CN101570305B - Spatial multi-connecting bar forktruck lift guide mechanism - Google Patents

Abstract

A spatial multi-connecting bar forktruck lift guide mechanism comprises a frame or a body, a first and a second fixed supporting blocks, a first and a second rotor arms, a first and a second telescopic booms, a fork frame and a pallet fork arranged on the fork frame; wherein the fixed supporting block is fixedly connected with the frame or the two sides of the body by welding, the rotor arm is connected with corresponding supporting block by a rotor pair, and the telescopic boom is connected with corresponding rotor arm by a sliding pair; the cross beam of the fork frame is provided with two lifting lugs which are connected with corresponding telescopic boom by the rotor pair and the sliding pair respectively and are connected with the frame or body by kinematic chains ABC and FED respectively, wherein the two kinematic chains are plane RPR kinematic chains; the axes of the rotor pair A and the rotor pair C of the kinematic chain ABC are vertical to the vertical plane where the connecting bars AB and BC are located, the axes of the rotor pair F and the rotor pair D of the kinematic chain FED are vertical to the vertical plane where the connecting bars FE and ED are located, and thetwo vertical planes is not coplanar or parallel. The invention has simple structure and convenient application and can be applied to a plurality of mechanical structures which are in fixed translatio nal movement.

Description

Spatial multi-connecting bar forktruck lift guide mechanism

Technical field

The present invention relates to fork truck lifting guide mechanism system, particularly spatial multi-connecting bar forktruck lift guide mechanism belongs to the handling machinery field.

Background technology

Counterbalanced lift truck is a prevailing structural style in the fork truck.The pallet fork of this fork truck stretches out beyond the front-wheel line of centers, for the capsizing moment that the balance cargo weight produces, keeps the fore-and-aft stability of fork truck, all adds counterweight at hull back.The equipment of fork truck comprises pallet fork, crotch, chain, door frame, is positioned at the place ahead of fork truck.Door frame comprises inner upright mounting and outer mast, is telescopic structure, can guarantee the lifting altitude of needs like this, has reduced the vehicle body overall height that fork truck goes again.Outer mast is hinged on propons or the vehicle frame, and the hydraulic lifting system makes crotch and pallet fork go up and down along inner upright mounting through chain, and inner upright mounting is again that guide rail is flexible up and down with the outer mast.

There is following shortcoming in this fork truck: since door frame preceding driver after, therefore form most members and the lift oil tank of portal frame system and the sight line that the chain block pulley group all can influence the driver, driver's the visual field is diminished.In operation process; Truck driver wants repeated use throttle, power-transfer clutch and gear change hand lever to come control vehicle; Must use the hydraulic valve operating handle to control the up-down and the swing of door frame pallet fork, will dodge the obstacle on the road, other vehicles and the unexpected pedestrian who occurs of operation simultaneously in addition, therefore when operation; The driver is quite nervous, and attention must high concentration.And the narrow and small visual field more makes driver's fatigue strength increase sharply, and is accidents caused easily.In addition, door frame mainly play a part the guiding with supported weight, so to its requirement of strength than higher, own wt is very big.Because it is door frame is positioned at the place ahead of front-wheel line of centers, bigger again to the capsizing moment of fork truck, certainly will to increase the additional counterweight of fork truck afterbody like this, cause the fork truck deadweight to increase, increased the unnecessary energy consumption of vehicle.

Improving aspect the visual field, developed wide visual field mast forklift truck at present both at home and abroad, through mechanisms such as oil cylinder, chain, interior outer mast are arranged that more reasonably the visual field that makes the driver is than wideer on common fork truck.But so still fundamentally do not solve the not enough problem in the driver visual field, weight issue does not improve yet in addition.

