TWM631165U - Handling assembly device and handling robot - Google Patents

Abstract

The present application provides a handling assembly device and a handling robot, which relate to the technical field of intelligent warehousing and solve the technical problem of small application range of the handling assembly device. The handling assembly device includes a bracket and a handling assembly arranged on the bracket, a front end of the handling assembly is provided with a first limiting part, and a rear end of the handling assembly is provided with a second limiting part, the handling assembly is further provided with an elastic limiting part and a accommodating groove configured for accommodating the elastic limiting part, where the elastic limiting part is located between the first limiting part and the second limiting part, a first end of the elastic limiting part is pivoted with a groove wall of the accommodating groove, and a second end of the elastic limiting part protrudes from a load-bearing surface of the handling assembly under its own elastic force, a first load-bearing area is formed between the elastic limiting part and the front end of the handling assembly; when the elastic limiting part is subjected to external gravity, the elastic limiting part is compressed in the accommodating groove, and a second load-bearing area is formed between the front end and the rear end of the handling assembly. The handling robot includes the above handling assembly device. The present application is used to increase the application range of the handling assembly device.

Description

Fork devices and handling robots

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

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of terminal logistics has also been continuously improved, and intelligent warehousing is an important part of the logistics process.

In intelligent warehousing, handling robots are one of the main equipment that can realize automated handling operations, and the heavy manual labor of humans can be reduced by handling robots. At present, the handling robot includes a mobile base, a support frame and a fork device. The mobile base is used to carry the support frame and the fork device. The fork device is installed on the support frame and can move up and down relative to the support frame. The fork device includes a bracket and a fork device. A fork mounted on a carrier used to pick, place and carry a container.

However, in the existing handling robot, the fork device can only carry containers of the same size, and the scope of application of the fork device is small.

In view of the above problems, embodiments of the present application provide a fork device and a handling robot. The fork device can carry containers of multiple sizes, thereby increasing the scope of application of the fork device.

In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:

In a first aspect, an embodiment of the present application provides a fork device, which includes: a bracket and a fork disposed on the bracket; The rear end is provided with a second limit portion, and the fork is also provided with an elastic limit piece and an accommodating groove for accommodating the elastic limit piece, wherein the elastic limit piece is located at the first limit portion and the first limit portion. Between the two limiting parts, the first end of the elastic limiting member is pivotally connected with the groove wall of the accommodating groove, and the second end of the elastic limiting member protrudes out of the cargo under the action of its own elastic force. the bearing surface of the fork, so that a first bearing area is formed between the second end of the elastic limiter and the first limiter; when the elastic limiter is subjected to external gravity, the elastic limiter The second end of the piece is compressed in the accommodating groove, and a second bearing area is formed between the first limiting portion and the second limiting portion.

In an optional implementation manner, the elastic limiting member includes a limiting rod and an elastic member, a first end of the limiting rod is pivotally connected to a groove wall of the accommodating groove, and the elastic member has a One end is in contact with the groove wall of the accommodating groove, and the other end of the elastic member is connected with the limit rod, and the elastic force of the elastic member drives the second end of the limit rod to protrude from the fork bearing surface.

In an optional embodiment, the limit rod is a U-shaped limit rod.

In an optional embodiment, the elastic member is a coil spring.

In an optional implementation manner, along the extension direction of the fork, at least two groups of support members are provided on the fork, each group of the support members includes two support plates, and the two support plates are symmetrical The settings are on both sides of the fork.

In an optional implementation manner, a non-slip pad is provided on the bearing surface of each of the support plates.

In an optional embodiment, the fork includes at least two fork arms, and each of the fork arms is slidably connected in sequence to form a telescopic fork.

In an optional embodiment, the fork includes an inner section fork arm, a middle section fork arm and an outer section fork arm; the inner section fork arm is mounted on the bracket, the middle section fork arm The section fork arm is mounted on the inner section fork arm, the middle section fork arm can move relative to the inner section fork arm, and the outer section fork arm is mounted on the middle section fork arm , the outer section fork arm can move relative to the middle section fork arm.

