CN110092323B

CN110092323B - Fork truck formula AGV is with lifting system

Info

Publication number: CN110092323B
Application number: CN201910199116.5A
Authority: CN
Inventors: 熊影辉; 蔡虎; 刘少欣; 戴勇波
Original assignee: Beijing Xinghang Electromechanical Equipment Co Ltd
Current assignee: Beijing Xinghang Electromechanical Equipment Co Ltd
Priority date: 2019-03-15
Filing date: 2019-03-15
Publication date: 2021-04-06
Anticipated expiration: 2039-03-15
Also published as: CN110092323A

Abstract

The invention provides a lifting system for a forklift type AGV, which relates to the technical field of forklift carrying, can be configured for forklift type AGVs with various lifting purposes, and has the characteristics of low height, strong load capacity and large lifting stroke; the lifting system comprises a power device, a transmission device and a fork lifting device; the power device is arranged on the mounting bracket positioned at the vehicle head end; the head end of the fork lifting device is provided with a first lifting point, and the middle rear end of the fork lifting device is provided with a second lifting point and a third lifting point; the first lifting point is connected with the power device; the second lifting point and the third lifting point are connected with the power device through the transmission device; the first lifting point, the second lifting point and the third lifting point synchronously lift and descend. The technical scheme provided by the invention is suitable for the lifting process of the forklift type AGV.

Description

Fork truck formula AGV is with lifting system

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of forklift transportation, in particular to a lifting system for a forklift type AGV.

[ background of the invention ]

Forklifts play a very important role in all industries and are always one of the main transportation devices for logistics transportation. With the development of the electrification process, a full-automatic or semi-automatic forklift type AGV appears in a factory, and can be applied to the carrying work of goods such as packing boxes and the like. At present, the carrying mode of the forklift type AGV in a workshop is that a fork is lifted to be inserted into the bottom of a cargo, the cargo is lifted, and carrying work is realized.

The lifting system is one of important subsystems in the AGV of the forklift, the height of the AGV needs to be reduced during design, and the load capacity of the AGV needs to be improved simultaneously so as to adapt to goods with high weight and low chassis. The existing lifting system for lifting the AGV usually adopts a hydraulic cylinder, an electric cylinder or a lead screw and other lifting devices for direct jacking, the existing system needs a plurality of lifting devices to carry out synchronous lifting control, the device purchasing and control cost are directly increased, and due to the limitation of the size of the lifting devices, the low goods of a low chassis are hardly adapted to the design of the lifting system, and due to the limitation of height, the lifting force of the adaptable lifting devices is difficult to achieve greatly, so the optimized design of the lifting system is a great breakthrough point for the development of the AGV of the forklift. There is therefore a need to provide a solution that overcomes or at least alleviates at least one of the above-mentioned problems of the prior art.

[ summary of the invention ]

In view of the above, the present invention provides a lift system for a forklift AGV, which has the characteristics of low height, strong load capacity, and large lift stroke, and can be configured for forklift AGVs for various lift purposes.

On one hand, the invention provides a lifting system for a forklift type AGV, which is characterized by comprising a power device, a transmission device and a fork lifting device;

the power device is arranged on the mounting bracket positioned at the vehicle head end;

one end of the fork lifting device, which is close to the head end, is provided with a first lifting point, and the other end of the fork lifting device is provided with a second lifting point and a third lifting point; the first lifting point is connected with the power device; the second lifting point and the third lifting point are connected with the power device through the transmission device;

the first lifting point, the second lifting point and the third lifting point synchronously lift and descend.

The above aspect and any possible implementation manner further provide an implementation manner, where the first lifting point, the second lifting point, and the third lifting point form an isosceles triangle, and the first lifting point is a vertex corresponding to a base of the isosceles triangle.

The above aspect and any possible implementation further provides an implementation in which the transmission device is disposed below the fork lifting device;

the transmission device comprises a first transmission structure and a second transmission structure; the first transmission structure and the second transmission structure respectively comprise a hinge seat, a swing rod, a circular rotating rod, a pull rod and a roller assembly; one end of the hinge seat is connected with the mounting bracket, and the other end of the hinge seat is connected with one end of the oscillating bar; the other end of the swing rod is connected with the circular end of the circular rotating rod; a rotating shaft is movably arranged in the circular ring of the circular rotating rod in a penetrating manner; the rod-shaped end of the circular rotating rod is connected with one end of the pull rod, and the other end of the pull rod is connected with the roller wheel assembly;

the roller assembly is located at the second lifting point and the third lifting point.