In addition, having occurred a kind of telescopic boom does not abroad have mast forklift truck, and driver's forward-and-rearward visual field is all fine.Its pallet fork goes up and down by means of the telescopic boom on driver's cab right side.Because the front do not have door frame, and the telescopic boom fulcrum is above back axle, and complete machine moves behind the center, and counterweight is reduced, and the longitudinal stability coefficient also can improve.But this fork lift truck structure is complicated, cost is high, heavy with the tonnage mast lift truck from anharmonic ratio, and present this fork truck only is used for medium and small tonnage.

Up to now, in the fork truck lifting mechanism at home and abroad, we find fundamentally to improve the driver visual field as yet, and reduce the lifting mechanism of fork truck deadweight, minimizing energy consumption.

Summary of the invention

The purpose of this invention is to provide a kind of spacing multi-connecting-rod lifting guide mechanism that can be used for fork truck lifting guide mechanism system; Can retrain forks keeps doing the single degree of freedom boning out in lifting or decline process vertical motion; And avoid in the common fork truck huge door frame to the influence in the driver visual field; Alleviate fork truck weight, improve reliability, driver comfort and the fuel economy of fork truck.

The objective of the invention is to realize through following technical scheme:

A kind of spatial multi-connecting bar forktruck lift guide mechanism system; Comprise vehicle frame or vehicle body, first fixed support block, second fixed support block, first swivel arm, second swivel arm, first telescopic boom, second telescopic boom, crotch and be arranged on the pallet fork on the crotch, it is characterized in that: described first and second fixed support block and vehicle frame or vehicle body both sides are connected; Described first and second swivel arms are connected with described first and second fixed support block through revolute pair respectively; Described first and second telescopic booms are connected with first and second swivel arms through moving sets respectively; Described crotch comprises entablatrance, cross sill, framework and is arranged on first hanger and second hanger on the entablatrance; On first and second hangers, be respectively equipped with the through hole that the rotating shaft with revolute pair is complementary; Described first and second hangers are connected with first and second telescopic booms through revolute pair respectively, and are connected with vehicle frame or vehicle body with kinematic link FED through kinematic link ABC respectively, and these two kinematic links are plane RPR kinematic link; The axis of the revolute pair A of described kinematic link ABC and revolute pair C is parallel to each other and all perpendicular to the perpendicular at connecting rod AB and connecting rod BC place; The axis of the revolute pair F of described kinematic link FED and revolute pair D is parallel to each other and all perpendicular to the perpendicular at connecting rod FE and connecting rod ED place; The non-coplane of perpendicular at the perpendicular at described connecting rod AB and connecting rod BC place and connecting rod FE and connecting rod ED place and not parallel.

In the application implementation of above-mentioned fork truck lifting guide mechanism, for the stability of configuration and the raising weight bearing power that improve guide mechanism, its preferred version is: on described crotch cross sill, set up the 3rd hanger and the 4th hanger; First hanger and the 3rd hanger are in same perpendicular, and second hanger and the 4th hanger are in same perpendicular; In the perpendicular at described connecting rod AB and connecting rod BC place, set up the 3rd swivel arm and the 3rd telescopic boom; In the perpendicular at described connecting rod FE and connecting rod ED place, set up the 4th swivel arm and the 4th telescopic boom; Third and fourth swivel arm is connected with described first and second fixed support block through revolute pair respectively, and third and fourth telescopic boom is connected with third and fourth swivel arm through moving sets respectively; The 3rd hanger that is arranged on the cross sill is connected with third and fourth telescopic boom through revolute pair respectively with the 4th hanger, and is connected with vehicle frame or vehicle body through the kinematic link identical with kinematic link FED with kinematic link ABC respectively; Link to each other with vertical connecting rod between first swivel arm and the 3rd swivel arm; Link to each other with vertical connecting rod between second swivel arm and the 4th swivel arm.This connecting rod is the passive constraint member on kinematic analysis of mechanisms, can improve the stressing conditions of mechanism, improves mechanism's weight bearing power.