In an optional implementation manner, the end of the outer fork arm away from the inner fork arm is provided with a first limit plate, and the first limit plate forms the first limit portion .

In an optional embodiment, the elastic limiting member is located on the outer section fork arm.

In an optional implementation manner, the end of the inner section fork arm away from the middle section fork arm is provided with a first limit assembly, the first limit assembly includes a second limit plate, and the The second limiting plate forms the second limiting portion.

In an optional embodiment, the height of the second limit plate relative to the bearing surface of the outer fork arm is greater than the height of the first limit plate relative to the bearing surface of the outer fork arm .

In an optional embodiment, the first limiting component further includes a bracket, a first guide rod and a first spring; the bracket is provided with a first through hole, and the first guide rod passes through the first guide rod. A through hole and movable relative to the bracket, the second limiting plate is disposed at the end of the first guide rod facing the outer fork arm, and the first spring is sleeved on the guide rod and the first end of the first spring is in contact with the side of the bracket facing the second limit plate, and the other end of the first spring is in contact with the second limit plate, so as to The elastic force of the first spring drives the second limit plate to move in the direction of the outer section fork arm; or, the second limit plate is pushed by an external force to move in the direction of the bracket.

In an optional implementation manner, the fork device further includes two second limit assemblies, and the two second limit assemblies are symmetrically arranged on both sides of the fork; The position assembly includes a support and a third limit plate, the support is installed on the bracket, the third limit plate is installed on the support, and the third limit plate is used to The cargo box on the fork is limited.

In an optional embodiment, each of the second limiting components further includes a second guide rod and a second spring, the support is provided with a second through hole, and the second guide rod passes through the second guide rod. In the second through hole, the third limiting plate is connected to the end of the second guide rod facing the fork, the second spring is sleeved on the second guide rod, and the first One end of the second spring is in contact with the support, the other end of the second spring is in contact with the third limit plate, and the elastic force of the second spring can drive the third limit plate toward the The fork moves; or the third limiting plate is moved toward the support by an external thrust.

In an optional implementation manner, along the extending direction of the fork, one end of each of the third limiting plates facing the front end of the fork is provided with a guide slope.

In a second aspect, the present application also provides a handling robot, comprising: a mobile base, a column and the fork device of the first aspect, the mobile base is used to carry the column and the fork device, and the fork device is mounted on the column and can be opposite to the column Lift and move.

Compared with the related art, the fork device and the handling robot provided by the embodiments of the present application have the following advantages:

In the fork device provided by the embodiment of the present application, by arranging an elastic limiter between the first limit portion and the second limiter, when the elastic limiter is not subject to external gravity, the first The two ends protrude from the bearing surface of the fork under the action of their own elastic force, so that a first bearing area is formed between the second end of the elastic stopper and the first stopper, so that the first bearing area can carry The matching small size of the cargo box, the cargo box is limited between the first limit part and the elastic limiter, which can prevent the cargo box from slipping on the fork; and when the size of the cargo box carried by the fork is larger than In the first bearing area, the elastic limiter is squeezed by the gravity of the cargo box, and the second end of the elastic limiter is compressed into the accommodating groove, so that a space is formed between the first limiter and the second limiter. The second carrying area that can carry a large-sized cargo box, that is, the second carrying area can carry a matching large-sized cargo box, thereby increasing the applicable range of the fork device.

In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of the technical solutions described above, the fork device and the handling robot provided by the embodiments of the present application can Other technical problems to be solved, other technical features included in the technical solution, and the beneficial effects brought about by these technical features will be described in further detail in the specific embodiments.

The inventor of the present application found in the actual work process that the main reason for the small scope of application of the fork device in the related art is that the existing fork device includes a fork, and the fork is mainly customized for a container of one specification, that is, It is only suitable for cargo boxes of the same specification, therefore, the fork device has a technical problem with a small scope of application.

