CN110482445B

CN110482445B - Carrying supporting mechanism and carrying vehicle

Info

Publication number: CN110482445B
Application number: CN201910774907.6A
Authority: CN
Inventors: 王琳峰; 李星
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2021-01-29
Anticipated expiration: 2039-08-21
Also published as: CN110482445A

Abstract

The invention relates to the technical field of carrier toppling prevention, and discloses a carrying support mechanism and a carrier. Wherein transport supporting mechanism includes: a fork for carrying material; and a support assembly disposed on a side of the fork frame facing away from the material, the support assembly comprising: a support portion configured to be supportable on a ground surface; and one of the body and the output end of the first driving piece is fixedly connected to the fork frame, the other one of the body and the output end of the first driving piece is fixedly connected with the supporting part, and the output end can stretch relative to the body so as to respectively drive the supporting part and the fork frame to lift. When the carrying and supporting mechanism provided by the invention carries an article, the first driving piece drives the supporting part to move downwards along the vertical direction and touch the ground, the fork frame is inserted into the article and then lifts the article, at the moment, the supporting part is still positioned on the ground and is equivalent to a supporting point of a carrying vehicle, the phenomenon of toppling of the carrying vehicle caused by unstable gravity center when the carrying vehicle carries the article is prevented, and compared with the prior art, the maximum weight value of the article which can be carried is increased.

Description

Carrying supporting mechanism and carrying vehicle

Technical Field

The invention relates to the technical field of carrier toppling prevention, in particular to a carrying supporting mechanism and a carrier.

Background

When the existing carrying forklift or sling cart works, the gravity center can be balanced by adopting a mode of balancing weight or unfolding supporting legs. However, when the building robot works in a building, particularly a wallboard carrying robot, the moving space is narrow, the width of a door frame limits the length of a vehicle body, the length and the width of a wallboard are large, the ground clearance for placing the wallboard is small, and the unfolding of supporting legs is not facilitated, so that the two gravity center balancing modes are not applicable, and the phenomenon that the carrying robot turns on the side when carrying the wallboard is easily caused due to unstable gravity center of the carrying robot.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a carrying support mechanism and a carrier, wherein the carrying support mechanism solves the problem of side turning caused by unstable gravity center of the carrier in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

a carry support mechanism comprising:

a fork for carrying material; and

a support assembly disposed on a side of the fork frame facing away from the material, the support assembly comprising:

a support configured to be supportable on a ground surface; and

one of the body and the output end of the first driving piece is fixedly connected to the fork frame, the other one of the body and the output end of the first driving piece is fixedly connected with the supporting part, and the output end can stretch relative to the body to respectively drive the supporting part and the fork frame to lift.

As a preferable aspect of the carrying support mechanism, the support assembly further includes:

a guide assembly configured to limit the direction of relative movement of the fork carriage and the support assembly.

As a preferable scheme of the carrying support mechanism, the guide assembly comprises a guide rod and a guide sleeve, the guide rod is vertically and fixedly connected to the support portion, the guide sleeve is slidably connected to the guide rod, the body is fixedly connected to the guide sleeve, and the fork is fixedly connected to the body.

As a preferable mode of the carrying support mechanism, the guide assembly includes a guide rail and a slide carriage, the slide carriage is slidably connected to the guide rail, the guide rail is fixedly connected to the support portion, the body is fixedly connected to the slide carriage, and the fork is fixedly connected to the body.

As a preferred scheme of the carrying and supporting mechanism, the first driving part is an electric push rod, a hydraulic oil cylinder or an air cylinder.

As a preferable aspect of the conveyance support mechanism, the support portion includes:

the first driving piece is fixedly connected with the caster frame, and the output end of the first driving piece is fixedly connected with the caster frame.

As a preferable aspect of the carrying support mechanism, the fork includes a fork carriage unit and a fork carriage cross member, the fork carriage unit is connected to an end of the fork carriage cross member, and at least a part of the support portion is located below the fork carriage unit.

A carrier comprises a carrier body and the carrying support mechanism in any scheme, wherein the carrying support mechanism is connected with the carrier body.