In addition; For make pallet fork can before and after the inclination certain angle, in the application implementation of above-mentioned fork truck lifting guide mechanism, another preferred version is: described crotch is set up optical axis; Described pallet fork adopts the sleeve-type pallet fork, and this sleeve-type pallet fork is connected with the optical axis of crotch through cylindrical pair.Pallet fork can rotate before and after optical axis, is easy to adjust the distance between fork simultaneously.

The present invention compared with prior art; Have the following advantages and the high-lighting effect: spatial multi-connecting bar forktruck lift guide mechanism provided by the invention; Can realize guide function to crotch and pallet fork; If adopt winch, steel rope mechanism or hydraulic lifting mechanism etc. to promote crotch as power system, guide mechanism then provided by the invention can retrain crotch and make its vertical motion of in the process of lifting or decline, doing the single degree of freedom boning out, has avoided in the common fork truck huge door frame to the influence in the driver visual field simultaneously; Thereby safety and driver's driver comfort in the fork truck use have effectively been improved, the increase that slows down the tired driver degree.Simultaneously, because this structure only plays guide function, so this structure is compared with the portal-framed structure of common fork truck; The requirement of strength of member is lower; Weight alleviates to some extent, and the guide mechanism center of gravity greatly reduces the counterweight that the fork truck afterbody need add not beyond the front-wheel line of centers; Reduce the fork truck deadweight, improved fuel economy.

Description of drawings

Fig. 1 is the structural representation of spatial multi-connecting bar forktruck lift guide mechanism provided by the invention and annex thereof.

Fig. 2 is that the crotch structure of fork truck lifting guide mechanism provided by the invention is formed sketch.

Fig. 3 is the cutaway view of crotch entablatrance.

Fig. 4 is the another kind of embodiment structural representation of fork truck lifting guide mechanism provided by the invention.

Fig. 5 is the birds-eye view of fork truck lifting guide mechanism and annex thereof.

Fig. 6 is another birds-eye view of fork truck lifting guide mechanism.

Fig. 7 is the side view of fork truck lifting guide mechanism.

Fig. 8 is a fork truck instance graph (crotch is positioned at lower position) of using lifting guide mechanism provided by the invention.

Fig. 9 is a fork truck instance graph (crotch is positioned at the higher position) of using lifting guide mechanism provided by the invention.

Among the figure: 1-vehicle frame or vehicle body; 2a-first fixed support block; 2b-second fixed support block; 3a-first swivel arm; 3b-second swivel arm; 3c-the 3rd swivel arm; 3d-the 4th swivel arm; 4a-first telescopic boom; 4b-second telescopic boom; 4c-the 3rd telescopic boom; 4d-the 4th telescopic boom; The 5-crotch; The 6-pallet fork; 7a-first hanger; 7b-second hanger; 7c-the 3rd hanger; 7d-the 4th hanger; The 8-through hole; The 9-entablatrance; The 10-cross sill; The 11-optical axis; The 12-framework; The 13-connecting rod; The 14-front wheel; Bar before the 15-pulley support; Bar after the 16-pulley support; The 17-steel rope; The 18-back pulley.

The specific embodiment

Below in conjunction with accompanying drawing structure of the present invention, principle and the specific embodiment are further described.

