WO2024061057A1

WO2024061057A1 - Pallet assembly, fork apparatus, and warehousing robot

Info

Publication number: WO2024061057A1
Application number: PCT/CN2023/118383
Authority: WO
Inventors: 叶竹
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-09-23
Filing date: 2023-09-12
Publication date: 2024-03-28
Also published as: CN218539198U

Abstract

The present application relates to a pallet assembly, a fork apparatus, and a warehousing robot. The pallet assembly comprises a frame body, a driving apparatus, and a telescoping operating mechanism. Two ends of the telescoping operating mechanism in a telescoping direction are respectively a connecting end and a telescoping end; the telescoping operating mechanism comprises at least two successively connected motion assemblies, the motion assembly on the connecting end side is connected to the frame body, and the motion assembly on the telescoping end side is set to be a pallet; the driving apparatus is fixed relative to the frame body, the output end of the driving apparatus and the motion assembly on the connecting end side are connected by means of a first transmission mechanism, and two adjacent motion assemblies are connected by means of a second transmission mechanism; when the motion assembly on the connecting end side is driven, the motion assembly is used to transmit power to the pallet by means of the second transmission mechanism, so that the pallet extends or retracts relative to the frame body. According to the solution provided by the present application, the linkage of at least two motion assemblies is achieved by using one driving apparatus, such that the extension length of the pallet assembly is increased, the structure is simplified, and costs are reduced.

Description

Pallet components, fork devices and warehousing robots

This application claims priority to CN202222537825.

Technical field

This application relates to the technical field of warehousing equipment, in particular to pallet components, fork devices and warehousing robots.

Background technique

The pallet of the fork device needs to be extended or retracted during the process of picking up, placing or transporting objects. In some scenarios, the distance between the fork device and the shelf is large, and the pallet often needs to be extended or retracted. Only by traveling can the objects be picked and placed.

The pallets in the related art generally adopt a single-stage or double-stage telescopic mechanism with limited telescopic travel, and some double-stage telescopic mechanisms are driven by two sets of motors, which are relatively expensive.

Application content

In order to solve or partially solve the problems existing in related technologies, this application provides a pallet assembly, a fork device and a storage robot, which adopts a driving device to realize the linkage of at least two moving components, thereby increasing the extension length of the pallet assembly. The structure is simplified and the cost is reduced.

A first aspect of this application provides a pallet assembly, including:

The frame body, the driving device and the telescopic operating mechanism, the two ends of the telescopic operating mechanism in the telescopic direction are respectively the connecting end and the telescopic end;

Wherein, the telescopic operating mechanism includes at least two moving components connected in sequence, the moving component on the side of the connecting end is connected to the frame body, and the moving component on the side of the telescopic end is configured as a tray;

The driving device is fixed relative to the frame, and the output end of the driving device is connected to the The moving components on one side of the connection end are connected by a first transmission mechanism, and two adjacent moving components are connected by a second transmission mechanism; when the moving components on one side of the connection end are driven, power is transmitted to the tray through the second transmission mechanism so that the tray extends or retracts relative to the frame.

In one implementation, the at least two moving components are sequentially slidingly connected and supported in the vertical direction, the moving component on one side of the connection end is supported on the frame, and the upper surface of the tray is provided with It is a bearing part used to carry objects.

In one implementation, the first transmission mechanism is a tooth transmission mechanism; and/or,

The second transmission mechanism is a belt transmission mechanism or a chain transmission mechanism.

In one implementation, two adjacent moving assemblies are connected through a sliding assembly, and the sliding assembly includes a guide rail provided on one of the moving assemblies and a guide provided on the other moving assembly, The guide member is limited to the guide rail and can slide along the guide rail.

In one implementation, two sliding assemblies are provided between two adjacent moving assemblies. The moving assemblies include a plate body, and both sides of the plate body along the width direction are respectively supported by two sliding assemblies. on the sliding assembly.

In one implementation, the guide member is a slider or a roller.

In one implementation, the first transmission mechanism is a tooth transmission mechanism, and the tooth transmission mechanism includes a gear connected to the output end of the driving device and the motion component fixed on one side of the connection end. The rack is arranged along the length direction of the moving component, and the gear meshes with the rack.