In a preferred embodiment of the cart, the two support members are provided, an arrangement direction of the two support members is perpendicular to a traveling direction of the cart body, and the cart body is located between the two support members.

As a preferable aspect of the carrier, the vehicle body includes a placing table for supporting the material, and the fork is configured to be movable in a vertical direction and a traveling direction of the vehicle body with respect to the vehicle body to carry the material onto the placing table.

The invention has the beneficial effects that: the carrying support mechanism provided by the invention increases the stability of the carrying vehicle when carrying articles, the first driving piece can respectively control the lifting of the fork frame and the support part, the structure is simple, specifically, when the carrying vehicle carries articles, the first driving piece drives the support part to move downwards along the vertical direction and land, the fork frame is inserted into the articles and then lifts the articles, at the moment, the support part is still positioned on the ground and is equivalent to the support point of the carrying vehicle, and the phenomenon of toppling of the carrying vehicle caused by unstable gravity center when carrying the articles is prevented.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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 for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic view of a carrier support mechanism provided in accordance with an embodiment of the present invention in one orientation;

FIG. 2 is a schematic view of a carrier support mechanism provided in accordance with an embodiment of the present invention in another orientation;

figure 3 is a schematic view of a cart according to an embodiment of the present invention.

In the figure:

1. a carrying support mechanism;

11. a first driving member; 111. a hydraulic cylinder; 112. a power rod;

12. a mounting frame;

13. a support portion; 131. a caster wheel; 132. a caster frame; 1321. a boss; 133. a caster shaft; 134. a sleeve;

14. a guide assembly; 141. a guide bar; 142. a guide sleeve;

15. a fork; 151. a fork carriage unit; 1511. a groove; 152. a fork carriage cross beam;

16. a fixed flange;

2. a vehicle body; 21. a placing table;

31. a vertical guide rail bracket; 32. a vertical slide block; 33. a cross beam; 34. a second driving member.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment provides a carrying and supporting mechanism, which can be used for carrying materials such as wall boards, floors or wood boards, and the carrying and supporting mechanism of the embodiment is used for carrying wall boards. As shown in fig. 1 to 3, the carrying support mechanism comprises a fork 15 and a support assembly, wherein the fork 15 is used for carrying the wall board, the support assembly is arranged at one side of the fork 15, which faces away from the wall board, and is fixedly connected with the fork 15, and the support assembly can be supported on the ground when the fork 15 carries the wall board so as to prevent the carrier from rolling.

Specifically, the number of the support assemblies of the transportation support mechanism of the embodiment is two, as shown in fig. 3, the two support assemblies are respectively disposed at two ends of one side of the wall board, the support assembly includes a support portion 13 and a first driving member 11, as shown in fig. 1 and 2, a body of the first driving member 11 is fixedly connected to the fork 15, an output end is fixedly connected to the support portion 13, and the output end can extend and retract relative to the body to respectively drive the support portion 13 and the fork 15 to ascend and descend. The support portion 13 is located below the first driver 11 and the support portion 13 is configured to be able to support on the ground. Of course, in other embodiments of the present invention, the output end of the first driving member 11 may be disposed on the fork 15, the body is connected to the supporting portion 13, and the output end can extend and contract relative to the body to respectively drive the supporting portion 13 and the fork 15 to ascend and descend. In other embodiments of the invention, it is also possible to provide only one support member at the end of the fork carriage 15 facing away from the wall panel, the number of support members being chosen according to the actual requirements.

Specifically, the first driving member 11 of the present embodiment is a hydraulic oil cylinder assembly, as shown in fig. 1 and fig. 2, the body of the first driving member 11 is a hydraulic oil cylinder 111, the output end of the first driving member 11 is a power rod 112, and the hydraulic oil cylinder 111 is connected to one end of the power rod 112 and can drive the power rod 112 to move in the vertical direction. The support assembly of this embodiment further comprises a mounting bracket 12, the mounting bracket 12 being provided at the upper end of the hydraulic ram 111, and the support portion 13 being provided at the lower end of the power bar 112. Of course, in other embodiments of the present invention, the first driving member 11 can also be an electric push rod or a cylinder assembly, and the specific structure of the first driving member 11 can be selected according to actual requirements.