Fig. 1 is the structure diagram of spatial multi-connecting bar forktruck lift guide mechanism provided by the invention.This lifting guide mechanism system comprises vehicle frame or vehicle body 1, the first fixed support block 2a, the second fixed support block 2b, the first swivel arm 3a, the second swivel arm 3b, the first telescopic boom 4a, the second telescopic boom 4b, crotch 5 and is arranged on the pallet fork 6 on the crotch.Described first and second fixed support block and vehicle frame or vehicle body 1 both sides are connected; Described first and second swivel arms are connected with described first and second fixed support block through revolute pair respectively; Described first and second telescopic booms are connected with first and second swivel arms through moving sets respectively; Described crotch 5 comprises entablatrance 9, cross sill 10, framework 12 and is arranged on the first hanger 7a and the second hanger 7b on the entablatrance; On first and second hangers, be respectively equipped with the through hole 8 that the rotating shaft with revolute pair is complementary; Described first and second hangers are connected with first and second telescopic booms through revolute pair respectively, and are connected with vehicle frame or vehicle body 1 with kinematic link FED through kinematic link ABC respectively, and these two kinematic links are plane RPR kinematic link; The axis of the revolute pair A of described kinematic link ABC and revolute pair C is parallel to each other and all perpendicular to the perpendicular at connecting rod AB and connecting rod BC place; The axis of the revolute pair F of described kinematic link FED and revolute pair D is parallel to each other and all perpendicular to the perpendicular at connecting rod FE and connecting rod ED place; The non-coplane of perpendicular at the perpendicular at described connecting rod AB and connecting rod BC place and connecting rod FE and connecting rod ED place and not parallel.

Shown in Figure 4 is the another kind of embodiment of spatial multi-connecting bar forktruck lift guide mechanism provided by the invention.On the basis of embodiment shown in Figure 1, on described crotch cross sill 10, set up the 3rd hanger 7c and the 4th hanger 7d; First hanger and the 3rd hanger are in same perpendicular, and second hanger and the 4th hanger are in same perpendicular; In the perpendicular at described connecting rod AB and connecting rod BC place, set up the 3rd swivel arm 3c and the 3rd telescopic boom 4c; In the perpendicular at described connecting rod FE and connecting rod ED place, set up the 4th swivel arm 3d and the 4th telescopic boom 4d; Third and fourth swivel arm is connected with described first and second fixed support block through revolute pair respectively, and third and fourth telescopic boom is connected with third and fourth swivel arm through moving sets respectively; The 3rd hanger that is arranged on the cross sill is connected with third and fourth telescopic boom through revolute pair respectively with the 4th hanger, and is connected with vehicle frame or vehicle body through the kinematic link identical with kinematic link FED with kinematic link ABC respectively; Link to each other with vertical connecting rod 13 between first swivel arm and the 3rd swivel arm; Link to each other with vertical connecting rod between second swivel arm and the 4th swivel arm.This connecting rod is the passive constraint member on kinematic analysis of mechanisms, can improve the stressing conditions of mechanism, improves mechanism's weight bearing power.

In addition; For make pallet fork can before and after the inclination certain angle; The another kind of embodiment of above-mentioned fork truck lifting guide mechanism is: on described crotch 5, set up optical axis 11, described pallet fork 6 adopts the sleeve-type pallet fork, and this sleeve-type pallet fork is connected with the optical axis 11 of crotch through cylindrical pair.Pallet fork can rotate before and after optical axis, is easy to adjust the distance between fork simultaneously.

Fig. 5 is the birds-eye view of fork truck lifting guide mechanism provided by the invention, can find according to Fig. 5, plane, the crossbeam of crotch 5 place all the time with the front keeping parallelism of vehicle frame or vehicle body 1, promptly in Fig. 5, CD//AF and CD also remain constant to the distance of AF.This characteristic is by the decision of the constructional feature of spatial multi-connecting bar forktruck lift guide mechanism provided by the invention.Therefore, next just analyze the kinematic principle that this mechanism keeps this characteristic.

Be the convenient kinematic principle of describing spatial multi-connecting bar forktruck lift guide mechanism provided by the invention; Here the plane with two axis place of revolute pair A and F is the xoy plane; Intersection point with these two axis is the origin of coordinates; Axis with revolute pair F is that the x axle is set up right-handed system, and is as shown in Figure 6.Like this, connecting rod AB is vertical with the xoy plane with the perpendicular at BC place, the perpendicular and the yoz plane parallel at connecting rod FE and ED place.This corresponding relation can more clearly be found out from the birds-eye view of Fig. 6 and assembling shown in Figure 7 and side view.

