CN109264635B - Large-space movable arm lifting mechanism for forklift robot - Google Patents
Large-space movable arm lifting mechanism for forklift robot Download PDFInfo
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- CN109264635B CN109264635B CN201710583574.XA CN201710583574A CN109264635B CN 109264635 B CN109264635 B CN 109264635B CN 201710583574 A CN201710583574 A CN 201710583574A CN 109264635 B CN109264635 B CN 109264635B
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- movable arm
- space
- movable
- revolute pair
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
Abstract
The utility model provides a fork truck is big space movable arm elevating system for robot, contains fixed frame, movable arm, connecting rod, initiative pole, movable frame can rotate around fixed frame to increased movable arm elevating system's drive angle, and then increased the working space of big movable arm, initiative pole actuating system installs in movable frame, and this kind of movable arm elevating system has taken into account big working space, high shock resistance, low focus, the characteristics of high flexibility degree, can satisfy fork truck robot big working space, high flexibility degree demand, and this kind of big space movable arm elevating system passes through the connecting rod input by the initiative pole, compares the movable arm as the driving piece, and actuating system arranges nimble convenience, and this kind of big space movable arm elevating system is particularly useful for big space high flexibility degree fork truck robot.
Description
Technical Field
The invention relates to the field of warehouse forklifts, in particular to a large-space movable arm lifting mechanism for a forklift robot.
Background
The forklift for storage is a forklift specially designed for carrying operations such as loading and unloading of warehouse cargoes, stacking and the like, and except for part of manual pallet forklifts, other forklift are driven by motors, and the forklift has the advantages of compact body, flexible movement, outstanding environmental protection performance and the like, so that the forklift is widely applied to the storage industry. However, with the development of modern logistics and the continuous improvement of the requirements on the carrying technology, the existing storage forklift has many technical problems, firstly, the working devices of the existing storage forklift are mainly execution mechanisms with two degrees of freedom, and the fork can only move up and down except for tilting at a small angle, so that the flexibility is poor, the obstacle avoidance capability is weak, and the complex carrying environment of the modern logistics storage is difficult to meet; secondly, the existing warehouse forklift adopts an uncontrollable executing mechanism, so that the computer control cannot be realized, and the modern intelligent warehouse requirement is difficult to meet; in addition, the working device of the existing warehouse forklift mostly adopts a hydraulic system to realize lifting of the fork, and the problems of high power, high energy consumption, poor reliability and the like exist.
The forklift robot is a mobile robot applied to an intelligent warehouse, a working device of the forklift robot adopts a multi-degree-of-freedom controllable executing mechanism, and a servo motor or a stepping motor is adopted for driving control, so that multi-motion input, complex controllable and adjustable flexible track output can be realized, and the loading, unloading and stacking operation requirements of the intelligent warehouse can be met. However, the multi-degree-of-freedom forklift robot technology also has a plurality of problems to be solved, and firstly, the multi-degree-of-freedom forklift robot is more difficult to arrange a rack power system when a high-power electric transmission system is driven because of the complex electric transmission system; secondly, the multi-degree-of-freedom forklift robot driven by the driving rod and the connecting rod has small swing range of the movable arm, and the existing movable arm lifting mechanism is easy to generate singular, so that the working space of the forklift robot is limited; in addition, when the forklift robot selects the movable arm as the driving part, the impact resistance of the forklift robot actuating mechanism is poor, and the application range of the forklift robot is restricted. The above problems have become engineering problems to be solved in the field of belt conveyors.
Disclosure of Invention
The invention aims to provide a large-space movable arm lifting mechanism for a forklift robot, so that the movable arm of the large-space movable arm lifting mechanism has a large swing range, is convenient for the layout of a rack power system, has high impact resistance, and has the characteristics of large working space, high impact resistance, low gravity center and high flexibility, and the movable arm lifting mechanism is suitable for the large-space high-flexibility forklift robot.