In order to solve the above-mentioned technical problems, the embodiments of the present application provide a fork device and a handling robot. Two limit parts, the fork is also provided with an elastic limit piece and an accommodating groove for accommodating the elastic limit piece, the elastic limit piece is located between the first limit part and the second limit part, when When the elastic limiter is not subject to external gravity, the second end of the elastic limiter protrudes from the bearing surface of the fork under the action of its own elastic force, so that the second end of the elastic limiter and the first limiter are located between the second end of the elastic limiter and the first limiter. The first carrying area is formed, so that the first carrying area can carry the matching small-sized cargo box, and the cargo box is limited between the first limit part and the elastic limiter, which can prevent the cargo box from being stuck on the fork. When the size of the cargo box carried by the fork is larger than the first bearing area, the elastic limiter is squeezed by the gravity of the cargo box, and the second end of the elastic limiter is compressed into the accommodating groove, In this way, a second carrying area that can carry a large-sized container is formed between the first limiting portion and the second limiting portion, that is, the second carrying area can carry a matching large-sized container, thereby increasing the size of the container. The scope of application of the fork device.

In order to make the above objects, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The handling robot provided by the embodiment of the present application includes a mobile base, a column and a fork device. The mobile base is used to carry the column and the fork device. In addition, pallets of multi-layer temporary storage boxes are installed on the uprights, so that the handling robot can carry multiple containers, thereby improving the handling efficiency of the handling robot.

1 is a schematic diagram of a working condition of the first structure of the fork device provided by the embodiment of the application; FIG. 2 is a partial enlarged view of the position A in FIG. 1 ; FIG. 3 is the first structure of the fork device provided by the embodiment of the application. A schematic diagram of another working condition of a structure; FIG. 4 is a partial enlarged view of B in FIG. 3 ; FIG. 5 is a use state diagram of the fork device provided by the embodiment of the application; FIG. 6 is a front view of FIG. 5 ; FIG. 7 is another use state diagram of the fork device provided by the embodiment of the application; FIG. 8 is a front view of FIG. 7 .

Referring to FIG. 1 to FIG. 8 , the fork device 100 provided by the embodiment of the present application includes a bracket 10 , a slewing mechanism (not shown in the figure) and a fork 11 . Usually, the bracket 10 is mounted on a column and can be Relative to the vertical movement, the slewing mechanism is installed on the bracket 10, the fork 11 is installed on the slewing mechanism, and the fork 11 is driven by the slewing mechanism to rotate in a plane perpendicular to the lifting direction of the fork device 100, so that the fork 11 The container can be taken out from the storage shelf in the storage system and placed on the pallet on the handling robot, or the goods on the pallet can be taken out and placed on the storage shelf.

The slewing mechanism may be a belt transmission mechanism or a chain transmission mechanism, as long as it can drive the fork 11 to rotate in a plane perpendicular to the lifting direction, which is not specifically limited in this embodiment.

In some embodiments, the front end of the fork 11 is provided with a first limit portion, and the rear end of the fork 11 is provided with a second limit portion, wherein, the front end of the fork 11 refers to the fork 11 when the fork 11 passes from the storage rack. When picking up the cargo box at the same position, the fork 11 faces one end of the cargo box, and the end opposite to the front end is the rear end of the fork 11. The fork 11 is also provided with an elastic limiter 12 and is used for accommodating the fork 11. The accommodating groove 111 of the elastic limiting member 12, wherein the elastic limiting member 12 is located between the first limiting portion and the second limiting portion, and the first end of the elastic limiting member 12 is connected to the groove wall of the accommodating groove 111 pivotally connected, the second end of the elastic limiter 12 protrudes from the bearing surface of the fork 11 under the action of its own elastic force, and a first bearing area is formed between the elastic limiter 12 and the first limiter; When the member 12 is subjected to external gravity, the elastic limiting member 12 is compressed in the accommodating groove 111, and a second bearing area is formed between the first limiting portion and the second limiting portion.