Analyze the free motion of crotch 5 below.Because two kinematic links are identical up and down in the same side of vehicle frame or vehicle body, only need analysis kinematic link ABC and FED can obtain the motion characteristics of crotch to the effect of crotch.Be without loss of generality; If the axis of revolute pair A is ψ (0 °＜ψ＜180 °) to the angle of x axle, revolute pair F is a to the distance of the origin of coordinates, and revolute pair A is b to the distance of the origin of coordinates; The coordinate that then can obtain revolute pair F is (a 0 0), and the coordinate of revolute pair A is (bcos ψ bsin ψ 0).On this basis, the coordinate that can establish revolute pair D, C is respectively (a y _Dz _D) and (x _Cy _Cz _C).The axis normal of moving sets E is in the x axle, with the angle on xoy plane be α; The axis normal of moving sets B is in the axis of revolute pair A, with the angle on xoy plane be β.If a ≠ b, then member receives eccentric load easily, is unfavorable for stability of configuration, therefore makes a=b.

Under the oxyz system of axes, the direction vector of revolute pair F and D axis is s ₁=(1 0 0) ^T, the direction vector of revolute pair A and C axis is s ₂=(cos ψ sin ψ 0) ^T, the direction vector of moving sets E is s ₃=(0 y _Dz _D) ^T, the direction vector of moving sets B is S ₃=(x _C-bcos ψ y _C-bsin ψ z _C) ^TThe birds-eye view of mechanism shown in Figure 6 assembling has been represented the situation when ψ=150 °.

Like this, according to [Zhao Jingshan, Feng Zhijing, Chu Fulei. robot mechanism degree of freedom analysis theories [M]. Beijing: Science Press, 2009.] analysis theories of the mechanism freedom that proposes, the kinematic screw system that can write out the kinematic link FED of crotch 5 is:

$ _FED＝[$ _F?$ _E?$ _D] (1)

$ wherein _F=(1 0000 0) ^T

$ _E＝(0?0?0?0?y _D?z _D) ^T

$ _D＝(1?0?0?0?z _D-y _D) ^T

Obviously, $ _FEDThe condition of contraction is:

$\left|\begin{array}{cc}{y}_D& z_D\\ z_D& {-y}_D\end{array}\right|=0---\left(C_1\right)$

Because

$\left|\begin{array}{cc}{y}_D& z_D\\ z_D& -y_D\end{array}\right|=-(y_D^2+z_D^2)$

If y _D, z _DBe zero simultaneously, then revolute pair F and D overlap.Revolute pair F and D do not overlap in the reality, so y _D, z _DBe not zero simultaneously, condition (C ₁) be false the end conswtraint $ of kinematic link FED _FED ^rCan obtain by the reciprocity screw theory, promptly

$E$ ^r＝0 (2)

Wherein $ is a kinematic screw system, $E=\left[\begin{array}{cc}0& I_3\\ I_3& 0\end{array}\right],$ $I_3=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$

$ ^rAntispin system for $.

Can obtain $ by (2) formula _FED ^rFor:

${\$}_{\mathrm{FED}}^r={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(3\right)$

Equally, the kinematic screw system that can write out another kinematic link ABC of crotch 5 is:

$ _ABC＝[$ _A?$ _B?$ _C] (4)

$ wherein _A=(cos ψ sin ψ 000 0) ^T

$ _B＝(0?0?0?x _C-bcosψ?y _C-bsinψ?z _C) ^T

$ _C＝(cosψ?sinψ0?-z _C?sinψ?z _C?cosψ?x _C?sinψ-y _C?cosψ) ^T

And $ _ABCThe condition of contraction is:

$\left\{\begin{array}{c}\left|\begin{array}{cc}{x}_C-b\cos \mathrm{\ψ}& y_C-b\sin \mathrm{\ψ}\\ -z_C\sin \mathrm{\ψ}& z_C\cos \mathrm{\ψ}\end{array}\right|=0\\ \left|\begin{array}{cc}{y}_C-b\sin \mathrm{\ψ}& z_C\\ z_C\cos \mathrm{\ψ}& x_C\sin \mathrm{\ψ}-y_C\cos \mathrm{\ψ}\end{array}\right|=0\end{array}\right.---\left(C_2\right)$