Because wallboard length is longer, the side atress is uneven about easily when carrying supporting mechanism transport wallboard, or because construction environment is complicated in the transport, the ground unevenness leads to jolting too big, easily tumbles. The different elevating height of supporting component is realized through the first driving piece 11 of controlling two supporting component respectively to this embodiment, and then the balance when realizing the wallboard transport.

The carrying support mechanism provided by the embodiment increases the stability of the carrying vehicle when carrying articles, the first driving part 11 can respectively control the lifting of the fork frame 2 and the supporting part 13, the structure is simple, specifically, when the carrying vehicle carries articles, the first driving part 11 drives the supporting part 13 to move downwards and land, the fork frame 15 is inserted into the articles and then lifts the articles, at this time, the supporting part 13 is still positioned on the ground, the supporting part 13 is equivalent to the supporting point of the carrying vehicle in the process that the wall plate is lifted along with the fork frame 15, and the phenomenon of toppling of the carrying vehicle caused by unstable gravity center when carrying the articles is prevented. The existing robot can only carry three wallboards at most once, and according to experimental data, the carrying support mechanism of the embodiment can carry five wallboards at a time and cannot turn on one side.

Further, the support assembly of the present embodiment further comprises a guide assembly 14, as shown in fig. 1 and 2, the guide assembly 14 being configured to limit the relative direction of movement of the fork 15 and the support assembly. Specifically, the guide assembly 14 of the present embodiment includes a guide rod 141 and a guide sleeve 142, the guide sleeve 142 slidably fits over the guide rod 141, the body of the first driving element 11 is fixedly connected to the guide sleeve 142, the fork 15 is fixedly connected to the body of the first driving element 11, and the guide sleeve 142 of the present embodiment is a linear bearing seat. Such a guide assembly 14 enables the first driver 11 to slide along the length of the guide rod 141, i.e. in the vertical direction. The carrying support mechanism of the present embodiment further includes a fixing flange 16, and the guide rod 141 is fixedly connected to the support portion 13 through the fixing flange 16.

Of course, in other embodiments of the present invention, the structure of the guiding assembly 14 is not limited to the combination of the guiding rod 141 and the guiding sleeve 142 in this embodiment, and may also be composed of a guiding rail and a sliding seat, the guiding rail is fixedly connected to the supporting portion 13, the sliding seat is slidably connected to the guiding rail, the body of the first driving element 11 is fixedly connected to the sliding seat, the fork 15 is fixedly connected to the body of the first driving element 11, and the body of the first driving element 11 can move along with the sliding seat, and the sliding seat may be a sliding block or a sliding plate, which is optionally set according to actual requirements.

Further, as shown in fig. 1 and 2, the supporting portion 13 of the present embodiment includes a caster 131, a caster frame 132, a caster shaft 133, and a sleeve 134, as shown in fig. 2, wherein the caster 131 is rotatably disposed on the caster frame 132, and the caster frame 132 is connected to the other end of the power rod 112. The caster shaft 133 is fixed on the caster frame 132, the caster 131 is rotatably connected with the caster shaft 133, the sleeve 134 is fixed on the caster frame 132, and the sleeve 134 is sleeved on the caster shaft 133 and is located between the caster 131 and the caster frame 132.

In other embodiments of the present invention, the caster 131 may be fixed on the caster shaft 133, the sleeve 134 is sleeved on the caster shaft 133 and is rotatably connected to the caster shaft 133, and the sleeve 134 is fixed on the caster frame 132; or the caster 131 is fixed on the caster shaft 133, the sleeve 134 is fixed on the caster shaft 133, the caster shaft 133 is rotatably connected with the caster frame 132, and the connection mode of the caster 131, the caster frame 132, the caster shaft 133 and the sleeve 134 is specifically set according to actual requirements.

As shown in fig. 1 and 2, since the caster frame 132 is closer to the ground, in order to prevent the fork 15 from contacting the ground when the fork 15 contacts the caster frame 132, a boss 1321 is further provided on the caster frame 132, and the boss 1321 increases the height of the fork 15 when the fork 15 moves downward to the lowest position, thereby preventing the fork 15 from contacting the ground when the fork 15 moves downward to the lowest position.