In one implementation, the second transmission mechanism includes two synchronization wheels and transmission parts surrounding the two synchronization wheels; the two synchronization wheels are respectively installed at both ends of the movement component along the telescopic direction. , the transmission member includes two linear running parts with opposite running directions;

On the moving component close to the frame, a first connecting piece is fixed on one of the linear running parts of the transmission member, and the first connecting piece is fixed relative to the frame, and the other The linear motion part is fixed with a second connecting piece, and the second connecting piece is connected to the adjacent moving component.

In one implementation, the telescopic operating mechanism includes at least three of the operating mechanisms connected in sequence. Moving components; the three moving components are respectively the first-level moving component, the second-level moving component and the third-level moving component. The first-level moving component is connected to the frame, and the third-level moving component Set to said tray;

The second-stage motion assembly is connected between the first-stage motion assembly and the third-stage motion assembly. On the second-stage motion assembly, two linear running parts of the transmission member are respectively connected to the first-stage motion assembly and the pallet.

In one implementation, between two adjacent motion components, one of the motion components is provided with a groove extending along the telescopic direction, a portion of the other motion component opposite to the groove is embedded in the groove, and the second transmission mechanism is arranged in the groove.

A second aspect of the present application provides a fork device, including the pallet assembly described in the first aspect.

A second aspect of this application provides a warehousing robot, including: a robot body, the robot body being provided with a fork device as described in the second aspect.

The technical solution provided by this application can include the following beneficial effects:

The pallet assembly provided by the embodiment of the present application includes a frame body, a driving device and a telescopic operating mechanism. The two ends of the telescopic operating mechanism in the telescopic direction are respectively the connecting end and the telescopic end; wherein, the telescopic operating mechanism includes at least two connected in sequence. The moving component, the moving component on the connecting end side is connected to the frame body, the moving component on the telescopic end side is set as a tray; the driving device is fixed relative to the frame body, and the output end of the driving device and the moving component on the connecting end side pass through the third A transmission mechanism is connected, and two adjacent motion components are connected through a second transmission mechanism; when the motion component on the connecting end side is driven, it is used to transmit power to the tray on the telescopic end side through the second transmission mechanism. to extend or retract the tray relative to the frame. After this arrangement, one driving device can be used to realize the linkage of at least two motion components, achieving at least two levels of telescopicity, which not only increases the telescopic stroke of the tray component, but also simplifies the structure and reduces the cost.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent by describing the exemplary embodiments of the present application in more detail with reference to the accompanying drawings, in which the same reference numerals generally refer to the exemplary embodiments of the present application. Same parts.

Figure 1 is a schematic structural diagram of a tray assembly shown in an embodiment of the present application;

Figure 2 is a schematic diagram of the cooperation between the driving device and the motion component of the tray assembly shown in the embodiment of Figure 1;

Figure 3 is a schematic structural view of the first transmission mechanism of the tray assembly shown in the embodiment of Figure 1;

Figure 4 is a schematic diagram of the cooperation between the first moving component and the second moving component of the pallet assembly according to the embodiment of the present application;

Figure 5 is a schematic diagram of the cooperation between the second moving component and the third moving component of the pallet assembly according to the embodiment of the present application;

Figure 6 is a schematic diagram of the cooperation of the moving components of the tray assembly in the vertical direction according to the embodiment of the present application.

Reference signs: 100, frame; 200, moving component; 200a, first moving component; 200b, second moving component; 200c, third moving component; 300, second transmission mechanism; 400, motor; 500, sliding component ; 210. Fixed plate; 220. Rack; 230. Groove; 240. Plate body; 250. Guide rail connecting plate; 260. Bearing part; 411. Transmission parts; 420. Rotating parts; 421. Gear; 310. First Synchronous wheel; 320, second synchronized wheel; 330, synchronous belt; 331, first connecting piece; 332, second connecting piece; 510, guide rail; 520, guide piece; A, connecting end; B telescopic end.

Detailed ways

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented 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 disclosure to those skilled in the art.

