CN112174048B - Double-deck forklift based on double four-bar linkage - Google Patents

Double-deck forklift based on double four-bar linkage Download PDF

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Publication number
CN112174048B
CN112174048B CN202011134978.9A CN202011134978A CN112174048B CN 112174048 B CN112174048 B CN 112174048B CN 202011134978 A CN202011134978 A CN 202011134978A CN 112174048 B CN112174048 B CN 112174048B
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fixed
double
hinged
lifting
seat
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CN112174048A (en
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许兰贵
刘恩昌
王英豪
刘文凯
徐冬冬
吴国顺
张彦
高乾森
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Henan Aolansite New Energy Technology Co ltd
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North China University of Water Resources and Electric Power
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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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • 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
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • 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
    • 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
    • B66F9/24—Electrical devices or systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

本发明涉及一种基于双四连杆机构的双层叉车，包括底架、安装在底架上的直线驱动装置、下层举升摆架、上层举升摆架，底架的两侧安装有两对左右对称的行走轮，在底架的后端固定有两根竖直对称的立柱，每根立柱的外侧均固定有左右对称的立板，直线驱动装置固定杆的下端铰接在与底架固定的第一连接座上，上层举升摆架安装在立板上，通过直线驱动装置的伸缩驱动其上下摆动，进而完成举升动作，直线驱动装置在伸缩的过程中同时会产生一定角度的摆动，在摆动的过程中带动下层举升摆架摆动，使其同时完成举升动作，一个动力装置带动两套举升摆架工作，单次操作完成两倍的工作量，工作效率高，使用方便，操作简单。

Figure 202011134978

The invention relates to a double-layer forklift truck based on a double four-bar linkage mechanism. For the left and right symmetrical walking wheels, two vertically symmetrical uprights are fixed at the rear end of the chassis, and the left and right symmetrical vertical plates are fixed on the outer side of each upright. On the first connecting seat, the upper lifting swing frame is installed on the vertical plate, and is driven to swing up and down by the telescopic drive of the linear drive device, thereby completing the lifting action. The linear drive device will swing at a certain angle during the expansion and contraction process , During the swinging process, the lower lifting swing frame is driven to swing, so that it can complete the lifting action at the same time. One power device drives two sets of lifting swing frames to work, and a single operation completes twice the workload, with high work efficiency and convenient use. ,easy to use.

