CN220723492U - Fork subassembly, workbin and transfer robot - Google Patents

Abstract

The application provides a fork subassembly, workbin and transfer robot, wherein, this fork subassembly includes the base, drive assembly, first driving piece, flexible subassembly and second driving piece, drive assembly's drive portion is provided with the cooperation piece that is used for removing the workbin, first driving piece and second driving piece all set up in the base, first driving piece is connected with drive assembly, flexible subassembly is movably connected in the base, at least part of drive assembly can remove along with flexible subassembly, the second driving piece is connected with flexible subassembly for the flexible subassembly of drive removes. In this application, snatch the front end position of workbin through drive assembly and can pull out the workbin from the goods shelves to on this fork subassembly to can reduce the holistic length dimension of fork, also can shorten the extension distance when getting and put the goods, and the fork subassembly need not to stretch into to goods shelves inside, thereby need not to reserve the fork in goods shelves and get the space of putting the goods, be favorable to promoting the storage density of workbin.

Description

Fork subassembly, workbin and transfer robot

Technical Field

The application relates to the technical field of logistics transportation, in particular to a fork assembly, a feed box and a transfer robot.

Background

The existing transfer robot generally takes and places the material box through a fork. However, the existing forks are generally only accessible from the side or rear of the bin, which requires a longer length and a longer telescopic distance of the forks, which leads to an increased error in the ends of the forks, and a larger safety distance for collision prevention, which reduces storage density.

Disclosure of Invention

An object of the application is to provide a fork subassembly, workbin and transfer robot to reduce the length and the flexible distance of fork, promote the storage density of workbin.

A first aspect of the present application provides a pallet fork assembly, comprising:

a base;

the transmission assembly is connected to the base and comprises a transmission part, and at least one matching piece for matching with the feed box so as to move the feed box is arranged on the transmission part;

the first driving piece is arranged on the base and connected with the transmission assembly and used for driving the transmission part to move;

a telescoping assembly movably coupled to the base in a first direction, at least a portion of the transmission assembly being coupled to the telescoping assembly such that the transmission can move with the telescoping assembly;

the second driving piece is arranged on the base and connected with the telescopic assembly and used for driving the telescopic assembly to move.

In one possible design, the telescopic assembly comprises a rack, a guide and a support frame, wherein the guide is connected to the base, the rack is connected to the support frame, and at least part of the support frame is in sliding connection with the guide;

the second driving piece is provided with a second driving wheel, and the second driving piece can drive the rack to move along the first direction through the cooperation of the second driving wheel and the rack, so that the support frame moves along the first direction.

In one possible design, the telescopic assembly further comprises a driven wheel, which is respectively engaged with the second driving wheel and the rack, the second driving wheel driving the rack to move in the first direction by the driven wheel.

In one possible design, a guide plate is provided on the support frame, said guide plate being located above the transmission part for guiding the transmission part.

In one possible design, a telescopic plate is further arranged on the supporting frame, the telescopic plate is in sliding connection with the guiding piece, and the guiding piece is used for guiding the telescopic plate.

In one possible design, the transmission assembly further comprises a plurality of transmission wheels, at least two of which are respectively connected with two ends of the telescopic assembly in a rotating way;

the first driving piece is provided with a first driving wheel, and the first driving wheel and the plurality of driving wheels are meshed with the transmission part.

In one possible design, the fork assembly further includes a detection device coupled to the base, the detection device being configured to inductively engage a portion of the telescoping assembly for detecting a position of movement of the telescoping assembly.

In one possible design, the mating pieces are provided with more than two, and the distance between two adjacent mating pieces is larger than the length of the feed box.

The second aspect of the present application also provides a bin wherein the bottom of the bin is provided with a recess for mating with a mating member in a fork assembly provided in the first aspect of the present application.

In one possible design, the bottom of the bin is provided with a guide slot for sliding engagement with a guide plate provided on the support frame of the fork assembly.

A third aspect of the present application also provides a transfer robot, including a frame, a lifting mechanism, and a fork assembly provided in the first aspect of the present application;

the frame is provided with a supporting part which is used for supporting the feed box;

the lifting mechanism is arranged on the frame;

the fork assembly is connected with the lifting mechanism so as to ascend or descend through the driving of the lifting mechanism.