Specifically, the number of the caster wheels 131 in this embodiment is four, the number of the caster wheel shafts 133 is two, two caster wheels 131 are disposed at two ends of one caster wheel shaft 133, the other two caster wheels 131 are disposed at two ends of the other caster wheel shaft 133, and the two caster wheel shafts 133 are disposed at two ends of the caster frame 132, respectively. Of course, in other embodiments of the present invention, the number of the casters 131 may also be two, three, or more than four, and is specifically set according to actual needs.

When the carrying and supporting mechanism provided by the embodiment carries a wallboard, when the ground is uneven, the first driving parts 11 of the two supporting assemblies 1 can automatically adjust the ejection length of each power rod 112 according to the oil pressure, so that the caster wheels 131 of the supporting assemblies 1 can always contact the ground, and the moving stability of the carrying vehicle is ensured.

The fork 15 of the present embodiment is composed of two fork carriage units 151 and a fork carriage cross member 152, as shown in fig. 3, wherein one fork carriage unit 151 is provided at one end of the fork carriage cross member 152 and the other fork carriage unit 151 is provided at the other end of the fork carriage cross member 152. In order to allow the fork carriage unit 151 to move down to a low height position when the fork carriage unit 151 carries a wall panel, a groove 1511 is formed in the bottom of the fork carriage unit 151 in the direction of the ground, as shown in fig. 3, at least part of the caster frame 132 is received in the groove 1511, and the bottom of the groove 1511 is fitted to the upper end surface of the caster frame 132 to minimize the height of the fork carriage 2.

The present embodiment also provides a carrier, as shown in fig. 3, including the carrier support mechanism 1 and the vehicle body 2 according to the present embodiment, the carrier support mechanism 1 and the vehicle body 2 are connected, the fork 15 is configured to be movable in a vertical direction and a traveling direction of the vehicle body 2 relative to the vehicle body 2, and the vehicle body 2 includes a placement table 21, and the placement table 21 is used for supporting a wall panel. When the carrier bears the weight of the wallboard and removes, the both ends overlap joint of wallboard is on crotch unit 151, and the middle part of wallboard can overlap joint on placing platform 21, has increased the width of car body 2 in other words for placing on the carrier that the wallboard can stabilize. The supporting components arranged at the two ends of the wallboard further enlarge the stress range of the transverse range of the vehicle body, and change the distribution of the center of gravity, thereby further avoiding the wallboard or the vehicle body from tipping.

The supporting components of this embodiment are provided with two, and the array direction of two supporting components is perpendicular with the advancing direction of car body 2, and car body 2 is located between two supporting components. Two supporting components are located the left side and the right side of car body respectively, can not additionally occupy the inner space of carrier, and the problem of accomodating does not exist naturally yet, convenient to use, and this kind of structure does benefit to the miniaturized setting of carrier for the structure of carrier is compacter.

Preferably, the truck of the present embodiment further includes a lateral moving assembly slidably coupled to the truck body 2 and coupled to the fork 15, and the lateral moving assembly is capable of moving the fork 15 forward or backward of the truck with respect to the truck body 2.

As shown in fig. 3, the traverse assembly of this embodiment further includes two vertical guide rail frames 31, two vertical sliders 32, two cross beams 33 and a second driving member 34, the two ends of each of the two vertical guide rail frames 31 are respectively fixedly connected to the two ends of each of the two cross beams 33, the length direction of each of the cross beams 33 is perpendicular to the traveling direction of the vehicle body 2, the fork frames 15 are fixed on the vertical sliders 32, the vertical guide rails are disposed on the vertical guide rail frames 31, and the vertical sliders 32 are slidably connected to the vertical guide rails, that is, the fork frames 15 can slide in the vertical direction. The output end of the second driving member 34 is hinged with the cross beam 33, and the second driving member 34 can drive the cross beam 33 to drive the fork frame 15 to reciprocate along the traveling direction of the vehicle body 2.

Specifically, the vertical slider 32 of the present embodiment includes a vertical slider body 321 and a vertical connecting plate 322, the vertical connecting plate 322 is fixedly connected to the vertical slider body 321, the fork 15 is fixedly connected to the vertical connecting plate 322, and the fork 15 can slide along the length direction of the vertical guide rails of the two vertical guide rail frames 31.