Figure 202011134978

Description

Double-layer forklift based on double four-bar linkage mechanism
Technical Field
The invention relates to the technical field of forklifts, in particular to a double-layer forklift based on a double four-bar linkage mechanism.
Background
The forklift is a hand-push type forklift at first birth, the self-push type forklift does not appear until the early twentieth century, the self-push type forklift is used for quickly replacing the hand-push type forklift, the forklift is various wheel type carrying vehicles for carrying out loading, stacking, short-distance transportation and heavy object carrying operation on finished pallet goods, the forklift belongs to material carrying machinery, is widely applied to various national economic departments such as stations, ports, airports, factories, warehouses and the like, is high-efficiency equipment for mechanical loading, stacking and short-distance transportation, is very widely applied, and is required to be used by both mechanical manufacturing enterprises and food processing and feed processing enterprises, has very large function, can quickly transfer heavier objects, can greatly save manpower, can greatly improve the working efficiency, and is safe and reliable at the same time, the carrying capacity is large, and the traditional forklift can meet the requirement of transferring large-quality goods, meanwhile, the requirement of a cargo loading and unloading vehicle with a certain height can be met; however, the forklift in the prior art is usually a single-layer forklift, the capacity of carrying goods at a time is limited, particularly for container goods with regular shapes and large quantities, the stacking of the goods has stronger regularity, and the requirement on the carrying rate or the single carrying capacity of the forklift is higher, so that the single-layer forklift in the prior art obviously cannot meet the requirement of actual production, and necessary innovation and improvement are urgently needed.
Disclosure of Invention
In order to solve the problems, the invention provides a double-layer forklift based on a double four-bar linkage mechanism.
The specific contents are as follows: double-deck fork truck based on two four-bar linkage, including the chassis, install sharp drive arrangement, the lower floor on the chassis and lift the rocker, the upper strata of lifting the rocker, characterized by:
two pairs of left-right symmetrical walking wheels are mounted on two sides of the underframe, two vertical symmetrical stand columns are fixed at the rear end of the underframe, a left-right symmetrical vertical plate is fixed on the outer side of each stand column, the linear driving device comprises a fixed rod and a telescopic rod, the lower end of the fixed rod of the linear driving device is hinged to a first connecting seat fixed with the underframe, and the linear driving device freely swings back and forth in the vertical plane;
the lower layer lifting swing frame comprises two pairs of lower layer fork legs which are arranged in bilateral symmetry and a connecting rod mechanism which is hinged on the lower layer fork legs, the lower layer fork legs are horizontally arranged, the rear ends of the lower layer fork legs are fixed on a horizontal cross rod, two ends of the cross rod are hinged with connecting rods with the same size, two free ends of the two connecting rods are respectively hinged on a horizontal first cross shaft and a horizontal second cross shaft, the cross rod and the two connecting rods form a parallelogram four-rod mechanism, the first cross shaft is fixed on a second connecting seat which is fixed with the underframe, the second cross shaft is fixed on a third connecting seat which is fixed with the underframe, the first connecting seat, the second connecting seat and the third connecting seat are sequentially distributed in a straight line, two actuating rods which are symmetrical in bilateral symmetry are hinged on a fixed rod of the straight line driving device, and two free ends of the two actuating rods are respectively hinged with the two closest connecting rods;
the upper layer lifting swing frame comprises two pairs of upper layer fork legs which are arranged in bilateral symmetry and a connecting rod mechanism hinged on the upper layer fork legs, the upper layer fork legs are horizontally arranged and correspond to the lower layer fork legs in the vertical direction, the rear ends of the upper layer fork legs are fixed on connecting arms, the upper ends of the connecting arms are hinged on a third cross shaft, the third cross shaft is horizontally fixed at the outer ends of lifting beams, the inner ends of the lifting beams are hinged on a fourth cross shaft parallel to the third cross shaft, the two ends of the fourth cross shaft are respectively and vertically fixed on the inner sides of two vertical plates, the lower ends of the connecting arms are hinged with long swing arms, the free ends of the long swing arms are hinged on the vertical plates on the corresponding sides, the long swing arms, the lifting beams and the connecting arms form a parallelogram four-rod mechanism, and the free ends of telescopic rods of the linear driving devices are hinged on the lifting beams.