In specific implementation, when the size of the cargo box 200 matches the first bearing area, the elastic limiting member 12 will not be squeezed by external gravity, and at this time, the elastic limiting member 12 will protrude under the action of its own elastic force. In this way, the cargo box 200 in the first carrying area is limited between the first limit part and the elastic limiter 12 to prevent the cargo box 200 from slipping on the fork 11, thereby preventing the cargo box 200 from sliding on the fork 11. The stability of the cargo box 200 on the fork 11 is improved; and when the size of the cargo box 200 is larger than the size of the first carrying area and matches the size of the second carrying area, when the fork 11 lifts the cargo box 200, the elastic The limiting member 12 will be squeezed by the gravity of the cargo box 200 , so that the elastic limiting member 12 is compressed in the accommodating groove 111 to avoid interference between the elastic limiting member 12 and the cargo box 200 . The cargo box 200 is limited between the first limit portion and the second limit portion. It can be seen that the fork device 100 provided in the embodiment of the present application can be applied to the cargo box 200 of different sizes, thereby improving the Scope of application of handling robots.

In some embodiments, the elastic limiting member 12 includes a limiting rod and an elastic member, the first end of the limiting rod is pivotally connected with the groove wall of the accommodating groove 111 , and one end of the elastic member is in contact with the groove wall of the accommodating groove 111 . Then, the other end of the elastic piece is connected with the limit rod, and the elastic force of the elastic piece drives the second end of the limit rod to protrude from the surface of the fork 11 .

Wherein, the limit rod can be U-shaped, W-shaped and other structures.

In one embodiment, the elastic member may be a helical spring, eg, a torsion spring, a cylindrical compression spring, or the like.

In order to improve the stability and reliability of the cargo box 200 on the fork 11 , in this embodiment, along the extension direction of the fork 11 , at least two sets of support members are provided on the fork 11 , and each set of support members includes two support plates 13. The two support plates 13 are symmetrically arranged on opposite sides of the fork 11 with the symmetrical center line of the fork 11 as the center of symmetry. The large fork 11 supports the supporting area of the cargo box 200 to prevent the cargo box 200 from falling from both sides of the fork 11 .

Compared with widening the width of the entire fork 11 , by disposing a plurality of support plates 13 at intervals on both sides of the fork 11 , the supporting stability of the fork 11 can be improved, and consumables and cargo can be reduced. Overall weight of fork 11.

Wherein, the support plate 13 may be a support plate 13 of any shape such as a rectangle, a semi-ellipse, a semi-circle, etc., as long as the support area of the fork 11 to support the cargo box 200 can be increased, which is not specifically described in this embodiment. limit.

In addition, in order to prevent the cargo box 200 from slipping on the fork 11 when it rotates or moves up and down with the fork 11 , in this embodiment, an anti-skid pad 14 may be provided on the fork 11 and the bearing surface of the support plate 13 , for example, The anti-skid pads 14 made of rubber, or other anti-skid pads 14 with relatively large surface roughness, etc., can be used to improve the stability and reliability of the cargo box 200 on the fork 11 .

On the basis of the above-mentioned embodiment, the fork 11 includes at least two fork arms, and the fork arms are slidably connected in sequence to form the telescopic fork 11, so that the cargo boxes 200 at different positions can be taken.

In one embodiment, the fork 11 includes an inner section fork arm 112 , a middle section fork arm 113 and an outer section fork arm 114 , the inner section fork arm 112 is mounted on the bracket 10 , and the middle section fork arm 113 Installed on the inner section fork arm 112, the middle section fork arm 113 can move relative to the inner section fork arm 112, the outer section fork arm 114 is installed on the middle section fork arm 113, and the outer section fork arm 114 can be opposite to The middle section fork arm 113 moves.

Optionally, the front end of the outer section fork arm 114 is provided with a first limit plate 15 , the first limit plate 15 forms a first limit portion of the fork 11 , and the elastic limiter 12 may be located on the outer section fork arm 114, in this way, a first bearing area is formed between the elastic limiting member 12 and the first limiting plate 15, so as to be used for carrying the cargo box 200 with a small size.

