray and a locking piece arranged on the connecting rod assembly, wherein the locking piece is used for locking or separating from the base, and the two linkage triggering pieces are arranged on the connecting rod assembly; when the linkage matching parts are respectively abutted against the two linkage triggering parts, the connecting rod assembly is driven to move along the extending or retracting direction, so that the locking part is locked or separated from the base.

12. The fork apparatus of claim 11 wherein:

the locking mechanism is characterized by further comprising an unlocking trigger piece, wherein the unlocking trigger piece is in transmission fit with the locking mechanism; when the goods taking mechanism pulls goods to touch the unlocking trigger piece, the unlocking trigger piece drives the locking mechanism to move, so that the locking piece and the base are unlocked.

13. The fork apparatus of claim 11 wherein:

the base is provided with a clamping tooth plate, and the clamping tooth plate is provided with a plurality of clamping teeth along the goods moving direction; when the linkage matching piece drives the connecting rod assembly to move along the extending or retracting direction, the connecting rod assembly drives the locking piece to move towards the direction close to or far away from the clamping tooth plate along the direction forming an included angle relative to the goods moving direction, so that the locking piece is clamped between two adjacent clamping teeth or separated from the clamped clamping teeth.

14. The fork device of claim 11 or 13, wherein:

the connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially connected in a rotating way, the first connecting rod is fixed on the tray, the two linkage triggering pieces are respectively arranged on the second connecting rod and the fourth connecting rod, and the locking piece is arranged on the first connecting rod and the third connecting rod;

15. The fork assembly of claim 6, wherein:

the first goods taking mechanism comprises a hook claw assembly;

The hook claw assembly comprises at least one hook claw, and the hook claw is directly connected to the first mounting bracket and is positioned between two sides of the tray so as to be opposite to the goods along the goods moving direction.

16. The fork assembly of claim 1 wherein:

the first goods taking mechanism comprises a hook claw assembly;

17. The fork assembly of claim 1 wherein:

the second goods taking mechanism comprises a sucker assembly;

18. The fork assembly of claim 1 wherein:

the base comprises a fixed seat and a rotating frame, the rotating frame is rotatably arranged on the fixed seat, and the tray and the telescopic component are arranged on the rotating frame;

19. The fork apparatus of claim 18 wherein:

the rotary driving wheel is a driving sprocket, and the rotary driven wheel is a driven sprocket; the rotary driving wheel is connected with the rotary driven wheel through a chain.

20. The fork apparatus of claim 19 wherein:

The rotary transmission mechanism further comprises a tensioning device, the tensioning device comprises a chain tensioning rod fixed on the rotary frame and a chain tensioning spring sleeved on the chain tensioning rod, one end of the chain tensioning spring is abutted to the mounting seat of the driving sprocket, and the other end of the chain tensioning spring is abutted to the rotary frame.

21. The fork apparatus of claim 18 wherein:

the rotary frame comprises a rotary supporting plate, two fixing plates arranged on two sides of the rotary supporting plate, and a mounting frame arranged on one end, far away from goods, of the rotary supporting plate along the goods moving direction; wherein:

22. The fork apparatus of claim 19 wherein:

the tension adjusting mechanism comprises a guide rod arranged on the rotating frame, a synchronous belt tensioning spring is sleeved on the guide rod, one end of the synchronous belt tensioning spring abuts against the rotating frame, and the other end of the synchronous belt tensioning spring abuts against a tensioning wheel of the belt transmission mechanism.

23. A storage robot, its characterized in that: fork device comprising a device according to any of claims 1-22.