The technical scheme that this application provided can reach following beneficial effect:

the utility model provides a fork subassembly, workbin and transfer robot, flexible subassembly only stretches out to the goods shelves the place ahead predetermine the position can, need not to stretch into inside the goods shelves, can remove the cooperation piece to the position department predetermine of workbin front end through drive assembly's drive division, can pull out the workbin from the goods shelves to on this fork subassembly through grabbing the front end position of workbin to can reduce the holistic length dimension of fork, also can shorten the stretch out distance when getting and put goods, and the fork subassembly need not to stretch into inside the goods shelves, thereby need not to reserve the fork in the goods shelves and get the space of putting goods, thereby be favorable to promoting the storage density of workbin.

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.

Drawings

Fig. 1 is a schematic diagram of a handling robot according to an embodiment of the present disclosure in a pick-and-place box;

FIG. 2 is a schematic diagram of a fork assembly according to an embodiment of the present disclosure;

FIG. 3 is a side cross-sectional view of a fork assembly provided in an embodiment of the present application;

FIG. 4 is a top view of a bin provided in an embodiment of the present application;

FIG. 5 is a side view of a guide plate in a pallet fork assembly according to an embodiment of the present application mated with a guide slot on a bin;

FIG. 6 is an enlarged view of FIG. 5 at B;

FIG. 7 is a cross-sectional view taken at A-A of FIG. 4;

FIG. 8 is a top view of two adjacent bins mated;

FIG. 9 is a view of a fork assembly according to an embodiment of the present disclosure after being lowered a predetermined height in front of a take out bin;

FIG. 10 is a view of the telescoping assembly as it extends below the bin;

FIG. 11 is a state diagram of the fitting with the groove;

FIG. 12 is a state diagram of the drive part after pulling the bin out;

FIG. 13 is a view of the fork assembly after lowering the bin a predetermined height and separating from the bin on the pallet;

FIG. 14 is a state diagram of the fork assembly driving the bin away from the pallet.

Reference numerals:

100-fork assembly

200-a material box;

210-groove;

220-guide slots;

230-a first hook;

240-a second hook;

300-shelf;

400-frame;

400 A-A support;

1-a base;

2-a transmission assembly;

21-a transmission part;

22-mating member;

23-a driving wheel;

3-telescoping assembly;

31-racks;

32-a guide;

33-supporting frames;

331-a guide plate;

332-telescoping plates;

4-a first driving member;

41-a first driving wheel;

5-a second driving member;

51-a second drive wheel;

52-driven wheel;

6-a detection device;

x-first direction.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In the description of the present application, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified or limited otherwise; the term "plurality" means two or more, unless specified or indicated otherwise; the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In the description of the present application, it should be understood that the terms "upper," "lower," and the like in the embodiments of the present application are described in terms of angles shown in the accompanying drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.

Fig. 1 is a schematic diagram of a handling robot provided in an embodiment of the present application when picking and placing a bin, referring to fig. 1, the present application provides a pallet fork assembly 100, and the pallet fork assembly 100 may be applied to a handling robot, and the handling robot may drive the pallet fork assembly 100 to move to a target position and can pick and place the bin 200 on a shelf 300 through the pallet fork assembly 100.

Specifically, fig. 2 is a schematic structural diagram of a fork assembly 100 according to an embodiment of the present application, and referring to fig. 2, the fork assembly 100 includes a base 1, a transmission assembly 2, a first driving member 4, a second driving member 5, and a telescopic assembly 3. Wherein, the transmission assembly 2 is connected with the base 1, the transmission assembly 2 comprises a transmission part 21, and at least one matching piece 22 for matching with the material box 200 to move the material box 200 is arranged on the transmission part 21; the first driving piece 4 is connected with the transmission assembly 2 and is used for driving the transmission part 21 to move; the telescopic assembly 3 is movably connected to the base 1 along a first direction X, and at least part of the transmission assembly 2 is connected to the telescopic assembly 3, so that the transmission part 21 can move along with the telescopic assembly 3; the second driving piece 5 is connected with the telescopic assembly 3 and is used for driving the telescopic assembly 3 to move. Wherein, first driving piece 4 and second driving piece 5 all set up in base 1 to can make this fork subassembly whole remove the quality little, be favorable to realizing steadily moving under the less driving force of loading's circumstances.

