CN109734025A - One kind automatically moving goods fork lift loader - Google Patents

One kind automatically moving goods fork lift loader Download PDF

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Publication number
CN109734025A
CN109734025A CN201910163984.8A CN201910163984A CN109734025A CN 109734025 A CN109734025 A CN 109734025A CN 201910163984 A CN201910163984 A CN 201910163984A CN 109734025 A CN109734025 A CN 109734025A
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CN
China
Prior art keywords
pallet fork
hinged
lifting device
vehicle frame
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910163984.8A
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Chinese (zh)
Inventor
王雪松
刘树滨
张树民
张洪东
孙宝华
李俊
白雪松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Boshi Automation Co Ltd
Original Assignee
Harbin Boshi Automation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Boshi Automation Co Ltd filed Critical Harbin Boshi Automation Co Ltd
Priority to CN201910163984.8A priority Critical patent/CN109734025A/en
Publication of CN109734025A publication Critical patent/CN109734025A/en
Pending legal-status Critical Current

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Abstract

One kind automatically moving goods fork lift loader, belongs to conveying, logistics and transportation technical field.The present invention solves the problems, such as that cargo can not be automatically loaded in container-type lorry or container by existing charging appliance.Innovative point: the pallet fork lifting device of loading machine and the front end of vehicle frame are hinged, and one end of two dump rams and pallet fork lifting device are hinged, and the other end is hinged with vehicle frame, and lifting cylinder promotes pallet fork by hauling rope;Laser sensor is installed in vehicle tail end, AGV navigation sensor is installed in the bottom centre position of rear axle, measurement type photoelectric sensor is installed on pallet fork lifting device, two pairs of ultrasonic distance-measuring sensors are respectively installed before and after vehicle frame, diffusing reflection laser sensor is installed below front axle.Loading machine of the invention may be implemented to be automatically loaded cargo in container-type lorry or container, and entire fork goods process is fully automated, and walking process is not necessarily to the intervention of people, automatically enters compartment, carries out unloading entrucking.