It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present application, the first information may also be called second information, and similarly, the second information may also be called first information. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, "plurality" means two or more, Unless otherwise expressly and specifically limited.

In the description of this application, it needs to be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the present application.

Unless otherwise expressly stipulated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral body; it can be It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components or an interaction between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Pallets in the related art generally use single-stage or bipolar telescopic mechanisms, which have limited telescopic strokes, and some two-stage telescopic mechanisms are driven by two sets of motors, resulting in high costs.

In response to the above problems, embodiments of the present application provide a pallet assembly that uses one driving device to realize linkage of at least two moving components and achieves at least two levels of telescopicity, which not only increases the telescopic stroke of the pallet assembly, but also simplifies the The structure of the pallet assembly reduces costs.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to Figure 1, the pallet assembly provided by the embodiment of the present application includes a frame 100, a driving device and a telescopic operating mechanism. The two ends of the telescopic operating mechanism in the telescopic direction X are respectively the connecting end A and the telescopic end B; wherein, the telescopic operating mechanism The mechanism includes at least two moving components 200 connected in sequence. The moving component 200 on the connecting end A side is connected to the frame 100, and the moving component 200 on the telescopic end B side is set as a tray; the driving device is fixed relative to the frame 100, and The output end of the driving device is connected to the movement component 200 on the side of connection end A through a first transmission mechanism, and the two adjacent movement components 200 are connected through a second transmission mechanism 300; the movement component 200 on the side of connection end A is connected by When driving, the power is transmitted to the tray through the second transmission mechanism 300 so that the tray extends or retracts relative to the frame 100 .

After such arrangement, at least two motion components 200 can be realized by using one driving device. The linkage realizes at least two levels of telescopic extension, which increases the telescopic length of the tray assembly while simplifying the structure and reducing the cost.

In this embodiment, the frame body 100 is used to connect with the fork device of the warehousing robot. At least two moving components 200 are sequentially slidingly connected and supported in the vertical direction Z. The moving component 200 on the side of the connection end A is supported on the frame. The body 100, the upper surface of the pallet at the telescopic end B is set as a bearing portion 260 for bearing objects, the bearing portion 260 can be a planar structure, the frame body 100 can support at least two moving components 200 in the vertical direction Z, Then, the objects are picked up, placed or transported through the carrying part 260 of the tray.

When the tray assembly is in the retracted state, at least two moving components 200 are sequentially superimposed in the vertical direction Z, which can reduce the length of the tray assembly in the retracted state; when the tray assembly is in the extended state, at least two The two moving components 200 are connected end to end, so the extension length can be increased.

In this embodiment, the first transmission mechanism is a tooth transmission mechanism. The tooth transmission mechanism includes a gear 421 connected to the output end of the driving device and a rack 220 fixed on the moving assembly 200 on one side of the connection end A. The rack 220 Disposed along the length direction of the movement assembly 200, the gear 421 meshes with the rack 220.

The driving device may be a motor 400, such as a servo motor. The servo motor can accurately control the extension stroke and extension speed of the tray assembly.

FIG. 2 is a schematic diagram of the cooperation between the driving device and the movement component of the tray assembly shown in the embodiment of FIG. 1; FIG. 3 is a schematic structural diagram of the first transmission mechanism of the tray assembly shown in the embodiment of FIG. 1.

Referring to Figures 2 and 3, the motor 400 and the gear 421 are connected through a third transmission mechanism. The third transmission mechanism includes a rotating member 420 and a transmission component 411 wound between the rotating member 420 and the output shaft of the motor 400. The gear 421 is provided on the rotating member 420 and is coaxial with the rotating member 420. When the motor 400 is running, the rotating member 420 can be driven to rotate through the transmission member, thereby causing the gear 421 to rotate. Since the gear 421 meshes with the rack 220, the gear 421 is in mesh with the rack 220. When 421 rotates, it can drive the rack 220 to rotate, thereby causing the movement component 200 on the side of the connection end A to telescopically move.

Continuing to refer to FIG. 3 , in some embodiments, the moving component 200 close to the connection end A is provided with a fixed plate 210 , the second transmission mechanism 300 is provided on the fixed plate 210 , and the rack 220 is connected to one side of the fixed plate 210 .