In some optional embodiments, the end of the inner section fork arm 112 away from the middle section fork arm 113 is provided with a first limit assembly 17 , the first limit assembly 17 includes a second limit plate 171 , and the second limit The positioning plate 171 forms the second limiting portion.

The height of the second limit plate 171 relative to the bearing surface of the outer section fork arm 114 is greater than the height of the first limit plate 15 relative to the bearing surface of the outer section fork arm 114, so that the second limit plate 171 can be increased. Positioning reliability of the cargo box 200 located in the second carrying area.

The first limiting assembly 17 further includes a bracket 174 , a first guide rod 172 and a first spring 173 ; the bracket 174 is provided with a first through hole, and the first guide rod 172 passes through the first through hole and can be opposite to the bracket 174 moving, the second limiting plate 171 is disposed on the end of the first guide rod 172 facing the outer fork arm 114, the first spring 173 is sleeved on the guide rod, and the first end of the first spring 173 and the bracket 174 face the first One side of the two limit plates 171 abuts, and the other end of the first spring 173 abuts against the second limit plate 171 , so that the elastic force of the first spring 173 drives the second limit plate 171 toward the outer fork arm 114 Or, the second limit plate 171 is pushed by the external force to move toward the direction of the bracket 174, so that the second limit plate 171 is formed as an elastic limit plate, so that the space of the second bearing area can be adjusted, which can Further carrying cargo boxes 200 with more specifications and sizes can further increase the applicable range of the fork 11 .

The first spring 173 may be a helical compression spring or a tension spring, which is not limited in this embodiment.

FIG. 9 is a schematic diagram of a working condition of the second structure of the fork device provided by the embodiment of the application; FIG. 10 is a schematic diagram of another working condition of the second structure of the fork device provided by the embodiment of the application.

Referring to FIGS. 9 and 10 , the fork device 100 further includes two second limit assemblies 18 . The two second limit assemblies 18 are symmetrically arranged on both sides of the fork 11 , and each second limit assembly 18 includes The support 181 and the third limit plate 182 , the support 181 is installed on the bracket 10 , the third limit plate 182 is installed on the support 181 , and the third limit plate 182 is used for the cargo box on the fork 11 . 200 for the limit.

In addition to limiting the position of the cargo box 200 on the fork 11 , the two third limit plates 182 disposed opposite to each other on both sides of the fork 11 , when the outer section fork arm 114 contracts toward the inner section fork arm 112 At the same time, the two oppositely arranged third limit plates 182 can guide the cargo box 200 on the outer section fork arm 114 to correct the posture of the cargo box 200 on the outer section fork arm 114, so that the cargo box 200 is positioned on the outer section fork arm 114. The fork 11 is in the center position, when the outer section fork arm 114 and the middle section fork arm 113 are completely in the retracted state, the large-sized cargo box 200 on the fork 11 is restricted to the first limit plate 15, Between the second limit plate 171 and the two opposite third limit plates 182; or, when the cargo box 200 picked up by the fork 11 is a small size cargo box 200, the cargo box 200 is limited to the first limit between the positioning plate 15 , the elastic limiting member 12 and the two oppositely arranged third limiting plates 182 .

Further, each of the second limiting components 18 further includes a second guide rod 183 and a second spring 184, the support 181 is provided with a second through hole, the second guide rod 183 passes through the second through hole, and the third The limiting plate 182 is connected with the end of the second guide rod 183 facing the fork 11 , the second spring 184 is sleeved on the second guide rod 183 , and one end of the second spring 184 is in contact with the support 181 , the second spring 184 The other end abuts against the third limit plate 182, and the elastic force of the second spring 184 can drive the third limit plate 182 to move toward the fork 11; or the third limit plate 182 is moved toward the support 181 by external thrust, so that , the two oppositely arranged third limit plates 182 form elastic limit plates, so that the fork 11 can carry cargo boxes 200 of different widths, which can further increase the application range of the fork 11 .

