CN112573438A

CN112573438A - A ox fork truck for carrying ground tray

Info

Publication number: CN112573438A
Application number: CN202011508204.8A
Authority: CN
Inventors: 金跃跃; 周琪; 姜伟
Original assignee: Nanjing Inform Storage Equipment Group Co ltd
Current assignee: Nanjing Inform Storage Equipment Group Co ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-03-30

Abstract

The invention discloses a ground cattle forklift for carrying ground pallets, which comprises a headstock and two fork bodies, wherein the two fork bodies extend forwards from the front end surface of the headstock; two jacking plates are arranged on the upper surfaces of the two fork bodies, and the two jacking plates are arranged in tandem; the lifting motor and the transverse shaft driven by the lifting motor to rotate are arranged in the headstock, namely, a group of motor speed reducers are used for driving a group of shafting through chains and respectively rotating two groups of connecting rod structures at the end parts of the shafts, so that synchronous lifting and descending are realized, the lifting is stable, and the control difficulty is low.

Description

A ox fork truck for carrying ground tray

Technical Field

The invention relates to the technical field of logistics conveying equipment, in particular to a ground cattle forklift.

Background

The climbing mechanism of the existing underground ox AGV (underground ox forklift) is lifted by four hydraulic cylinders, two groups of motor reducers are arranged on two sides of a fork body, and a connecting rod climbing mechanism is pushed through a screw rod. However, because the overall height of the fork body of the ground cow AGV is not higher than the hollow-out gaps of the tray, the sizes of the motor and the speed reducer which are used for arranging the jacking power structure in the fork body are constrained, so that the bearing capacity cannot exceed one ton, the control requirement for the two groups of motor speed reducers to achieve synchronous operation is higher, and the defects that the jacking mechanisms in the two bodies cannot operate synchronously due to installation or abrasion errors are overcome.

Therefore, a new technical solution is needed to solve the above problems.

Disclosure of Invention

The purpose of the invention is as follows: the invention provides a ground-ox forklift for carrying a ground tray, which is used for solving the problem that the sizes of a motor and a speed reducer are limited in the prior art and simultaneously solving the problem that two jacking mechanisms are not synchronous with each other.

The technical scheme is as follows: in order to achieve the purpose, the ground cattle forklift for carrying the ground pallet can adopt the following technical scheme:

a ground ox forklift for carrying ground pallets comprises a headstock and two fork bodies extending forwards from the front end surface of the headstock; two jacking plates are arranged on the upper surfaces of the two fork bodies, and the two jacking plates are arranged in tandem; the bicycle is characterized in that a jacking motor and a cross shaft driven by the jacking motor to rotate are arranged in the bicycle head, and the positions of two ends of the cross shaft are respectively positioned at the rear ends of the two fork bodies;

the two fork bodies are internally provided with two jacking mechanisms and driving mechanisms for driving the two jacking mechanisms simultaneously, each jacking mechanism comprises a guide groove extending up and down, a guide pillar positioned in the guide groove, a connecting part extending forwards from the front end of the outer surface of the guide groove, an upper connecting rod and a lower connecting rod; the driving mechanism comprises a connecting plate and a pull rod; each jacking plate is fixed at the upper end of one guide pillar, the upper end of the upper connecting rod is hinged to the side edge of the jacking plate, and the lower end of the upper connecting rod is hinged to the connecting plate; the upper end of the lower connecting rod is hinged on the connecting plate, and the lower end of the lower connecting rod is hinged on the connecting part; the upper connecting rod and the lower connecting rod are hinged with the connecting plate through the same hinge shaft; one end of the pull rod is fixed on the cross shaft, the other end of the pull rod is hinged with the rear end of the connecting plate, and the connecting plate extends forwards from the rear in the fork body; when the cross shaft rotates, the pull rod rotates along with the cross shaft to drive the connecting plate to move forwards or backwards;

when the connecting plate moves forwards, the connecting points of the upper connecting rod, the lower connecting rod and the connecting plate move forwards, so that the jacking plate and the guide pillar move downwards under the limitation of the guide groove; when the connecting plate moves backwards, the connecting points of the upper connecting rod, the lower connecting rod and the connecting plate move backwards, so that the jacking plate and the guide pillar move upwards under the limitation of the guide groove.

Has the advantages that: the invention uses a set of motor speed reducer to drive a set of shafting through the chain, and respectively rotates two sets of connecting rod structures at the end part of the shafting, thereby realizing synchronous jacking and descending, stable lifting and low control difficulty. Compared with the prior art, the power mechanism is arranged in the vehicle head, the speed ratio of the speed reducer can be effectively improved, the integral bearing of the underground ox forklift is improved only by one group of motor speed reducers, and the bearing capacity can reach 1.5 tons. Compared with hydraulic jacking, the mechanical jacking has the advantages of maintenance-free, quick jacking response, no pollution and the like.

Furthermore, the connecting plates in each fork body are two, the two connecting plates extend forwards and backwards in parallel, and the guide groove is located between the two connecting plates.

Furthermore, the jacking motor is positioned above the cross shaft, an output shaft of the jacking motor is provided with a driving chain wheel, the cross shaft is provided with a driven chain wheel, and the driving chain wheel drives the driven chain wheel and the cross shaft to rotate through a chain or a belt.

Further, a driven wheel is arranged below the interior of the vehicle head, and the lower part of the driven wheel extends out of the bottom surface of the vehicle head; a driving wheel and a driving motor for driving the driving wheel to rotate are arranged in each fork body, an output shaft of the driving motor extends from front to back, the driving motor is connected with a right-angle speed reducer, an output shaft of the right-angle speed reducer is arranged perpendicular to the output shaft of the driving motor, a first driving chain wheel is arranged on the output shaft of the right-angle speed reducer, the driving wheel is installed in the fork body through a driving wheel shaft, a bearing is arranged between the driving wheel and the driving wheel shaft, and a second driving chain wheel coaxial with the driving wheel is fixed on one side of the driving wheel; a driving chain is connected between the first driving chain wheel and the second driving chain wheel, the first driving chain wheel rotates and drives the second driving chain wheel to rotate through the driving chain, and then the driving wheel shaft and the driving wheel are driven to rotate.