In this embodiment, the transmission component 411 may be a synchronous belt 330 or a chain, or may not be provided. The transmission component 411, the output shaft of the motor 400 and the rotating member 420 can also be connected through a gear 421 mechanism.

In this embodiment, the driving device is disposed on the lateral side of the moving assembly 200, which can reduce the thickness of the tray assembly.

In some embodiments, the telescopic operating mechanism includes at least three moving components 200 connected in sequence; on the moving component 200 far away from the frame 100, the two linear running parts of the transmission member are respectively connected with the two moving parts on both sides of the vertical direction Z. The motion components 200 are connected. When at least three motion components 200 are provided, at least three levels of telescopicity can be achieved.

FIG. 4 is a schematic diagram of the cooperation between the first moving component and the second moving component of the pallet assembly according to the embodiment of the present application; FIG. 5 is a schematic diagram of the cooperation between the second moving component and the third moving component of the pallet assembly according to the embodiment of the present application.

Referring to Figure 1, Figure 4 and Figure 5, this embodiment uses three moving components as an example to introduce the solution of the present application.

Among them, the three moving components 200 are respectively the first-level moving component 200a, the second moving component 200b and the third moving component 200c. The first-level moving component 200a is provided on the side of the connection end A, and the third-level moving component 200c is provided On the telescopic end B side, that is, the third-stage motion component 200c is provided as a tray. The second-level motion component 200b is connected between the first-level motion component 200a and the third-level motion component 200c. When the number of moving components is three, the number of second transmission mechanisms 300 is set to two, and the two second transmission mechanisms 300 are used to connect the three moving components 200 two by two.

Referring to Figures 4 and 5, in this embodiment, the second transmission mechanism 300 includes two synchronization wheels and transmission parts surrounding the two synchronization wheels; the two synchronization wheels are respectively installed on both sides of the movement assembly 200 along the telescopic direction X. end, where the two synchronizing wheels are the first synchronizing wheel 310 and the second synchronizing wheel 320 respectively, and the transmission member includes two linear running parts with opposite running directions.

On the motion assembly 200 close to the frame 100, one of the linear motion parts of the transmission member is fixed with a first connecting piece 331. The first connecting piece 331 is fixed relative to the frame 100, and the other linear motion part is fixed with a third connecting piece 331. Two connecting parts 332 , the second connecting part 332 is connected with the adjacent moving component 200 .

In this embodiment, the transmission member may be a synchronous belt 330, and the two synchronous wheels are rotatably installed at both ends of the motion component 200. The two ends of the motion component 200 are provided with through grooves penetrating along the vertical direction Z. The synchronous wheels is located in the through groove, and the radial two sides of the synchronization wheel are respectively located on the upper side of the moving assembly 200 In this way, the synchronous belt 330 forms two linear running parts with opposite running directions on the upper and lower sides of the moving assembly 200 .

For example, see FIG. 3 , on the first-stage motion assembly 200a, the linear running part located on the lower side of the first-stage motion assembly 200a is connected to the frame 100 through the first connecting piece 331, and the linear running part located on the upper side of the first-stage motion assembly 200a The linear running part is connected to the second-stage motion component 200b through the second connecting piece 332; on the second-level moving component 200b, the linear running part located on the lower side of the second-level moving component 200b is connected to the first-level moving component through the first connecting piece 331. The motion component 200a is connected, and the linear running part located on the upper side of the second-level motion component 200b is connected to the third-level motion component 200c through the second connecting piece 332.

Continuing to refer to Figures 1, 4 and 5, when the tray assembly needs to be extended, the output shaft of the motor 400 rotates in the first direction (for example, forward), and the motor 400 drives the first-stage movement component 200a through the first transmission mechanism. Extends in the The second connecting piece 332 on the upper side of 200a moves toward the telescopic end B of the tray assembly relative to the first-stage movement component 200a, so it can drive the second-stage movement component 200b to move toward the telescopic end B of the movement component;

Since the first connecting member 331 on the lower side of the synchronous belt 330 of the second-stage movement assembly 200b is connected to the first-stage movement assembly 200a, when the second-stage movement assembly 200b extends, it is located on the upper side of the second-stage movement assembly 200b. The second connecting piece 332 moves toward the telescopic end B of the pallet assembly relative to the second-stage movement component 200b. Therefore, it can drive the third-stage movement component 200c to move toward the telescopic end B, thus realizing the three-stage continuous expansion of the tray assembly. out.