Preferably, the traveling wheels are Mecanum wheels, each Mecanum wheel is coaxially fixed on an output shaft of a corresponding driving motor, and the driving motors are correspondingly fixed on the bottom frame.
Preferably, the linear driving device is an electric push rod or a hydraulic cylinder.
Preferably, symmetrical operating handles are fixed on the outer side surfaces of the vertical plates.
Preferably, both ends of the long swing arm are connected with hinged joints through threads, and the long swing arm is hinged with the vertical plate and the connecting arm through the hinged joints at both ends respectively.
Preferably, a fourth connecting seat and a fifth connecting seat are respectively fixed at two ends of the lifting beam, and a third cross shaft and a fourth cross shaft are respectively fixed on the fourth connecting seat and the fifth connecting seat.
Preferably, the lifting beam is sleeved with a fixed seat capable of freely sliding along the axial direction of the lifting beam, the fixed seat is hinged with the free end of the telescopic rod of the linear driving device, and the fixed seat is fixed on the lifting beam through a bolt.
The invention has the beneficial technical effects that: the invention relates to a double-layer forklift based on a double four-bar mechanism, which comprises a bottom frame, a linear driving device arranged on the bottom frame, a lower layer lifting swing frame and an upper layer lifting swing frame, wherein the upper layer lifting swing frame is driven to swing up and down through the expansion and contraction of the linear driving device so as to drive upper layer fork legs to finish the action of lifting cargos, the linear driving device can simultaneously swing at a certain angle in the expansion and contraction process, and drive the lower layer lifting swing frame to swing in the swinging process so as to simultaneously drive the lower layer fork legs to finish the action of lifting cargos, one set of power device can simultaneously drive two sets of lifting swing frames to simultaneously work, the swinging directions of the upper layer fork legs and the lower layer fork legs are consistent and synchronous, and no additional power device is needed to be added so that twice of workload can be finished in a single operation. High working efficiency and convenient application and popularization.
Drawings
Fig. 1 is a schematic perspective view of a double-layer forklift based on a double four-bar linkage;
FIG. 2 is an enlarged view of A in FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a right side view of FIG. 3;
FIG. 5 is a schematic perspective view of a lower lifting frame;
in the figure: 11. the lifting device comprises an underframe, 12 driving motors, 13 travelling wheels, 14 upright posts, 15 vertical plates, 16 first connecting seats, 17 second connecting seats, 18 third connecting seats, 19 transverse rods, 20 lower-layer fork legs, 21 second transverse shafts, 22 driving rods, 23 fixing rods of a linear driving device, 24 telescopic rods of the linear driving device, 25 long swing arms, 26 hinged joints, 27 connecting arms, 28 upper-layer fork legs, 29 third transverse shafts, 30 fourth connecting seats, 31 lifting beams, 32 fixing seats, 33 fifth connecting seats, 34 operating handles, 35 fourth transverse shafts, 36 bolts, 37 connecting rods and 38 first transverse shafts.
Detailed Description
In the first embodiment, referring to fig. 1 to 5, a double-layer forklift based on a double four-bar linkage comprises a base frame, a linear driving device installed on the base frame, a lower layer lifting swing frame and an upper layer lifting swing frame;
two pairs of left-right symmetrical walking wheels are mounted on two sides of the underframe, two vertical symmetrical stand columns are fixed at the rear end of the underframe, a left-right symmetrical vertical plate is fixed on the outer side of each stand column, the linear driving device comprises a fixed rod and a telescopic rod, the lower end of the fixed rod of the linear driving device is hinged to a first connecting seat fixed with the underframe, and the linear driving device freely swings back and forth in the vertical plane; the linear driving device is an electric push rod or a hydraulic cylinder.