Because the axis normal of moving sets B is in the axis of revolute pair A, so have

Abbreviation gets b=x _CCos ψ+y _CSin ψ is so have

$\left|\begin{array}{cc}{y}_C-b\sin \mathrm{\ψ}& z_C\\ z_C\cos \mathrm{\ψ}& x_C\sin \mathrm{\ψ}-y_C\cos \mathrm{\ψ}\end{array}\right|=-\cos \mathrm{\ψ}[z_C^2+{(x_C\sin \mathrm{\ψ}-y_C\cos \mathrm{\ψ})}^2]$

If (x _CSin ψ-y _CCos ψ)=0, then the axis of the axis of revolute pair C and revolute pair A in same perpendicular.If (x _CSin ψ-y _CCos ψ) and z _CBe zero simultaneously, then revolute pair A and C overlap.Revolute pair A and C do not overlap in the reality, therefore (x _CSin ψ-y _CCos ψ) and z _CBe not zero simultaneously, 0 °＜ψ＜180 ° again, cos ψ ≠ 0, so condition (C ₂) be false the end conswtraint $ of kinematic link ABC _ABC ^rAlso can try to achieve according to (2) formula:

${\$}_{\mathrm{ABC}}^2={\left[\begin{array}{cccccc}\cos \mathrm{\ψ}& \sin \mathrm{\ψ}& 0& 0& 0& 0\\ 0& 0& 0& \sin \mathrm{\ψ}& -\cos \mathrm{\ψ}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(5\right)$

Therefore, crotch 5 suffered being constrained to:

${\$}_{12}^r=\left[\begin{array}{cc}{\$}_{\mathrm{FED}}^r& {\$}_{\mathrm{ABC}}^r\end{array}\right]---\left(6\right)$

(6) formula substitution (2) formula can be obtained the free motion that crotch 5 had is:

$ ₅＝(0?0?0?0?0?1) ^T (7)

As long as 0 °＜ψ＜180 °, (7) formula is set up.The value of ψ can consider before body width and the crotch elongation get according to actual demands of engineering fixed, generally should be greater than 90 °, consider that in accompanying drawing of the present invention factor such as fork truck size gets ψ=150 °.Therefore, (7) formula shows that crotch 5 has a free motion along the translation of z direction of principal axis, and promptly this spacing multi-connecting-rod guide mechanism can retrain crotch and makes it do the vertical motion of single degree of freedom boning out.Therefore, in actual use, fork truck can adopt winch and steel rope etc. to promote crotch as driver train; Adopt spacing multi-connecting-rod of the present invention mechanism as guide mechanism; Can realize the vertical lifting of crotch and pallet fork, avoid again simultaneously that huge door frame lowers the obstruction to the driver visual field to greatest extent to the influence in the driver visual field in the common fork truck; Safety and driver's driver comfort in the fork truck use have effectively been improved, the increase that slows down the tired driver degree.In addition, because this structure only plays guide function, so this structure is compared with the portal-framed structure of common fork truck; The requirement of strength of member is lower; Weight alleviates to some extent, and the guide mechanism center of gravity has reduced the counterweight that the fork truck afterbody need add not beyond the front-wheel line of centers; Reduce the fork truck deadweight, improved fuel economy.

Fig. 8 and Fig. 9 have provided a kind of fork truck instance that adopts lifting guide mechanism provided by the invention.At the fork truck afterbody winch (being hidden in the not expression of fork truck afterbody among the figure) is set, at the fork truck top front wheel 14 is set, bar 15 before the pulley support, bar 16 and back pulley 18 after the pulley support.Steel rope 17 1 ends and crotch 5 are connected, and the other end is wound on the winch.When starting winch, winch haulage cable 17 drives steel rope and walks around back pulley 18 and front wheel 14, and crotch 5 suspentions are got up.Can find out that from Fig. 8 and Fig. 9 rise to from lower position the process of higher position at crotch, crotch is done the vertical motion of single degree of freedom boning out under the guide function of lifting guide mechanism provided by the invention.This scheme combines soft drive and rigidity guiding, has great practical value and marketable value.