Description

One kind automatically moving goods fork lift loader
Technical field
The present invention relates to a kind of loading machines, and in particular to one kind automatically moves goods fork lift loader, belongs to conveying, logistics fortune Transferring technology field.
Background technique
It is " artificial mainly based on " artificial fork truck " at present by whole pile cargo transport to container-type lorry or container Fork truck " mainly pitches cargo in container-type lorry or container according further to the operation of people, but is finally completed entrucking behaviour Work is still site operation personnel.This mode proposes higher requirement to truck driver, and labor intensity is huge, work Low efficiency can cause certain injury in the environment of some danger to personnel, can also pollute to air.Although grinding at present AGV fork truck is sent out, but also only the handling goods of application on the ground, entrucking are also only completed by " artificial fork truck ".
Summary of the invention
It has been given below about brief overview of the invention, in order to provide about the basic of certain aspects of the invention Understand.It should be appreciated that this summary is not an exhaustive overview of the invention.It is not intended to determine pass of the invention Key or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides certain concepts in simplified form, Taking this as a prelude to a more detailed description discussed later.
In consideration of it, cargo can not be automatically loaded in container-type lorry or container in order to solve existing charging appliance Problem, and then propose one kind and automatically move goods fork lift loader, which may be implemented cargo being automatically loaded container In formula lorry or container, entire fork goods process is fully automated, and walking process is not necessarily to the intervention of people, automatically enters compartment, into Row unloading entrucking.
Scheme: one kind automatically moves goods fork lift loader, including vehicle frame, front axle, rear wheel, rear wheel boss shaft bearing unit, Rear axle, bearing block, front vehicle wheel and front wheel hub bearing unit;
The vehicle frame is fixedly connected on front axle, and front axle is connect with front wheel hub bearing unit, front vehicle wheel and front hub Bearing unit connection, bearing block are fixed on the bottom of vehicle frame, and rear axle is hinged with bearing block, and rear wheel boss shaft bearing unit connects rear car On bridge, rear wheel is connect with rear wheel boss shaft bearing unit;
Loading machine further includes pallet fork lifting device, dump ram and sensing element;
The front end of the pallet fork lifting device and vehicle frame is hinged, and one end of two dump rams and pallet fork lifting device are cut with scissors It connects, the other end is hinged with vehicle frame;
The pallet fork lifting device includes door frame, gear shelf, hauling rope, balladeur train, lifting cylinder, pallet fork, movable pulley and rolling Wheel;
The balladeur train is mounted in the track of door frame by two roller-coasters, and gear shelf are fixedly connected on balladeur train, goods Fork is mounted on balladeur train, and the bottom of lifting cylinder is fixedly connected on door frame bottom end, and there are two dynamic for connection on the beam hanger of lifting cylinder Pulley;Two hauling ropes bypass a movable pulley respectively, and one end of hauling rope is fixedly connected on door frame, the other end of hauling rope It is fixedly connected on balladeur train;
The front vehicle wheel and rear wheel are all made of Mecanum wheel;So set, Mecanum wheel is compact-sized, movement spirit It is living, it is a kind of omni-directional wheel, may be implemented to move ahead based on Mecanum wheel technology, traversing, diagonal, the movement such as rotation and combinations thereof Mode, is adapted to realize in lesser interior space and is adjusted flexibly, positions;
Sensing element includes laser sensor, AGV navigation sensor, measurement type photoelectric sensor, ultrasonic distance measurement sensing Device, diffusing reflection laser sensor;Laser sensor is installed in vehicle tail end, in the bottom centre position installation AGV navigation of rear axle Sensor installs measurement type photoelectric sensor on pallet fork lifting device, two pairs of ultrasonic distance measurement sensings of each installation before and after vehicle frame Device installs diffusing reflection laser sensor below front axle.
Further: there are two hinged otic placode, pallet fork liftings for the back lower setting of the door frame of the pallet fork lifting device Device is hinged by the front end of hinged otic placode and hinged shaft and vehicle frame, sets in the middle part of the rear side of the door frame of the pallet fork lifting device It sets there are two hinged seat, dump ram is carried out hinged by hinged seat and hinged shaft and pallet fork lifting device.So set, just It is easy to repair in assembling.