The first transmission structure and the second transmission structure share the same hinge seat and the same swing rod, one end of the hinge seat is connected with the mounting bracket, the other end of the hinge seat is connected with one end of the swing rod, and the other end of the swing rod is fixedly connected with the circular ring ends of the two circular rotating rods respectively.

The above aspect and any possible implementation further provides an implementation characterized in that the fork lift apparatus comprises a fork lift and a fork lift gooseneck; the first lifting point is arranged at the end, close to the vehicle head, of the lifting fork, and the lifting fork gooseneck is connected with the first lifting point and the power device.

The above aspects and any possible implementation manners further provide an implementation manner, wherein the roller assembly includes a roller frame and a roller arranged at one end of the roller frame; the other end of the roller frame is connected with the pull rod.

The above aspect and any possible implementation manner further provide an implementation manner that the rotating shaft is horizontally arranged on the fork lifting device and is perpendicular to the length direction of the vehicle body.

The above-described aspect and any possible implementation manner further provide an implementation manner, wherein the first transmission structure and the second transmission structure share the same rotating shaft or use one rotating shaft respectively.

The above aspect and any possible implementation further provides an implementation in which two of the tie rods are arranged in parallel; the rotating shaft is perpendicular to the pull rod, and the position of the rotating shaft is higher than that of the pull rod.

The above aspect and any possible implementation further provides an implementation in which the power plant is a hydraulic lifting cylinder.

Compared with the prior art, the invention can obtain the following technical effects: the design of an extremely low lifting fork is realized, and meanwhile, the load capacity is large, so that the lifting fork can be suitable for carrying goods with low chassis height and large dead weight; aiming at index requirements such as different lifting heights and chassis heights, the requirements can be met by adjusting the length, position, angle parameters and the like of each connecting rod in the transmission assembly.

Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic high-level view of a lift system provided in accordance with an embodiment of the present invention;

FIG. 2 is a low level schematic view of a lift system drive configuration provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a high-level front view of an AGV according to an embodiment of the present invention;

FIG. 4 is a schematic view of an AGV according to one embodiment of the present invention showing the deployment of the low-level comb bars;

FIG. 5 is a schematic diagram of an AGV full car-to-car transport according to one embodiment of the present invention.

Wherein, in the figure:

a hydraulic lifting cylinder-101; a hinge mount-102; a swing link-103; a fork-lifting gooseneck-104; a circular rotating rod-105; a pull rod-106; a roller frame-107; a roller-108; a rotating shaft-201; mounting bracket-301; lifting fork-302; AGV head-303; a comb-toothed bar-304; AGV-401; car-402.

[ detailed description ] embodiments

For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.

It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The invention designs a lifting system for a forklift AGV aiming at the special requirements of the forklift AGV.

Fork truck formula AGV lifts the system integration in lifting fork below, when lifting, avoids lifting the fork slope because lifting asynchronous, leads to the goods to fall or damage, needs to lift fork level rising. Three-point lifting is adopted for the lifting fork in the application, various rod pieces are interconnected between lifting points, and the mechanical synchronization effect is realized.

The transmission structure of the lifting system mainly comprises a hydraulic lifting cylinder 101, a hinge base 102, a swing rod 103, a circular rotating rod 105, a pull rod 106, a roller frame 107 and a roller 108, as shown in fig. 1 and 2.

The lifting system is arranged on an AGV head 303, three lifting points are connected with a lifting fork 302, and the three lifting points are respectively a lifting fork gooseneck 104 and two roller frames 107. The fork-lifting gooseneck 104 is positioned at the head of the fork-lifting 302 and is fixedly connected with the fork-lifting 302; the two roller frames 107 are positioned at the middle rear end of the lifting fork 302 and connected with the lifting fork 302 through an optical axis, and the roller frames 107 can rotate around the optical axis.

The three lifting points preferably form an isosceles triangle, the fork-lifting gooseneck 104 is located at the top points of the two waist edges of the isosceles triangle, and the two roller frames 107 are respectively located at the two top points of the bottom edge of the isosceles triangle. Due to the arrangement of the three lifting points in the isosceles triangle, the distribution of the lifting points is more balanced, and the lifting process is more stable.