When goods are required to be taken from the goods shelf 300, the transfer robot moves to a preset position close to the goods shelf 300, the second driving piece 5 drives the telescopic assembly 3 to extend towards the direction of the goods shelf 300, the telescopic assembly 3 can drive the transmission part 21 to synchronously move, meanwhile, the first driving piece 4 can drive the transmission part 21 to move, so that the transmission part 21 drives the matching piece 22 to move to the position of the work bin 200 to be moved, and the work bin 200 can be transferred to the fork assembly 100 through the matching piece 22. Wherein the engagement member 22 has a plurality of engagement forms with the bin, the engagement member 22 may be in contact with a portion of a surface of the bin 200 in a moving direction, for example, to urge the bin 200 to move; illustratively, the matching element 22 may be a component with a certain magnetism, and the bin 200 may also be provided with a magnetic element or a magnetic conductive element, so that the matching element 22 can move the bin 200 by magnetic attraction. Of course, other engagement forms between the engaging member 22 and the magazine 200 are possible, and the present embodiment is not limited thereto.

Therefore, in this embodiment, the telescopic component 3 only extends to the preset position in front of the goods shelf 300, and does not need to extend into the goods shelf 300, the transmission part 21 of the transmission component 2 can move the matching piece 22 to the preset position at the front end of the material box 200, the material box 200 can be pulled out of the goods shelf 300 onto the fork component 100 by grabbing the front end part of the material box 200, so that the overall length dimension of the fork can be reduced, the extending distance of the fork component when the goods are taken and placed can be shortened, the fork component 100 does not need to extend into the goods shelf 300, and the space for taking and placing the goods by the fork does not need to be reserved in the goods shelf 300, thereby being beneficial to improving the storage density of the material box 200.

As a specific implementation, referring to fig. 2, the telescopic assembly 3 includes a rack 31, a guide 32 and a support 33, the guide 32 is connected to the base 1, the rack 31 is connected to the support 33, and at least part of the support 33 is slidably connected to the guide 32. Fig. 3 is a side cross-sectional view of the fork assembly 100 according to the embodiment of the present application, referring to fig. 3, the second driving member 5 is provided with a second driving wheel 51, and the second driving member 5 can drive the rack 31 to move along the first direction X through the cooperation of the second driving wheel 51 and the rack 31, so that the support frame 33 moves along the first direction X.

The second driving member 5 may be a motor, and the second driving wheel 51 may be fixedly mounted on a driving shaft of the second driving member 5, when the second driving wheel 51 is started, the second driving wheel 51 may be driven to rotate, and the second driving wheel 51 may further drive the rack 31 to drive the whole support frame 33 to translate in the first direction X through the meshing action of the rack 31, for example, drive the rack 31 to move to a side close to the shelf 300, so as to take out the bin 200. Wherein the support frame 33 can stably move in the first direction X by the guiding action of the guide 32 to prevent shaking.

As a specific implementation, referring to fig. 3, retraction assembly 3 further includes a driven wheel 52, driven wheel 52 being respectively engaged with second drive wheel 51 and with rack 31, second drive wheel 51 driving rack 31 to move in first direction X via driven wheel 52.

Wherein the driven wheel 52 is capable of meshing with the second driving wheel 51 and the rack 31, respectively, translation of the support frame 33 in the first direction X is also achieved by transmission between the second driving wheel 51, the driven wheel 52 and the rack 31. Wherein, through setting up from the driving wheel 52, can change the direction of transmission to can set up the position and the drive direction of second driving piece 5 in a flexible way, the installation is arranged conveniently.

As a specific implementation, referring to fig. 2, a guide plate 331 is provided on the support frame 33, and the guide plate 331 is located above the transmission portion 21, for providing guidance for the transmission portion 21. Fig. 4 is a top view of a bin 200 provided in an embodiment of the present application, wherein the dashed line in fig. 4 represents the bottom structure of the bin 200, which is not visible from the top view of fig. 4, and for ease of illustration, the bottom structure is shown in dashed line in fig. 4. Referring to fig. 4, the bottom of the bin 200 is provided with a guide slot 220, and the guide slot 220 is slidably engaged with the guide plate 331 of the fork assembly 100.

Fig. 5 is a side view of the guide plate 331 in the fork assembly 100 and the guide groove 220 on the bin 200, fig. 6 is an enlarged view of a position B in fig. 5, and referring to fig. 5 and 6, the matching piece 22 may pull the bin 200 onto the fork assembly 100 during picking, and the guide groove 220 on the bin 200 may be slidably sleeved on two sides of the guide plate 331 on the support frame 33, so that the guide of the movement of the bin 200 may be realized through the matching of the guide groove 220 and the guide plate 331, and the bin 200 may be smoothly moved onto the support frame 33.