Further, when the outer section fork arm 114 takes the cargo box 200 and shrinks toward the inner section fork arm 112, in order to improve the guidance of the cargo box 200 on the outer section fork arm 114, in the embodiment of the present application, Along the extension direction of the fork 11 , one end of each third limit plate 182 facing the front end of the fork 11 is provided with a guide slope 1821 . When the outer fork arm 114 is retracted toward the inner fork arm 112 , the third limit The guide slope 1821 on the plate 182 can guide the cargo box 200 .

In the fork device provided by the embodiment of the present application, a first limiting portion is provided at the front end of the fork, a second limiting portion is provided at the rear end of the fork, and an elastic limiting member and an elastic limiting member are also provided on the fork. in the accommodating groove for accommodating the elastic limiting piece, the elastic limiting piece is located between the first limiting part and the second limiting part, when the elastic limiting piece is not subject to external gravity, the second end of the elastic limiting piece Under the action of its own elastic force, the bearing surface of the fork is protruded, so that a first bearing area is formed between the second end of the elastic stopper and the first stopper, so that the first bearing area can carry the matching For small-sized cargo boxes, the cargo box is limited between the first limit part and the elastic limiter, which can prevent the cargo box from sliding on the fork; and when the size of the cargo box carried by the fork is larger than the first limit In the load-bearing area, the elastic limiter is pressed by the gravity of the cargo box, and the second end of the elastic limiter is compressed into the accommodating groove, so that the first limiter and the second limiter are formed between the first limiter and the second limiter. The second carrying area of the large-sized cargo box, that is, the second carrying area can carry a matching large-sized cargo box, thereby increasing the applicable range of the fork device.

The embodiments or implementations in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" and the like are meant to incorporate embodiments A particular feature, structure, material, or characteristic described or exemplified is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

100: Fork device 10: Bracket 11: Forks 111: accommodating slot 112: Inner section fork arm 113: Middle section fork arm 114: Outer section fork arm 12: Elastic stopper 13: Support plate 14: Anti-slip mat 15: The first limit plate 17: The first limit component 171: Second limit plate 172: The first guide rod 173: First Spring 174: Bracket 18: The second limit component 181: Support 182: The third limit plate 1821: Guide Bevel 183: Second guide rod 184: Second Spring 200: Cargo box.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present application. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort. 1 is a schematic diagram of a working condition of the first structure of the fork device provided by the embodiment of the application; Fig. 2 is the partial enlarged view of A place in Fig. 1; 3 is a schematic diagram of another working condition of the first structure of the fork device provided by the embodiment of the application; Fig. 4 is a partial enlarged view at B in Fig. 3; Fig. 5 is a state diagram of a use state of the fork device provided by the embodiment of the application; Fig. 6 is the front view of Fig. 5; Fig. 7 is another use state diagram of the fork device provided by the embodiment of the present application; Fig. 8 is the front view of Fig. 7; 9 is a schematic diagram of a working condition of the second structure of the fork device provided by the embodiment of the application; FIG. 10 is a schematic diagram of another working condition of the second structure of the fork device provided by the embodiment of the application.

100: Fork device

10: Bracket

11: Forks

112: Inner section fork arm

113: Middle section fork arm

114: Outer section fork arm

13: Support plate

14: Anti-slip mat

15: The first limit plate

171: Second limit plate

18: The second limit component

181: Support

182: The third limit plate

1821: Guide Bevel

Claims (16)