Further: the loading machine further includes clump weight, and clump weight is fixedly connected on the tail end of vehicle frame.So set, It avoids loading machine top-heavy, causes overturn accident.
Further: the front vehicle wheel uses the form of dual wheels group.So set, wheel can be effectively reduced to vehicle The pressure of compartment bottom plate.
Further: there are two backboards for the back lower setting of the door frame, and two backboards are arranged up and down, are located above Fixing seat is fixedly connected on front side of backboard, the hauling rope is connect by connecting rod with fixing seat.So set, reducing traction The length of rope, while enhancing the stability of pallet fork lifting.
Further: the hauling rope uses chain, belt or rope.
Present invention effect achieved are as follows:
Loading machine of the invention reaches entrucking position, and lifting cylinder promotes pallet fork by hauling rope, swashs in vehicle tail end installation Optical sensor, and AGV navigation sensor is installed in rear axle bottom centre position, it serves as the car body before entering container and leads It navigates function, forks whole pile or FCL material, measurement type photoelectric sensor is installed on pallet fork lifting device, to detect whole pile or whole In place whether case material fork, and then lifting cylinder drops to the height certain apart from ground, by AGV navigation sensor, swashs Optical sensor makes mobile pallet fork loading machine drive to its inside along container center, two pairs of ultrasounds is respectively installed before and after vehicle frame Wave distance measuring sensor is consistent the center in carloader and compartment using compartment inner wall as positioning surface, fills as mobile pallet fork Carrier aircraft is navigated on the inside of container.Diffusing reflection laser sensor is installed below front axle, to judge whole pile or FCL material Distance, and then whole pile or FCL material are placed on container, then entire car body exits container, to complete automatic dress Vehicle.Loading machine pallet fork lifting in operation process is convenient, time saving and energy saving, virtually shortens the loading operation time, reduces work Industry cost.
Detailed description of the invention
Fig. 1 is a kind of axonometric drawing for automatically moving goods fork lift loader;
Fig. 2 is the axonometric drawing of pallet fork lifting device;
Fig. 3 is the partial enlarged view of Fig. 2.
In figure: 1-- vehicle frame, 2-- front axle, 3-- clump weight, 4-- rear wheel, 5-- rear wheel boss shaft bearing unit, 6-- rear car Bridge, 7-- bearing block, 8-- front vehicle wheel, 9-- front wheel hub bearing unit, 10-- pallet fork lifting device, 11-- dump ram, 10-1-- Door frame, 10-2-- gear shelf, 10-3-- hauling rope, 10-4-- balladeur train, 10-5-- lifting cylinder, 10-6-- pallet fork, 10-7-- are dynamic Pulley, 10-8-- idler wheel, 10-9-- track, the hinged otic placode of 10-10--, 10-11-- hinged seat, 10-12-- backboard, 10-13-- Fixing seat, 10-14-- connecting rod.
Specific embodiment
For clarity and conciseness, all features of actual implementation mode are not described in the description.However, should Understand, much decisions specific to embodiment must be made, during developing any this practical embodiments so as to reality The objectives of existing developer, for example, meeting restrictive condition those of related to system and business, and these restrictive conditions It may be changed with the difference of embodiment.In addition, it will also be appreciated that although development is likely to be very multiple It is miscellaneous and time-consuming, but for the those skilled in the art for having benefited from the disclosure of invention, this development is only example Capable task.
Here, also it should be noted is that, in order to avoid having obscured the present invention because of unnecessary details, applying for text Illustrate only in part with closely related apparatus structure and/or processing step according to the solution of the present invention, and be omitted and this The little other details of inventive relationship.
Embodiment 1: referring to Fig. 1 to Fig. 3, one kind of the present embodiment automatically moves goods fork lift loader, including vehicle frame 1, preceding Vehicle bridge 2, rear wheel 4, rear wheel boss shaft bearing unit 5, rear axle 6, bearing block 7, front vehicle wheel 8 and front wheel hub bearing unit 9;
The vehicle frame 1 is fixedly connected on front axle 2, and front axle 2 is connect with front wheel hub bearing unit 9, and front vehicle wheel 2 is with before Hub-bearing unit 9 connects, and bearing block 7 is fixed on the bottom of vehicle frame 1, and rear axle 6 and bearing block 7 are hinged, rear wheel hub bearing list Member 5 connects in rear axle 6, and rear wheel 4 is connect with rear wheel boss shaft bearing unit 5.