The lower layer lifting swing frame comprises two pairs of lower layer fork legs which are arranged in a bilateral symmetry mode and a connecting rod mechanism hinged on the lower layer fork legs, the lower layer fork legs are horizontally arranged, the rear ends of the lower layer fork legs are fixed on a horizontal cross rod, two ends of the cross rod are hinged with connecting rods with the same size, two free ends of the two connecting rods are respectively hinged on a first horizontal shaft and a second horizontal shaft which are horizontal, the cross rod and the two connecting rods form a parallelogram four-rod mechanism, the lower layer fork legs can be guaranteed to be always kept horizontal in the swinging process, the lower layer fork legs can stably lift and transfer goods, the first horizontal shaft is fixed on a second connecting seat fixed with the underframe, the second horizontal shaft is fixed on a third connecting seat fixed with the underframe, the first connecting seat, the second connecting seat and the third connecting seat are sequentially distributed in a straight line, and two drive rods which are symmetrical left and right are hinged on a fixed rod of the straight line drive device, two free ends of the two driving rods are respectively hinged with the two nearest connecting rods;
the upper layer lifting swing frame comprises two pairs of upper layer fork legs which are arranged in bilateral symmetry and a connecting rod mechanism which is hinged on the upper layer fork legs, the upper layer fork legs are horizontally arranged and vertically correspond to the lower layer fork legs, the rear ends of the upper layer fork legs are fixed on a connecting arm, the upper end of the connecting arm is hinged on a third cross shaft, the third cross shaft is horizontally fixed at the outer end of the lifting beam, the inner end of the lifting beam is hinged on a fourth cross shaft parallel to the third cross shaft, the two ends of the fourth cross shaft are respectively and vertically fixed at the inner sides of the two vertical plates, the lower end of the connecting arm is hinged with a long swing arm, the free end of the long swing arm is hinged on the vertical plate at the corresponding side, and the long swing arm, the lifting beam and the connecting arm form a parallelogram four-bar mechanism, so that the upper fork leg can be always kept horizontal in the swinging process, the upper fork leg can be stably lifted and transferred, and the free end of the telescopic rod of the linear driving device is hinged on the lifting beam.
The walking wheels are Mecanum wheels, each Mecanum wheel is coaxially fixed on an output shaft of a driving motor corresponding to the Mecanum wheel, and the driving motors are correspondingly fixed on the bottom frame. The Mecanum wheel has compact structure and flexible motion, and can realize the function of all-directional movement more flexibly and conveniently.
And symmetrical operating handles are fixed on the outer side surfaces of the vertical plates. The hand can be conveniently gripped, and the operation and control of the whole forklift are convenient.
The two ends of the long swing arm are both connected with hinged joints through threads, and the long swing arm is hinged with the vertical plate and the connecting arm through the hinged joints at the two ends respectively. The long swing arm is connected with a hinged joint so as to be convenient for installation and disassembly.
The two ends of the lifting beam are respectively fixed with a fourth connecting seat and a fifth connecting seat, and a third cross shaft and a fourth cross shaft are respectively fixed on the fourth connecting seat and the fifth connecting seat.
The lifting beam is sleeved with a fixed seat which can freely slide along the axial direction of the lifting beam, the fixed seat is hinged with the free end of the telescopic rod of the linear driving device, and the fixed seat is fixed on the lifting beam through a bolt. The fixing base can be on lifting the roof beam adjustment position, conveniently adjusts the action point of linear drive device on lifting the roof beam, and then conveniently adjusts the range of lifting and the height of upper fork foot and lower floor's fork foot, facilitates the use.
The working process and principle of the invention are as follows:
the invention relates to a double-layer forklift based on a double four-bar mechanism, which drives a lifting beam to swing up and down through the expansion process of a linear driving device so as to drive an upper layer fork leg to finish the action of lifting cargos, the linear driving device can swing at a certain angle in the expansion process, a driving rod drives a connecting rod to swing in the swinging process, and the connecting rod drives a lower layer fork leg to swing on the upper layer through a cross rod so as to enable the lower layer fork leg to finish the action of lifting cargos simultaneously, the swinging directions of the upper layer fork leg and the lower layer fork leg are consistent and synchronous, one set of power device can drive the two layers of fork legs to work simultaneously, and double working amount can be finished in one operation without adding an additional power device.