As a specific implementation, referring to fig. 6, the support 33 is further provided with a telescopic plate 332, where the telescopic plate 332 is slidably connected to the guide member 32, and the guide member 32 is used to provide guidance for the telescopic plate 332. In addition, the upper surface of the expansion plate 332 is lower than the upper surface of the guide plate 331 in the height direction of the fork assembly 100, and the expansion plate 332 is used to carry the bin 200.

Wherein, when the bin 200 is pulled to the fork assembly 100, the guide groove 220 on the bin 200 can be in sliding fit with the guide plate 331, and meanwhile, the bottom surface of the bin 200 can be in sliding contact with the telescopic plate 332, so that the bin 200 can be stably supported by the telescopic plate 332, the reliability of the support of the bin 200 is ensured, and the bin 200 is prevented from overturning.

As a specific implementation manner, referring to fig. 3, the transmission assembly 2 further includes a plurality of transmission wheels 23, at least two of the plurality of transmission wheels 23 are respectively connected to two ends of the telescopic assembly 3 in a rotating manner; the first driving member 4 is provided with a first driving wheel 41, and the first driving wheel 41 and the plurality of driving wheels 23 are each engaged with the transmission portion 21.

The transmission part 21 may be a conveyor belt, on which teeth are arranged, capable of meshing with the first driving wheel 41 and the respective driving wheels 23, and the first driving wheel 41 may drive the conveyor belt to move through the plurality of driving wheels 23. The plurality of driving wheels 23 can realize power transmission through mutual matching on one hand, and can realize constraint on the shape of the conveying belt on the other hand, so that at least part of the conveying belt can move along with the telescopic assembly 3 and can realize transmission to drive the matching piece 22 to move.

One of the plurality of driving wheels 23 may be rotatably connected to one end of the supporting frame 33, the other one of the plurality of driving wheels 23 may be rotatably connected to the other end of the supporting frame 33, and a connecting line between centers of the two driving wheels 23 at two ends of the supporting frame 33 is parallel to the first direction X, so that a conveyor belt between the two driving wheels 23 may maintain a horizontal conveying state, and simultaneously, the two driving wheels 23 may move synchronously with the supporting frame 33, and during a moving process of the supporting frame 33, the two driving wheels 23 at two ends of the supporting frame 33 may rotate by driving of the first driving member 4, so that the conveyor belt may adapt to a moving of the supporting frame 33, thereby avoiding a jamming.

As a specific implementation, referring to fig. 2 and 3, the fork assembly 100 further includes a detecting device 6, where the detecting device 6 is connected to the base 1, and the detecting device 6 is configured to inductively cooperate with a portion of the telescopic assembly 3, so as to detect a moving position of the telescopic assembly 3.

The detecting device 6 may be a position sensor, when the telescopic assembly 3 extends to a preset position in the direction of the shelf 300, or when the telescopic assembly 3 retracts to a preset position in the fork assembly 100, the detecting device 6 may be accurately positioned to a moving position of the telescopic assembly 3, and may send a corresponding position signal to the second driving member 5, and the second driving member 5 may implement a timely stop according to the received signal. The detecting device 6 may comprise, for example, in particular, two position sensors, one of which is used to detect the position of extension of the telescopic assembly 3 and the other of which is used to detect the position of retraction of the telescopic assembly 3 into the fork assembly 100, so that the precision of the movement of the telescopic assembly 3 can be ensured.

As a specific implementation, more than two mating pieces 22 are provided, and the distance between two adjacent mating pieces 22 is greater than the length of the bin 200.

Wherein each mating member 22 can be mated with the bin 200 to achieve picking and placing of the bin 200, and since the distance between two adjacent mating members 22 is greater than the length of the bin 200, when one of the mating members is mated with the bin 200, the other mating members 22 do not interfere with the bin 200. In addition, by providing more than two matching pieces 22, the transmission length of the transmission part 21 for transmitting the matching pieces 22 to the matching position with the material box 200 can be reduced, and the transmission efficiency can be improved.

Embodiments of the present application also provide a bin 200 having a recess 210 provided in the bottom of the bin 200, the recess 210 being adapted to mate with a mating member 22 in a fork assembly 100 provided in any embodiment of the present application. Specifically, the engaging member 22 may have a structure protruding from the transmission portion 21, such as a block structure, a plate structure, or the like, so that the engaging member 22 can be engaged in the recess 210, and the bin 200 can be pulled out of the shelf 300 or pushed into the shelf 300 by contacting with the inner wall of the recess 210.