When the tray assembly needs to be retracted, the output of the motor 400 rotates in the second direction (for example, reverse direction), and the motor 400 drives the first-stage movement component 200a to retract through the first transmission mechanism. When the first-stage movement component 200a retracts, , the running direction of the two second transmission mechanisms 300 is opposite to that of the extended operation, so similar to the principle of the extended operation, the three-stage continuous retraction of the pallet assembly can be realized.

It can be understood that this embodiment is not limited to setting three motion components 200. In other embodiments, four, five or more motion components 200 can also be provided, since adjacent motion components 200 pass through the second The transmission mechanisms 300 are connected, so the number of the moving components 200 can be flexibly increased or reduced, and the telescopic length of the tray component can be set according to actual needs.

Referring to Figures 3 and 6, in this embodiment, two adjacent motion assemblies 200 are connected by sliding The sliding assembly 500 includes a guide rail 510 provided on one of the moving components 200 and a guide member 520 provided on the other moving assembly 200. The guide member 520 is limited to the guide rail 510 and can slide along the guide rail 510. The guide 520 may be a slider or a roller. After the moving component is provided, the operation coordination of the two adjacent moving components 200 can be made more stable.

In some embodiments, two sliding assemblies 500 are provided between two adjacent moving assemblies 200. The two sliding assemblies 500 on the lower side can support the upper moving assemblies 200, so that the tray assembly has a greater load-bearing capacity. ability.

In some embodiments, the motion assembly 200 includes a plate body 240, and both sides of the plate body along the width direction Y are respectively supported on two sliding assemblies 500. Among the two adjacent motion assemblies 200, guide rail connection plates 250 are provided on both sides of the base plate 240 of one of the motion assemblies 200. The guide rails 510 are provided on the guide rail connection plates 250, and the guide members 520 are fixed to the adjacent other motion assembly 200. On the motion component 200. When the guide member 520 is a slide block, the slide block is provided with a slide groove, and the guide rail 510 is limited to the slide groove, so that the sliding fit of the two adjacent moving assemblies 200 can be achieved.

It can be understood that in some embodiments, sliding connection between at least two moving assemblies 200 can also be achieved through a combination of slide blocks and rollers. This application is not limited to the above embodiments.

Referring to Figures 1 and 6, in some embodiments, among two adjacent moving components 200, one of the moving components 200 is provided with a groove 230 extending along the telescopic direction X, and the other moving component 200 is opposite to the groove 230. The parts are embedded in the groove 230 , and the second transmission mechanism 300 is disposed in the groove 230 . The base plate 240 of the motion assembly 200 can be set to a preset shape, so that a groove 230 is formed in the middle of the base plate 240. After being set in this way, on the one hand, the second transmission mechanism 300 can be accommodated, so that the second transmission mechanism 300 will not interfere with the operation of the second transmission mechanism 300. Other components interfere, ensuring the operational stability of each moving component 200; on the other hand, each moving component 200 can limit each other, so that the movement of each moving component 200 is limited to the expansion and contraction direction X, further improving the operational stability .

The pallet assembly of the embodiment of the present application has been introduced above. Correspondingly, the present application also provides a fork device, which includes the pallet assembly of the above embodiment.

The pallet assembly includes a frame 100, a driving device and a telescopic operating mechanism. The two ends of the telescopic operating mechanism in the telescopic direction 200, the moving component 200 on the side of the connecting end A is connected to the frame 100, and the moving component 200 on the side of the telescopic end B is set as a tray; the driving device is fixed relative to the frame 100, and the output end of the driving device is connected to the connecting end A. Side movement assembly 200 They are connected through the first transmission mechanism, and the two adjacent motion components 200 are connected through the second transmission mechanism 300; when the motion component 200 on the side of the connection end A is driven, it is used to transmit power through the second transmission mechanism 300 to The tray is extended or retracted relative to the frame 100 . After such arrangement, one driving device can be used to realize the linkage of at least two motion components 200, achieving at least two levels of telescopicity, which not only increases the telescopic stroke of the tray component, but also simplifies the structure and reduces the cost.