Claims (7)

1.基于双四连杆机构的双层叉车，包括底架、安装在底架上的直线驱动装置、下层举升摆架、上层举升摆架，其特征是：1. A double-deck forklift based on a double four-bar linkage mechanism, comprising an underframe, a linear drive device installed on the underframe, a lower lift swing frame, and an upper lift swing frame, characterized in that: 所述的底架的两侧安装有两对左右对称的行走轮，在底架的后端固定有两根竖直对称的立柱，每根立柱的外侧均固定有左右对称的立板，所述的直线驱动装置包括固定杆和伸缩杆，直线驱动装置固定杆的下端铰接在与底架固定的第一连接座上，且直线驱动装置在竖直面内前后自由摆动；Two pairs of left and right symmetrical walking wheels are installed on both sides of the bottom frame, two vertically symmetrical vertical columns are fixed at the rear end of the bottom frame, and left and right symmetrical vertical plates are fixed on the outside of each vertical column. The linear drive device includes a fixed rod and a telescopic rod, the lower end of the fixed rod of the linear drive device is hinged on the first connecting seat fixed with the chassis, and the linear drive device swings freely back and forth in the vertical plane; 所述的下层举升摆架包括两副左右对称设置的下层叉脚及铰接在下层叉脚上的连杆机构，下层叉脚水平设置且其后端固定在水平的横杆上，该横杆的两端均铰接有相同尺寸的连杆，两根连杆的两自由端分别铰接在水平的第一横轴和第二横轴上，且横杆及两根连杆构成平行四边形的四杆机构，上述的第一横轴固定在与底架固定的第二连接座上，上述的第二横轴固定在与底架固定的第三连接座上，上述的第一连接座、第二连接座和第三连接座依次呈直线分布，在直线驱动装置的固定杆上铰接有两根左右对称的驱动杆，两根驱动杆的两自由端分别与其最近的两根连杆铰接；The lower-level lifting swing frame includes two pairs of lower-level fork legs symmetrically arranged on the left and right and a link mechanism hinged on the lower-level fork legs. Both ends of the connecting rod are hinged with connecting rods of the same size, the two free ends of the two connecting rods are hinged on the horizontal first horizontal axis and the second horizontal axis respectively, and the horizontal rod and the two connecting rods form a parallelogram four-bar Mechanism, the above-mentioned first horizontal axis is fixed on the second connecting seat fixed with the chassis, the above-mentioned second horizontal axis is fixed on the third connecting seat fixed on the chassis, the above-mentioned first connecting seat, second connecting seat The seat and the third connecting seat are arranged in a straight line in sequence, and two left-right symmetrical driving rods are hinged on the fixed rod of the linear driving device, and the two free ends of the two driving rods are respectively hinged with the two nearest connecting rods; 所述的上层举升摆架包括两副左右对称设置的上层叉脚及铰接在上层叉脚上的连杆机构，上层叉脚水平设置且在竖向上与下层叉脚对应，上层叉脚的后端固定在连接臂上，连接臂的上端铰接在第三横轴上，第三横轴水平固定在举升梁的外端，该举升梁的内端铰接在与第三横轴平行的第四横轴上，该第四横轴的两端分别垂直固定在两块立板的内侧，连接臂的下端铰接有长摆臂，长摆臂的自由端铰接在对应侧的立板上，且长摆臂、举升梁和连接臂构成平行四边形的四杆机构，上述的直线驱动装置的伸缩杆的自由端铰接在举升梁上。The upper lifting swing frame includes two pairs of upper fork legs symmetrically arranged on the left and right and a link mechanism hinged on the upper fork legs. The upper fork legs are horizontally arranged and correspond to the lower fork legs in the vertical direction. The end is fixed on the connecting arm, the upper end of the connecting arm is hinged on the third horizontal axis, the third horizontal axis is horizontally fixed on the outer end of the lifting beam, and the inner end of the lifting beam is hinged on the third horizontal axis parallel to the third horizontal axis. On the four horizontal shafts, the two ends of the fourth horizontal shaft are respectively vertically fixed on the inner sides of the two vertical plates, the lower end of the connecting arm is hinged with a long swing arm, and the free end of the long swing arm is hinged on the vertical plate on the corresponding side, and The long swing arm, the lifting beam and the connecting arm form a parallelogram four-bar mechanism, and the free end of the telescopic rod of the above-mentioned linear drive device is hinged on the lifting beam. 2.根据权利要求1所述的基于双四连杆机构的双层叉车，其特征是：所述的行走轮为麦克纳姆轮，每个麦克纳姆轮均同轴固定在与其对应的驱动电机的输出轴上，驱动电机对应固定在底架上。2. The double-deck forklift based on the double four-bar linkage mechanism according to claim 1, wherein the traveling wheel is a Mecanum wheel, and each Mecanum wheel is coaxially fixed to its corresponding drive On the output shaft of the motor, the drive motor is correspondingly fixed on the chassis. 3.根据权利要求1所述的基于双四连杆机构的双层叉车，其特征是：所述的直线驱动装置为电动推杆或者液压缸。3 . The double-deck forklift truck based on the double four-bar linkage mechanism according to claim 1 , wherein the linear drive device is an electric push rod or a hydraulic cylinder. 4 . 4.根据权利要求1所述的基于双四连杆机构的双层叉车，其特征是：所述的立板的外侧面均固定有对称的操作把。4. The double-deck forklift based on the double four-bar linkage mechanism according to claim 1, characterized in that: symmetrical operating handles are fixed on the outer sides of the vertical plates. 5.根据权利要求1所述的基于双四连杆机构的双层叉车，其特征是：所述的长摆臂的两端均通过螺纹连接有铰接头，长摆臂通过两端的铰接头分别与立板和连接臂铰接。5. The double-layer forklift based on the double four-bar linkage mechanism according to claim 1, wherein the two ends of the long swing arm are connected with hinge joints through threads, and the long swing arms are respectively connected with the hinge joints at both ends. Hinged with uprights and connecting arms. 6.根据权利要求1所述的基于双四连杆机构的双层叉车，其特征是：所述的举升梁的两端分别固定有第四连接座和第五连接座，所述的第三横轴和第四横轴分别固定在第四连接座和第五连接座上。6 . The double-deck forklift based on the double four-bar linkage mechanism according to claim 1 , wherein the two ends of the lifting beam are respectively fixed with a fourth connection seat and a fifth connection seat, and the first The three horizontal shafts and the fourth horizontal shaft are respectively fixed on the fourth connecting seat and the fifth connecting seat. 7.根据权利要求1所述的基于双四连杆机构的双层叉车，其特征是：所述的举升梁上套装有可沿其轴向自由滑动的固定座，该固定座与直线驱动装置的伸缩杆的自由端铰接，且该固定座通过螺栓将其固定在举升梁上。7 . The double-deck forklift truck based on the double four-bar linkage mechanism according to claim 1 , wherein the lifting beam is sleeved with a fixed seat that can slide freely along its axial direction, and the fixed seat is connected to the linear drive. 8 . The free end of the telescopic rod of the device is hinged, and the fixing seat is fixed to the lifting beam by means of bolts.
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