The grooves 210 may be specifically disposed at positions near the front end and the rear end of the bin 200 in the length direction, where the bin 200 is placed on the shelf 300 along the length direction, so that one of the grooves 210 of the bin 200 can be close to the edge of the shelf 300, and the matching piece 22 does not need to extend into the shelf 300 along with the telescopic component 3, but can pull out the bin 200 outside the shelf 300, thereby reducing the overall length and the telescopic distance of the fork component 100, and simultaneously avoiding reserving a space for the fork component 100 to enter and exit in the shelf 300, thereby improving the storage density of the bin 200.

Fig. 7 is a cross-sectional view at A-A in fig. 4, fig. 8 is a top view when two adjacent bins 200 are mated, and referring to fig. 7, the bins 200 have a first hook 230 at one end in the length direction thereof and a second hook 240 at the other end thereof, the bending directions of the two hooks are opposite, and both hooks are bent toward one side in the width direction of the bins 200. Referring to fig. 8, illustratively, a first hook 230 of one bin 200 can be engaged with a second hook 240 of another bin 200, so that two adjacent bins 200 can be placed on a shelf 300 in a relatively stable state, and alignment of the bins 200 can be ensured.

In addition, as described above, the bottom of the bin 200 is provided with the guide groove 220, the support frame 33 of the fork assembly 100 is provided with the guide plate 331, and the guide groove 220 is used for sliding fit with the guide plate 331 in the fork assembly 100, so that the bin 200 can be ensured to be accurately and stably transferred from the shelf 300 to the fork assembly 100, and the bin 200 can be accurately and stably transferred from the fork assembly 100 to the shelf 300, so that the picking and placing efficiency of the bin 200 is improved.

The embodiments of the present application also provide a transfer robot including a frame 400, a lifting mechanism, and the fork assembly 100 provided by any of the embodiments of the present application; the frame 400 is provided with a support part 400a, and the support part 400a is used for supporting the bin 200, for example, after the bin 200 is taken out by the fork assembly 100, the bin 200 can be transferred onto the support part 400 a; the lifting mechanism is mounted on the frame 400; the fork assembly 100 is coupled to a lift mechanism to be raised or lowered by actuation of the lift mechanism.

The handling robot can move to a preset position near the shelf 300, can drive the fork assembly 100 to lift through the lifting mechanism, and can further perform picking and placing operations through the fork assembly 100.

Illustratively, when a load is desired to be removed from the pallet 300, the following procedure may be followed:

fig. 9 is a state diagram of the fork assembly 100 provided in the embodiment of the present application after being lowered by a certain height before the material taking box 200, referring to fig. 9, before the transfer robot runs to a preset position near the goods shelf 300, the fork assembly 100 may be driven by the lifting mechanism to be lowered to a certain height, so as to avoid interference collision with the goods shelf 300 when the telescopic assembly 3 in the fork assembly 100 stretches out.

Fig. 10 is a state diagram of the extension assembly 3 extending below the bin 200, referring to fig. 10, when the transfer robot reaches a preset position near the shelf 300, the extension assembly 3 may be driven by the second driving member 5 to extend toward the shelf 300, so that one end of the extension assembly 3 may be located below the container, and meanwhile, the first driving member 4 drives the transmission part 21 to move so as to drive the mating member 22 to move below the container, so that the mating member 22 is aligned with the groove 210 at the bottom of the container.

Fig. 11 is a state diagram of the mating member 22 mated with the recess 210, referring to fig. 11, after the mating member 22 is aligned with the recess 210 of the bin 200, the fork assembly 100 can be driven to rise by a certain height by the lifting mechanism, so that the mating member 22 is clamped into the recess 210.

Fig. 12 is a state diagram of the driving part 21 after the bin 200 is pulled out, referring to fig. 12, after the matching piece 22 is clamped in the groove 210, the driving part 21 can be driven to move reversely by the first driving piece 4, the matching piece 22 can move along with the driving part 21 in a direction away from the goods shelf 300, and can pull the bin 200 to synchronously move above the fork assembly 100, and when the bin 200 is completely separated from the goods shelf 300, the first driving piece 4 can stop moving. Wherein the bin 200 pulled by the engaging member 22 may be connected to another bin 200 by the first hook 230 or the second hook 240, and the other bin 200 may be driven to move synchronously when the bin 200 pulled by the engaging member 22 moves, and the other bin 200 may be driven to move to a forward position on the shelf 300 when the bin 200 pulled by the engaging member 22 is separated from the shelf 300, so as to engage with the fork assembly 100 when picking up goods next time.