When the carrier of this embodiment carried the wallboard, specific working process as follows:

firstly, a hydraulic oil cylinder 111 drives a power rod 112 to drive a support part 13 to move downwards and slightly jack up a fork frame 15;

step two, the transverse moving component pushes the fork frame 15 to move forwards, and at the moment, the support component moves forwards to the foremost end of the vehicle body 2 along with the fork frame 15;

step three, the power rod 112 is completely retracted, and the fork frame 15 is positioned at the lowest end of the transporting vehicle;

step four, the transverse moving assembly pushes the fork frame 15 to move forwards to continue moving, and the fork frame 15 is inserted into the bottom of the wallboard;

fifthly, the hydraulic oil cylinder 111 drives the power rod 112 to be fully extended, the hydraulic oil cylinder 111 and the guide sleeve 142 move upwards along the guide rod 141 as the caster 131 is positioned on the ground, the fork frame slides along the vertical direction of the vertical guide rail frame 31, and the wall plate rises along with the mounting frame 12 until the height of the lower end surface of the wall plate is flush with the height of the plane of the vehicle body 2 for placing the wall plate;

sixthly, pushing the fork frame 15 to move backwards by the transverse moving component, wherein the supporting component moves backwards along with the fork frame 15;

step seven, the power rod 112 is completely retracted, and since the fork 15 is located on the vehicle body 2, the support portion 13, the caster shaft 133 and the sleeve 134 are moved upward, and the power rod 112 is in a retracted state.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A carry support mechanism, comprising:

a fork (15), the fork (15) being for carrying material; and

a support assembly provided at one side of the yoke (15), the support assembly comprising:

a support (13), the support (13) being configured to be supportable on a ground surface; and

the first driving piece (11), one of the body and the output end of the first driving piece (11) is fixedly connected to the fork (15), the other one is fixedly connected with the supporting part (13), and the output end can extend and contract relative to the body so as to respectively drive the supporting part (13) and the fork (15) to ascend and descend;

a guide assembly (14), the guide assembly (14) being configured to limit the relative movement direction of the yoke (15) and the support assembly, the guide assembly (14) comprising a guide rod (141) and a guide sleeve (142), the guide rod (141) being fixedly connected vertically to the support portion (13), the guide sleeve (142) being slidably connected to the guide rod (141), the body being fixedly connected to the guide sleeve (142), the yoke (15) being fixedly connected to the body, or the guide assembly (14) comprising a guide rail and a carriage, the carriage being slidably connected to the guide rail, the guide rail being fixedly connected to the support portion (13), the body being fixedly connected to the carriage, the yoke (15) being fixedly connected to the body.

2. The carry support mechanism according to claim 1, wherein the first drive member (11) is an electric push rod, a hydraulic ram or an air cylinder.

3. The handling support mechanism according to claim 1, characterized in that the support (13) comprises:

the device comprises a caster wheel (131) and a caster wheel frame (132), wherein the caster wheel (131) is rotatably arranged on the caster wheel frame (132), and the output end of the first driving piece (11) is fixedly connected with the caster wheel frame (132).

4. A carrier support mechanism according to claim 1, wherein the fork (15) comprises a fork carriage unit (151) and a fork carriage cross member (152), the fork carriage unit (151) being attached to an end of the fork carriage cross member (152) and at least part of the support portion (13) being located below the fork carriage unit (151).

5. A truck comprising a truck body (2), characterized in that it further comprises a handling support mechanism (1) according to any one of claims 1 to 4, said handling support mechanism (1) being connected to said truck body (2).

6. The truck of claim 5, characterized in that said support assemblies are provided in two, the arrangement direction of the two support assemblies being perpendicular to the travelling direction of the truck body (2), the truck body (2) being located between the two support assemblies.

7. The vehicle according to claim 6, characterized in that said vehicle body (2) comprises a placement table (21), said placement table (21) being intended to support said material, said fork (15) being configured to be movable with respect to said vehicle body (2) in a vertical direction and in a direction of travel of said vehicle body (2) for carrying said material onto said placement table (21).