The head end of the roller frame 107 is movably connected with one end of the pull rod 106, the tail end of the roller frame 107 is provided with a roller 108, and the roller frame 107 is movably connected with the roller 108. The other end of the pull rod 106 is connected to the rod-shaped end of the annular rotating rod 105. The two pull rods are respectively connected with one circular rotating rod 105, the circular ring parts of the two circular rotating rods 105 are movably connected with the rotating shaft 201, and preferably are in sleeve joint, namely the rotating shaft 201 penetrates through the circular ring of the circular rotating rod 105. The mounting bracket 301 is arranged at one end of the AGV head 303, one end of the hinge seat 102 is fixedly connected with the mounting bracket 301, and the other end of the hinge seat is movably connected with one end of the swing rod 103; the other end of the swing rod 103 is connected with a circular rotating rod 105. The circular end and the rod-shaped end of the circular rotating rod 105 are respectively provided with a hinge joint, and the connection modes of the circular rotating rod and the rod-shaped end are hinged with the swing rod 103 and the pull rod 106. The number of the hinge bases 102 is two, a hydraulic lifting cylinder 101 is arranged between the two hinge bases 102, the hydraulic lifting cylinder 101 is fixedly connected with the mounting bracket 301, and a piston rod of the hydraulic lifting cylinder 101 is arranged upwards. The fork-lifting gooseneck 104 is connected with a piston rod of the hydraulic lifting cylinder 101, and the piston rod is lifted and lowered to directly drive the fork-lifting gooseneck 104 to ascend and descend. The lifting fork 302 is arranged above a square formed by two pull rods.

The AGV401 inserts the lift fork 302 under the chassis of the car 402 under the control of a dispatch, navigation system. At this time, the AGV401 starts the hydraulic system to supply oil to the hydraulic lifting cylinder 101, and the fork-lifting gooseneck 104 rises along with the oil supply, so as to drive the rotating shaft 201 to rise. The hinge base 102 is fixed to the mounting bracket 301, and corresponds to a fixed end, and as the rotating shaft 201 rises, the swing link 103 rotates around the hinge base 102, pushes the circular rotating rod 105 to rotate clockwise around the rotating shaft 201, pulls the pull rod 106 to move towards the AGV head 303, pulls up the roller frame 107, and as the roller 108 rolls on the ground, the roller frame 107 jacks up the lifting fork 302. The front end of the lifting fork 302 is connected with the lifting fork gooseneck 104, and is lifted under the action of the hydraulic lifting cylinder 101, the tail end of the lifting fork 302 is connected with the roller frame 107, and the roller frame 107 lifts the tail end of the lifting fork 302 under the transmission of the multi-connecting-rod transmission mechanism, so that the horizontal lifting of the whole lifting fork 302 is realized.

During the lifting process of the hydraulic lifting cylinder 101, the swing rod 103 rotates around the hinge base 102 and drives the lifting fork 302 to move horizontally, so that a piston rod of the hydraulic lifting cylinder 101 has an applicable movable clearance with a first lifting point connected with the lifting fork 302. In the lifting system designed by the invention, the transmission form is a plurality of connecting rods, and when the piston rod of the hydraulic lifting cylinder 101 is at a certain stroke position, the plurality of connecting rods in the lifting system correspond to a unique pose; i.e. a certain extension of the piston rod of the hydraulic cylinder 101, the lifting fork has a unique and determined pose. The length, the angle, the installation position and other data of each rod piece are calculated through design. According to actual measurement, in the whole process of jacking of the hydraulic lifting cylinder, the height difference between the three lifting points of the lifting fork is less than or equal to 5 mm; when the hydraulic cylinder is lifted to the final position, the upper surface of the whole lifting fork is nearly horizontal, the height difference of the three lifting points is less than or equal to 1mm, and synchronous lifting is well realized within an error range. The lifting height of the AGV401 is 100mm, before the lifting fork 302 lifts, the comb tooth rod 304 retracts and is hidden in the lifting fork 302, after the lifting fork 302 enters the chassis of the automobile 402, 8 comb tooth rods 304 rotate for 90 degrees and are respectively positioned on two sides of 4 automobile tires, then the lifting fork 302 lifts, and the comb tooth rod 304 on the lifting fork 302 contacts with the tires of the automobile 402 and continues to lift and lift the tires.