Claims (3)

1. spatial multi-connecting bar forktruck lift guide mechanism; Comprise vehicle frame or vehicle body (1), first fixed support block (2a), second fixed support block (2b), first swivel arm (3a), second swivel arm (3b), first telescopic boom (4a), second telescopic boom (4b), crotch (5) and be arranged on the pallet fork (6) on the crotch, it is characterized in that: described first and second fixed support block and vehicle frame or vehicle body (1) both sides are connected; Described first swivel arm (3a) is connected with described first fixed support block (2a) through revolute pair A, and described second swivel arm (3b) is connected with described second fixed support block (2b) through revolute pair F; Described first telescopic boom (4a) is connected with first swivel arm (3a) through moving sets B, and described second telescopic boom (4b) is connected with second swivel arm (3b) through moving sets E; Described crotch (5) comprises entablatrance (9), cross sill (10), framework (12) and is arranged on first hanger (7a) and second hanger (7b) on the entablatrance; On first and second hangers, be respectively equipped with the through hole (8) that the rotating shaft with revolute pair C and revolute pair D is complementary; Described first hanger (7a) is connected with first telescopic boom (4a) through revolute pair C, and described second hanger (7b) is connected with second telescopic boom (4b) through revolute pair D; The axis of described revolute pair A and revolute pair C is parallel to each other and all perpendicular to the perpendicular at first swivel arm (3a) and first telescopic boom (4a) place; The axis of described revolute pair F and revolute pair D is parallel to each other and all perpendicular to the perpendicular at second swivel arm (3b) and second telescopic boom (4b) place; The perpendicular at described first swivel arm (3a) and first telescopic boom (4a) place, the non-coplane of perpendicular that belongs to second swivel arm (3b) and second telescopic boom (4b) and not parallel.

2. according to the described spatial multi-connecting bar forktruck lift guide mechanism of claim 1, it is characterized in that: set up the 3rd hanger (7c) and the 4th hanger (7d) on the described crotch cross sill (10); First hanger and the 3rd hanger are in same perpendicular, and second hanger and the 4th hanger are in same perpendicular; In the perpendicular at described first swivel arm (3a) and first telescopic boom (4a) place, set up the 3rd swivel arm (3c) and the 3rd telescopic boom (4c), in the perpendicular at described second swivel arm (3b) and second telescopic boom (4b) place, set up the 4th swivel arm (3d) and the 4th telescopic boom (4d); Described the 3rd swivel arm (3c) is connected with first fixed support block (2a) through revolute pair A, and described the 4th swivel arm (3d) is connected with second fixed support block (2b) through revolute pair F; Described the 3rd telescopic boom (4c) is connected with the 3rd swivel arm (3c) through moving sets B, and described the 4th telescopic boom (4d) is connected with the 4th swivel arm (3d) through moving sets E; The 3rd hanger (7c) that is arranged on the cross sill is connected with the 3rd telescopic boom (4c) through revolute pair C, and the 4th hanger (7d) is connected with the 4th telescopic boom (4d) through revolute pair D; Link to each other with vertical connecting rod (13) between first swivel arm and the 3rd swivel arm; Link to each other with vertical connecting rod between second swivel arm and the 4th swivel arm.

3. according to the described spatial multi-connecting bar forktruck lift guide mechanism of claim 1, it is characterized in that: described crotch (5) is set up optical axis (11), and described pallet fork (6) adopts the sleeve-type pallet fork, and this sleeve-type pallet fork is connected with the optical axis (11) of crotch through cylindrical pair.

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