The invention achieves the aim through the following technical scheme:
the large-space movable arm lifting mechanism for the forklift robot comprises a fixed frame, a movable arm, a connecting rod and a driving rod, wherein the movable arm is connected with the fixed frame through a first revolute pair, the movable frame is connected with the fixed frame through a second revolute pair, one end of the driving rod is connected with the movable frame through a third revolute pair, the other end of the driving rod is connected with one end of the connecting rod through a fourth revolute pair, and the other end of the connecting rod is connected with the movable arm through a fifth revolute pair.
The movable arm is connected with a bucket rod in the forklift robot actuating mechanism through a sixth revolute pair, the rotation axes of the first revolute pair and the second revolute pair are coaxial, the driving system of the large-space movable arm lifting mechanism for the forklift robot is arranged on a movable rack, and the fixed rack is arranged on a rotary chassis.
The movable arm of the large-space movable arm lifting mechanism for the forklift robot is driven by the driving rod through the connecting rod, and the driving system of the movable arm is arranged on the movable rack, so that the layout of the power system on the fixed rack of the forklift robot is more flexible, and meanwhile, the design enables the forklift robot to have the advantages of high shock resistance, low gravity center and the like. The large-space movable arm lifting mechanism for the forklift robot rotates around the fixed frame through the movable frame provided with the driving system, so that the transmission angle of the movable arm lifting mechanism is increased, and the working space of the movable arm is increased. The large-space movable arm lifting mechanism for the forklift robot can realize rotary motion under the drive of the rotary chassis, and can swing at a large angle under the drive of the driving rod and the rotation of the movable frame, so that the forklift robot has the characteristics of large working space and high flexibility.
The invention has the outstanding advantages that:
1. the large-space movable arm lifting mechanism for the forklift robot has the advantages that the movable arm is driven by the driving rod through the connecting rod, the driving system is arranged on the movable rack, the layout of the power system of the forklift robot frame is more flexible, and the movable arm lifting mechanism has the advantages of high impact resistance, low gravity center and the like.
2. The large-space movable arm lifting mechanism for the forklift robot rotates around the fixed frame through the movable frame provided with the driving system, so that the transmission angle of the movable arm lifting mechanism is increased, the working space of the movable arm is increased, and the forklift robot has the characteristics of large working space and high flexibility.
Drawings
Fig. 1 is a schematic view of a large-space boom lifting mechanism for a forklift robot.
Fig. 2 is a schematic view of the forklift actuator according to the present invention.
Fig. 3 is a schematic view of a rotary chassis of the forklift robot according to the present invention.
Fig. 4 is a schematic view of the forklift robot according to the present invention.
Fig. 5 is a schematic view of a working pose of a forklift robot according to the present invention.
Fig. 6 is a second schematic view of a working pose of the forklift robot according to the present invention.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Referring to fig. 1 and 2, the large-space movable arm lifting mechanism for the forklift robot comprises a fixed frame 1, a movable frame 4, a movable arm 12, a connecting rod 10 and a driving rod 8, wherein the movable arm 12 is connected with the fixed frame 1 through a first revolute pair 2, the movable frame 4 is connected with the fixed frame 1 through a second revolute pair 3, one end of the driving rod 8 is connected with the movable frame 4 through a third revolute pair 7, the other end of the driving rod is connected with one end of the connecting rod 10 through a fourth revolute pair 9, and the other end of the connecting rod 10 is connected with the movable arm 12 through a fifth revolute pair 11.
Referring to fig. 1, 2, 3 and 4, the boom 12 is connected to an arm 16 of a forklift robot actuator through a sixth revolute pair 13, the axes of rotation of the first revolute pair 2 and the second revolute pair 3 are coaxial, the driving system 6 of the large-space boom lifting mechanism for the forklift robot is mounted on the movable frame 4, and the fixed frame 1 is mounted on a revolving chassis 15.