After the AGV401 lifts the vehicle 402 to the maximum height, the AGV401 moves the vehicle 402 to the target area under the control of the dispatch/navigation system, and then the AGV401 lowers the fork 302. The descending process of the lifting fork 302 is as follows: the hydraulic system controls the piston rod of the hydraulic lifting cylinder 101 to retract and descend, pulls the fork-lifting gooseneck 104 to descend, and drives the rotating shaft 201 to descend. At this time, the swing link 103 rotates around the hinge base 102, and the circular rotating rod 105 rotates counterclockwise around the rotating shaft 302, pushing the pull rod 106 to move toward the rear of the vehicle. Under the action of the gravity of the car 402 and the lifting fork 302, the roller frame 107 tends to lie down, and the pull rod 106 is also pulled to move towards the tail of the car. Under the combined action of the two, the lifting fork 302 descends, and the retraction speed of the piston rod of the hydraulic lifting cylinder 101 needs to be controlled in the descending process, so that the piston rod of the hydraulic lifting cylinder 101 is ensured to keep a certain back pressure in the retraction process, the phenomenon that the automobile 402 is too fast descended and is subjected to too large impact on the ground is prevented, and the safety and the stability of the operation of the AGV401 are guaranteed. After the lifting fork 302 is lowered to the minimum, the comb tooth rod 304 rotates 90 degrees and is hidden in the lifting fork 302, and the AGV401 moves the lifting fork 302 out from the lower part of the chassis of the automobile 402 and goes to the next target place for carrying task under the control of a dispatching and navigation system.

The AGV401 in this example may undertake the handling of the off-line car at the entire facility. The AGV401 travels under the vehicle chassis lifting the vehicle 402 and then transferring it as shown in fig. 5 as the lift forks 302 of the AGV401 are lifted. The invention realizes extremely low fork lifting design in the application of carrying the AGV by the automobile, has larger load capacity, can be suitable for cars and sports cars with extremely low chassis height and large-scale SUVs with large load, and basically can consider most mainstream automobile types in the market.

The lifting system for the forklift AGV, which is designed by the invention, can increase the lifting force of a hydraulic cylinder and strengthen the strength of structural parts aiming at the forklift AGVs with different load requirements; aiming at different lifting heights, chassis heights and the like, the requirements can be met by adjusting the length, position, angle parameters and the like of each connecting rod in the transmission assembly.

The lifting system is suitable for forklift type AGV lifting systems with multiple purposes and requirements, and has the characteristics of high compatibility, low manufacturing cost, strong lifting capacity, good synchronism and the like.

The above provides a fork truck formula AGV with lifting system, has introduced in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.

Claims

1. A lifting system for a forklift type AGV is characterized by comprising a power device, a transmission device and a fork lifting device;

the first lifting point, the second lifting point and the third lifting point synchronously lift and descend;

the first lifting point, the second lifting point and the third lifting point form an isosceles triangle, and the first lifting point is a vertex corresponding to the bottom side of the isosceles triangle;

the transmission device is arranged below the fork lifting device;

2. The lift system of claim 1, wherein the first transmission structure and the second transmission structure share the same hinge seat and the same swing rod, one end of the hinge seat is connected with the mounting bracket, the other end of the hinge seat is connected with one end of the swing rod, and the other end of the swing rod is respectively fixedly connected with two circular ends of the circular rotating rods.

3. A lifting system for a fork lift AGV according to any one of claims 1-2, characterised in that the fork lift means comprises a fork lift and a fork lift gooseneck; the first lifting point is arranged at the end, close to the vehicle head, of the lifting fork, and the lifting fork gooseneck is connected with the first lifting point and the power device.

4. The lift system of claim 1, wherein said roller assembly comprises a roller carriage and rollers disposed at one end of said roller carriage; the other end of the roller frame is connected with the pull rod.

5. The lift system of claim 1, wherein said spindle is horizontally disposed on said fork lift assembly and is oriented perpendicular to the length of the vehicle body.

6. The lift system of claim 5, wherein said first and second drive mechanisms share the same shaft or each use a shaft.

7. The lift system for a forklift AGV according to claim 5, wherein said two tie rods are arranged in parallel; the rotating shaft is perpendicular to the pull rod, and the position of the rotating shaft is higher than that of the pull rod.

8. The lift system for a forklift AGV of claim 1, wherein the power device is a hydraulic lift cylinder.