Correspondingly, this application also provides a storage robot. The storage robot includes a robot body. The robot body is provided with the above-mentioned fork device. Regarding the characteristics of the pallet assembly of the fork device, refer to the description of the above embodiments, which will not be discussed here. Repeat.

The embodiments of the present application have been described above. The above description is illustrative, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

A pallet assembly, characterized by including:

The frame body, the driving device and the telescopic operating mechanism, the two ends of the telescopic operating mechanism in the telescopic direction are respectively the connecting end and the telescopic end;

Wherein, the telescopic operation mechanism comprises at least two motion components connected in sequence, the motion component on the connection end side is connected to the frame, and the motion component on the telescopic end side is set as a tray;

The driving device is fixed relative to the frame, and the output end of the driving device is connected to the moving component on one side of the connecting end through a first transmission mechanism. There is a gap between two adjacent moving components. connected through a second transmission mechanism; when the moving component on one side of the connection end is driven, it is used to transmit power to the pallet through the second transmission mechanism, so that the pallet is relative to the frame Extend or retract.
The assembly according to claim 1, characterized in that:

The at least two moving components are sequentially slidingly connected and supported in the vertical direction. The moving component on one side of the connection end is supported on the frame body. The upper surface of the tray is configured to carry objects. Bearing part.
The pallet assembly according to claim 1, characterized in that:

The first transmission mechanism is a tooth transmission mechanism; and/or,

The second transmission mechanism is a belt transmission mechanism or a chain transmission mechanism.
The pallet assembly according to claim 1, characterized in that:

Two adjacent moving components are connected through a sliding component. The sliding component includes a guide rail provided on one of the moving components and a guide member provided on the other moving component. The guide member is limited to The guide rail can slide along the guide rail.
The pallet assembly according to claim 4, characterized in that:

Two sliding assemblies are provided between two adjacent moving assemblies. The moving assemblies include a plate body, and both sides of the plate body along the width direction are respectively supported on the two sliding assemblies.
The pallet assembly according to claim 4, characterized in that:

The guide member is a slider or a roller.
The tray assembly according to claim 1, characterized in that:

The first transmission mechanism is a tooth transmission mechanism, and the tooth transmission mechanism includes a gear connected to the output end of the driving device and a rack of the moving component fixed on one side of the connection end. The rack is arranged along the length direction of the tray assembly, and the gear meshes with the rack.
The pallet assembly according to claim 1, characterized in that:

The second transmission mechanism includes two synchronous wheels and transmission parts surrounding the two synchronous wheels; the two synchronous wheels are respectively installed at both ends of the movement component along the telescopic direction, and the transmission parts include Two linear running parts with opposite running directions;

On the moving component close to the frame, a first connecting piece is fixed on one of the linear running parts of the transmission member, and the first connecting piece is fixed relative to the frame, and the other The linear motion part is fixed with a second connecting piece, and the second connecting piece is connected to the adjacent moving component.
The pallet assembly according to claim 1, characterized in that:

The telescopic operating mechanism includes at least three motion components connected in sequence; the three motion components are respectively a first-level motion component, a second-level motion component and a third-level motion component. The first-level motion component Connected to the frame, the third-level motion component is configured as the tray;

The second-level motion component is connected between the first-level motion component and the third-level motion component. On the second-level motion component, the two linear running parts of the transmission member are respectively connected with the The first-level moving component is connected with the tray.
The pallet assembly according to claim 1, characterized in that:

Between two adjacent running components, one of the moving components is provided with a groove extending in the telescopic direction, and the part of the other moving component opposite to the groove is embedded in the groove. , the second transmission mechanism is arranged in the groove.
A fork device, characterized by comprising the pallet assembly according to any one of claims 1-9.
A warehousing robot is characterized by including:

A robot body provided with the fork device according to claim 11.