Referring to fig. 1, fig. 4, fig. 5, and fig. 6, the boom 12 of the large-space boom lifting mechanism for the forklift robot is driven by the driving rod 8 through the connecting rod 10, and the driving system 6 of the boom 10 is installed on the movable frame 4, so that the layout of the power system on the fixed frame 1 of the forklift robot is more flexible, and meanwhile, the design enables the forklift robot to have the advantages of high impact resistance, low gravity center and the like. The large-space movable arm lifting mechanism for the forklift robot rotates around the fixed frame 1 through the movable frame 4 provided with the driving system, so that the transmission angle of the movable arm lifting mechanism is increased, and the working space of the movable arm 12 is increased. The large-space movable arm lifting mechanism for the forklift robot can realize rotary motion under the drive of the rotary chassis 15, and can swing at a large angle under the drive of the driving rod 8 and the rotation of the movable frame 4, so that the forklift robot has the characteristics of large working space and high flexibility.
Claims (1)
1. The utility model provides a fork truck robot is with big space movable arm elevating system, includes four degrees of freedom fork truck actuating mechanism, hybrid drive system, its characterized in that:
the large-space movable arm lifting mechanism for the forklift robot comprises a fixed frame, a movable arm, a connecting rod and a driving rod, wherein the movable arm is connected with the fixed frame through a first revolute pair, the movable frame is connected with the fixed frame through a second revolute pair, one end of the driving rod is connected with the movable frame through a third revolute pair, the other end of the driving rod is connected with one end of the connecting rod through a fourth revolute pair, and the other end of the connecting rod is connected with the movable arm through a fifth revolute pair;
the movable arm is connected with a bucket rod in the forklift robot executing mechanism through a sixth revolute pair, the rotation axes of the first revolute pair and the second revolute pair are coaxial, the driving system of the large-space movable arm lifting mechanism for the forklift robot is arranged on a movable frame, and the fixed frame is arranged on a rotary chassis;
the movable frame provided with the driving system rotates around the fixed frame, so that the transmission angle of the movable arm lifting mechanism is increased, and the working space of the movable arm is increased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710583574.XA CN109264635B (en) | 2017-07-18 | 2017-07-18 | Large-space movable arm lifting mechanism for forklift robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710583574.XA CN109264635B (en) | 2017-07-18 | 2017-07-18 | Large-space movable arm lifting mechanism for forklift robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109264635A CN109264635A (en) | 2019-01-25 |
| CN109264635B true CN109264635B (en) | 2023-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710583574.XA Active CN109264635B (en) | 2017-07-18 | 2017-07-18 | Large-space movable arm lifting mechanism for forklift robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531885A (en) * | 1981-10-05 | 1985-07-30 | Graco Robotics, Inc. | Device for robot manipulator |
| AU2008200056A1 (en) * | 2007-01-29 | 2008-08-14 | Robotic Automation Pty Ltd | A robotic collator and palletiser |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103121589A (en) * | 2012-12-27 | 2013-05-29 | 广西大学 | Carrying stacking mechanism |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| CN104476051A (en) * | 2014-12-12 | 2015-04-01 | 广西大学 | Space-controllable multi-connecting-rod movable welding robot comprising parallel closed-loop subchains |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
-
2017
- 2017-07-18 CN CN201710583574.XA patent/CN109264635B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531885A (en) * | 1981-10-05 | 1985-07-30 | Graco Robotics, Inc. | Device for robot manipulator |
| AU2008200056A1 (en) * | 2007-01-29 | 2008-08-14 | Robotic Automation Pty Ltd | A robotic collator and palletiser |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103121589A (en) * | 2012-12-27 | 2013-05-29 | 广西大学 | Carrying stacking mechanism |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| CN104476051A (en) * | 2014-12-12 | 2015-04-01 | 广西大学 | Space-controllable multi-connecting-rod movable welding robot comprising parallel closed-loop subchains |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
Non-Patent Citations (1)
| Title |
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| 可控装载机构的运动学分析与仿真;张林，蔡敢为，朱凯君等;机械设计;第34卷(第2期);7-11 * |
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| CN109264635A (en) | 2019-01-25 |
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Effective date of registration: 20230814 Address after: No. 6 Tianjia Village, Jiuxianqiao Sub district Office, Yanzhou District, Jining City, Shandong Province, 272000 (South of 327 National Road) Applicant after: Shandong Hongda installation Co.,Ltd. Address before: 250023 No. 5 Jiao Tong Road, Tianqiao District, Shandong, Ji'nan Applicant before: SHANDONG JIAOTONG University |
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