The loading machine of the present embodiment further includes pallet fork lifting device 10, dump ram 11 and sensing element, the pallet fork liter Falling unit 10 and the front end of vehicle frame 1 are hinged, and one end of two dump rams 11 and pallet fork lifting device 10 are hinged, the other end and vehicle Frame 1 is hinged;The pallet fork lifting device 10 includes door frame 10-1, gear shelf 10-2, hauling rope 10-3, balladeur train 10-4, lifting oil Cylinder 10-5, pallet fork 10-6, movable pulley 10-7 and idler wheel 10-8;The balladeur train 10-4 is slidably mounted on door by two idler wheel 10-8 In the track 10-9 of frame 10-1, gear shelf 10-2 is fixedly connected on balladeur train 10-4, and pallet fork 10-6 is mounted on balladeur train 10-4, is risen The bottom of drop oil cylinder 10-5 is fixedly connected on the bottom end door frame 10-1, and there are two movable pulleys for connection on the beam hanger of lifting cylinder 10-5 10-7;Two hauling rope 10-3 bypass a movable pulley 10-7 respectively, and one end of hauling rope is fixedly connected on door frame 10-1, leads The other end of straw line is fixedly connected on balladeur train 10-4;Sensing element includes laser sensor, AGV navigation sensor, measurement type Photoelectric sensor, ultrasonic distance-measuring sensor, diffusing reflection laser sensor;Laser sensor is installed in vehicle tail end, in rear axle Bottom centre position AGV navigation sensor is installed, measurement type photoelectric sensor is installed on pallet fork lifting device, before and after vehicle frame Respectively two pairs of ultrasonic distance-measuring sensors of installation install diffusing reflection laser sensor below front axle.
There are two hinged otic placode 10- for the back lower setting of the door frame 10-1 of pallet fork lifting device described in the present embodiment 10 10, pallet fork lifting device 10 is hinged by hinged otic placode 10-10 and hinged shaft and the front end of vehicle frame 1, the pallet fork lifting dress Setting is set in the middle part of the rear side of 10 door frame 10-1 there are two hinged seat 10-11, dump ram 11 passes through hinged seat 10-11 and hinged Shaft and pallet fork lifting device 10 carry out hingedly.
The loading machine of the present embodiment further includes clump weight 3, and clump weight 3 is fixedly connected on the tail end of vehicle frame 1.
Front vehicle wheel 8 described in the present embodiment uses the form of dual wheels group.The front vehicle wheel 8 and rear wheel 4 are all made of wheat Ke Namu wheel.There are two backboard 10-12, two backboard 10-12 or more arrangements to be located at for the back lower setting of the door frame 10-1 Fixing seat 10-13 is fixedly connected on front side of the backboard of top, the hauling rope 10-3 passes through connecting rod 10-14 and fixing seat 10- 13 connections.
After the loading machine of the present embodiment reaches designated position, when needing the cargo loaded to be in higher position, pass through liter Drop oil cylinder drives movable pulley to move upwards, and the hauling rope being wrapped on movable pulley drives pallet fork to move upwards;When need to load When cargo is in lower position, movable pulley is driven to move downward by lifting cylinder, the hauling rope being wrapped on movable pulley drives Pallet fork moves downward;When needing the cargo loaded horizontal by certain pitch angle, by adjusting dump ram drive Pallet fork does pitching movement, to adapt to load the demand of cargo.Laser sensor is installed in vehicle tail end, and in rear car pars basilaris pontis AGV navigation sensor is installed in heart position, serves as the car body navigation feature before entering container, forks whole pile or FCL material, Measurement type photoelectric sensor is installed on pallet fork lifting device, whether in place to be forked with detecting whole pile or FCL material, is then risen Drop oil cylinder drops to the height certain apart from ground, by AGV navigation sensor, laser sensor, loads mobile pallet fork Machine drives to its inside along container center, and two pairs of ultrasonic distance-measuring sensors are respectively installed before and after vehicle frame, are with compartment inner wall Positioning surface is consistent the center in carloader and compartment, navigates on the inside of container as mobile pallet fork loading machine.Preceding Diffusing reflection laser sensor is installed, to judge the distance of whole pile or FCL material, and then by whole pile or FCL material below vehicle bridge It is placed on container, then entire car body exits container, to complete automatic loading.
Although disclosed embodiment is as above, its content is only to facilitate understand technical side of the invention Case and the embodiment used, are not intended to limit the present invention.Any those skilled in the art to which this invention pertains, not Under the premise of being detached from disclosed core technology scheme, any modification and change can be made in form and details in implementation Change, but protection scope defined by the present invention, the range that the appended claims that must still be subject to limits.