Fig. 13 is a state diagram of the pallet fork assembly 100 when the pallet fork assembly 100 drives the bin 200 to descend by a certain height and then to be separated from the bin 200 on the pallet 300, when the grabbed bin 200 is separated from the pallet 300, the grabbed bin 200 is connected with another adjacent bin 200 through the hook, and at this time, the pallet fork assembly 100 can be controlled to descend through the lifting mechanism, so that the bin 200 on the pallet fork assembly 100 can descend synchronously with the pallet fork assembly 100, and further, the hook of the bin 200 on the pallet fork assembly 100 is separated from the hook of the bin 200 on the pallet 300, so that the bin 200 on the pallet fork assembly 100 can be moved to other positions. Fig. 14 is a state diagram of the fork assembly 100 driving the bin 200 away from the pallet 300, and referring to fig. 14, after the hooks of the bin 200 on the fork assembly 100 are separated from the hooks of the bin 200 on the pallet 300, the transfer robot may drive the bin 200 to move away from the pallet 300.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (11)

1. A fork assembly, comprising:

a base (1);

the transmission assembly (2) is connected to the base (1), the transmission assembly (2) comprises a transmission part (21), and at least one matching piece (22) for matching with the material box (200) so as to move the material box (200) is arranged on the transmission part (21);

the first driving piece (4) is arranged on the base (1) and connected with the transmission assembly (2) and is used for driving the transmission part (21) to move;

-a telescopic assembly (3) movably connected to the base (1) along a first direction (X), at least part of the transmission assembly (2) being connected to the telescopic assembly (3) so that the transmission portion (21) can move with the telescopic assembly (3);

the second driving piece (5) is arranged on the base (1) and connected with the telescopic assembly (3) and used for driving the telescopic assembly (3) to move.

2. Fork assembly according to claim 1, wherein the telescopic assembly (3) comprises a rack (31), a guide (32) and a support (33), the guide (32) being connected to the base (1), the rack (31) being connected to the support (33), at least part of the support (33) being in sliding connection with the guide (32);

the second driving member (5) is provided with a second driving wheel (51), and the second driving member (5) can drive the rack (31) to move along the first direction (X) through the cooperation of the second driving wheel (51) and the rack (31), so that the support frame (33) moves along the first direction (X).

3. Fork assembly according to claim 2, wherein the telescopic assembly (3) further comprises a driven wheel (52), the driven wheel (52) being in engagement with the second driving wheel (51) and the rack (31), respectively, the second driving wheel (51) driving the rack (31) to move in the first direction (X) by means of the driven wheel (52).

4. Fork assembly according to claim 2, characterized in that the support frame (33) is provided with a guide plate (331), which guide plate (331) is located above the transmission part (21) for guiding the transmission part (21).

5. The fork assembly according to claim 4, wherein the support frame (33) is further provided with a telescopic plate (332), the telescopic plate (332) is slidably connected to the guide member (32), and the guide member (32) is configured to guide the telescopic plate (332).

6. A pallet fork assembly according to any one of claims 1-5, wherein the transmission assembly (2) further comprises a plurality of transmission wheels (23), at least two of the plurality of transmission wheels (23) being rotatably connected to respective ends of the telescopic assembly (3);

the first driving piece (4) is provided with a first driving wheel (41), and the first driving wheel (41) and the plurality of driving wheels (23) are meshed with the transmission part (21).

7. Fork assembly according to any one of claims 1-5, characterized in that it further comprises detection means (6), said detection means (6) being connected to said base (1), said detection means (6) being adapted to be inductively coupled with a portion of said telescopic assembly (3) for detecting the movement position of said telescopic assembly (3).

8. The fork assembly according to any one of claims 1-5, wherein more than two of said engagement members (22) are provided, the distance between adjacent two of said engagement members (22) being greater than the length of said bin (200).

9. A bin, characterized in that the bottom of the bin (200) is provided with a recess (210), which recess (210) is intended to cooperate with a counterpart (22) in a fork assembly (100) according to any one of claims 1-8.

10. The bin according to claim 9, characterized in that the bottom of the bin (200) is provided with a guiding groove (220), the support frame (33) of the fork assembly (100) is provided with a guide plate (331), and the guiding groove (220) is used for sliding fit with the guide plate (331).

11. A transfer robot comprising a frame (400), a lifting mechanism and a fork assembly according to any one of claims 1-8;

a supporting part (400 a) is arranged on the frame (400), and the supporting part (400 a) is used for supporting the material box (200);

the lifting mechanism is mounted on the frame (400);

the fork assembly (100) is connected to the lifting mechanism to be lifted or lowered by driving of the lifting mechanism.