A fork device comprises: a bracket and a fork arranged on the bracket; the front end of the fork is provided with a first limit portion, and the rear end of the fork is provided with a second limit portion, The fork is also provided with an elastic limit piece and an accommodating groove for accommodating the elastic limit piece, wherein the elastic limit piece is located between the first limit part and the second limit part, and the elastic limit The first end of the limiter is pivotally connected with the groove wall of the accommodating slot, and the second end of the elastic limiter protrudes from the bearing surface of the fork under the action of its own elastic force, so that the elastic A first bearing area is formed between the second end of the limiting piece and the first limiting part; when the elastic limiting piece is subjected to external gravity, the second end of the elastic limiting piece is compressed on the In the accommodating groove, a second bearing area is formed between the first limiting portion and the second limiting portion. The fork device according to claim 1, wherein the elastic limiting member comprises a limiting rod and an elastic member, the first end of the limiting rod is pivotally connected with the groove wall of the accommodating groove, and the elastic limit One end of the elastic member is in contact with the groove wall of the accommodating groove, the other end of the elastic member is connected with the limit rod, and the elastic force of the elastic member drives the second end of the limit rod to protrude from the limit rod. Loading surface of the fork. The fork device according to claim 2, wherein the limit rod is a U-shaped limit rod. The fork device of claim 2, wherein the elastic member is a coil spring. The fork device according to any one of claims 1 to 4, wherein along the extension direction of the fork, at least two sets of support members are provided on the fork, and each set of the support members includes two supports The two support plates are symmetrically arranged on both sides of the fork. The fork device according to claim 5, wherein a non-slip pad is provided on the bearing surface of each of the support plates. The fork device of any one of claims 1 to 4, wherein the fork comprises at least two fork arms, each of which is slidably connected in sequence to form a telescopic fork. The fork device of claim 7, wherein the fork comprises an inner section fork arm, a middle section fork arm and an outer section fork arm; The inner section fork arm is mounted on the bracket, the middle section fork arm is mounted on the inner section fork arm and can move relative to the inner section fork arm, and the outer section fork arm is mounted on the inner section fork arm. The arm is mounted on the middle section fork arm and is movable relative to the middle section fork arm. The fork device according to claim 8, wherein one end of the outer fork arm away from the inner fork arm is provided with a first limit plate, and the first limit plate forms the first limit plate Limiting part; the elastic limiter is located on the outer section fork arm. The fork device according to claim 9, wherein one end of the inner section fork arm away from the middle section fork arm is provided with a first limit assembly, and the first limit assembly includes a second limit plate , the second limiting plate forms the second limiting portion. The fork device according to claim 10, wherein the height of the second limit plate relative to the bearing surface of the outer fork arm is greater than the load of the first limit plate relative to the outer fork arm face height. The fork device according to claim 11, wherein the first limit component further comprises a bracket, a first guide rod and a first spring; the bracket is provided with a first through hole, and the first guide rod passes through It is arranged in the first through hole and can move relative to the bracket, the second limit plate is arranged at the end of the first guide rod facing the outer section fork arm, and the first spring is sleeved on the end of the fork arm. on the guide rod, the first end of the first spring is in contact with the side of the bracket facing the second limit plate, and the other end of the first spring is in contact with the second limit plate connected, so that the elastic force of the first spring drives the second limit plate to move toward the direction of the outer section fork arm; or, the second limit plate is pushed by an external force to move toward the bracket . The fork device according to any one of claims 1 to 4, wherein the fork device further comprises two second limit assemblies, and the two second limit assemblies are symmetrically arranged on the fork. two sides; each of the second limit components includes a support and a third limit plate, the support is installed on the bracket, the third limit plate is installed on the support, the The third limiting plate is used for limiting the cargo box on the fork. The fork device according to claim 13, wherein each of the second limit components further comprises a second guide rod and a second spring, the support is provided with a second through hole, and the second guide rod passes through is arranged in the second through hole, the third limiting plate is connected with the end of the second guide rod facing the fork, the second spring is sleeved on the second guide rod, and One end of the second spring is in contact with the support, the other end of the second spring is in contact with the third limit plate, and the elastic force of the second spring can drive the third limit plate move toward the fork; or the third limiting plate is moved toward the support by an external thrust. The fork device according to claim 14, wherein, along the extending direction of the fork, one end of each of the third limiting plates facing the front end of the fork is provided with a guide slope. A handling robot, comprising: a mobile base, a column and the fork device according to any one of the above claims 1 to 15, the mobile base is used to carry the column and the fork device, the fork device It is installed on the upright column and can move up and down relative to the upright column.

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