Claims (6)

1. one kind automatically moves goods fork lift loader, including vehicle frame (1), front axle (2), rear wheel (4), rear wheel boss shaft bearing unit (5), rear axle (6), bearing block (7), front vehicle wheel (8) and front wheel hub bearing unit (9);
The vehicle frame (1) is fixedly connected on front axle (2), and front axle (2) is connect with front wheel hub bearing unit (9), front vehicle wheel 2 It is connect with front wheel hub bearing unit (9), bearing block (7) is fixed on the bottom of vehicle frame (1), and rear axle (6) and bearing block (7) are cut with scissors It connects, rear wheel boss shaft bearing unit (5) connects on rear axle (6), and rear wheel (4) is connect with rear wheel boss shaft bearing unit (5);
It is characterized by: loading machine further includes pallet fork lifting device (10), dump ram (11) and sensing element;
The pallet fork lifting device (10) and the front end of vehicle frame (1) are hinged, and one end of two dump rams (11) and pallet fork are gone up and down Hingedly, the other end and vehicle frame (1) are hinged for device (10);
The pallet fork lifting device (10) include door frame (10-1), gear shelf (10-2), hauling rope (10-3), balladeur train (10-4), Lifting cylinder (10-5), pallet fork (10-6), movable pulley (10-7) and idler wheel (10-8);
The balladeur train (10-4) is slidably mounted in the track (10-9) of door frame (10-1) by two idler wheels (10-8), and shelf are kept off (10-2) is fixedly connected on balladeur train (10-4), and pallet fork (10-6) is mounted on balladeur train (10-4), the bottom of lifting cylinder (10-5) Portion is fixedly connected on the bottom end door frame (10-1), and there are two movable pulley (10-7) for connection on the beam hanger of lifting cylinder (10-5);Two Hauling rope (10-3) bypasses a movable pulley (10-7) respectively, and one end of hauling rope is fixedly connected on door frame (10-1), draws The other end of rope is fixedly connected on balladeur train (10-4);
The front vehicle wheel and rear wheel are all made of Mecanum wheel;The sensing element includes laser sensor, AGV navigation sensing Device, measurement type photoelectric sensor, ultrasonic distance-measuring sensor and diffusing reflection laser sensor;Laser sensing is installed in vehicle tail end Device installs AGV navigation sensor in the bottom centre position of rear axle, measurement type photoelectric sensing is installed on pallet fork lifting device Device, vehicle frame front and back respectively install two pairs of ultrasonic distance-measuring sensors, diffusing reflection laser sensor are installed below front axle.
2. one kind according to claim 1 automatically moves goods fork lift loader, it is characterised in that: the pallet fork lifting device (10) there are two hinged otic placode (10-10), pallet fork lifting device (10) passes through hinged for the back lower setting of door frame (10-1) Otic placode (10-10) and hinged shaft and the front end of vehicle frame (1) are hinged, after the door frame (10-1) of the pallet fork lifting device (10) There are two hinged seat (10-11), dump rams (11) to pass through hinged seat (10-11) and hinged shaft and pallet fork liter for middle side part setting Falling unit (10) carries out hinged.
3. one kind according to claim 1 or 2 automatically moves goods fork lift loader, it is characterised in that: the loading machine is also Including clump weight (3), clump weight (3) is fixedly connected on the tail end of vehicle frame (1).
4. one kind according to claim 1 automatically moves goods fork lift loader, it is characterised in that: the front vehicle wheel (8) is adopted With the form of dual wheels group.
5. one kind according to claim 1 automatically moves goods fork lift loader, it is characterised in that: the door frame (10-1) There are two backboard (10-12), two backboards (10-12) are arranged up and down for back lower setting, fixed on front side of the backboard being located above It is connected with fixing seat (10-13), the hauling rope (10-3) is connect by connecting rod (10-14) with fixing seat (10-13).
6. one kind according to claim 5 automatically moves goods fork lift loader, it is characterised in that: the hauling rope (10-3) Using chain, belt or rope.
CN201910163984.8A 2019-03-05 2019-03-05 One kind automatically moving goods fork lift loader Pending CN109734025A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110989592A (en) * 2019-12-02 2020-04-10 华中科技大学 Automatic mapping and positioning system for mobile robot
CN111362190A (en) * 2020-03-06 2020-07-03 安徽宇锋智能科技有限公司 Fork transport AGV
WO2021223351A1 (en) * 2020-05-08 2021-11-11 广州大学 Primary-secondary loading and unloading vehicle system

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Publication number Priority date Publication date Assignee Title
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CN111362190A (en) * 2020-03-06 2020-07-03 安徽宇锋智能科技有限公司 Fork transport AGV
WO2021223351A1 (en) * 2020-05-08 2021-11-11 广州大学 Primary-secondary loading and unloading vehicle system

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