Furthermore, the driving motor is positioned in front of the driving wheel in the fork body, and an opening is arranged below the fork body for the lower part of the driving wheel to extend out of the bottom surface of the fork body.

Furthermore, the fork body is covered with the loading board that extends along fork body length direction, the loading board is installed simultaneously on two jacking boards in same fork body.

Further, a laser radar is arranged at the top of the vehicle head; a vision sensor is arranged in the vehicle head and is positioned above the jacking motor, a laser radar is adopted for walking and positioning the ox forklift, the ox forklift walks to a preset position in front of the tray, and the posture of the trolley is adjusted to enable the fork body to face the hollowed-out position of the tray; and at the moment, the navigation mode is switched, and the alignment is carried out by using the visual sensor until the fork body extends to the hollow-out position of the tray.

Furthermore, the driven wheel is a follow-up universal wheel, and three driven wheels are transversely arranged at the bottom of the vehicle head.

Furthermore, a lithium battery is further arranged inside the vehicle head, and a charging brush block connected with the lithium battery is arranged on the back of the vehicle head.

Furthermore, the inside wall of the fork body close to one end of the vehicle head is provided with a distance measuring sensor, when the fork body stretches to the hollow part in the tray, the distance measuring sensors on two sides of the fork body respectively measure the distance between the distance measuring sensor and the side wall of the hollow part at the bottom of the tray, so that the posture of the ox forklift can be adjusted to ensure that the fork body can be directly inserted into the hollow part at the bottom of the tray without interference.

Drawings

Fig. 1 is a perspective view of the metro forklift of the present invention, and shows a state where the fork body is located at the hollowed-out portion of the bottom of the pallet.

Fig. 2 is a side view of the fork lift truck of the present invention.

Fig. 3 is a plan view of the metro fork truck and shows a state in which the loading plate on one of the fork bodies is removed.

Fig. 4 is a schematic view of the internal structure of the head of the metro forklift.

Fig. 5 is a perspective view of a part of a jack mechanism and a driving mechanism in the forklift.

Fig. 6 is a top view of fig. 5.

Fig. 7 is a sectional view taken along a line a-a in fig. 6.

Fig. 8 is a sectional view taken in the direction B-B in fig. 6.

Fig. 9 is a schematic structural diagram of the matching part of the driving motor and the driving wheel.

Fig. 10 is a sectional view taken along line C-C in fig. 9.

Detailed Description

Referring to fig. 1 to 4, the present embodiment discloses a forklift for carrying ground pallets, which includes a front end 100 and two fork bodies 200 extending forward from the front end of the front end 100. The fork body 200 is covered with a bearing plate 300 extending along the length direction of the fork body. The two jacking plates 400 are arranged on the upper surfaces of the two fork bodies 200, and the two jacking plates 400 are arranged in tandem; the carrier plate 300 is simultaneously mounted on two jacking plates 400 in the same fork 200. A jacking motor 110 and a cross shaft 111 driven by the jacking motor 110 to rotate are arranged in the locomotive 100, and the two ends of the cross shaft 111 are respectively positioned at the rear ends of the two fork bodies 200. The jacking motor 110 is located above the horizontal shaft 111, an output shaft of the jacking motor 110 is provided with a driving sprocket 112, the horizontal shaft 111 is provided with a driven sprocket 113, and the driving sprocket 112 drives the driven sprocket 113 and the horizontal shaft 111 to rotate through a chain or a belt 114. A lithium battery 115 is arranged in the vehicle head 100, and a charging brush block 116 connected with the lithium battery 115 is arranged on the back of the vehicle head 100.

As shown in fig. 5 to 8, two jacking mechanisms and a driving mechanism for driving the two jacking mechanisms are disposed in each of the two fork bodies 200. The jacking mechanism comprises a guide groove 210 extending up and down, a guide post 211 positioned in the guide groove 210, a connecting part 212 extending forwards from the front end of the outer surface of the guide groove 210, an upper connecting rod 213 and a lower connecting rod 214. The driving mechanism includes a connecting plate 220 and a pull rod 221. Each of the lifting plates 400 is fixed to an upper end of one of the guide pillars 211. The upper end of the upper link 213 is hinged to the side edge of the lifting plate 400, and the lower end of the upper link 213 is hinged to the connecting plate 220. The upper end of the lower link 214 is hinged to the connecting plate 220, and the lower end of the lower link 214 is hinged to the connecting part 212, i.e. the lower end of the lower link 214 is always fixed. And the upper link 213 and the lower link 214 are hinged to the connection plate 220 through the same hinge shaft. One end of the pull rod 221 is fixed on the transverse shaft 111, and the other end of the pull rod 221 is hinged with the rear end of the connecting plate 220. The link plate 220 extends forward from the rear within the fork body. As cross shaft 111 rotates, pull rod 221 rotates with cross shaft 111. At this time, due to the forward or backward swinging of the pull rod 221 itself, the end of the pull rod 221 hinged to the connection plate 220 will drive the connection plate 220 to move forward or backward. In the present embodiment, in order to further keep the movement of the link plates stable, two link plates 220 are provided in each fork, the two link plates 220 extend in parallel front and rear, and the guide groove 210 is located between the two link plates 220.

When the connection plate 220 moves forward, the connection points of the upper and

lower links

213 and 214 and the connection plate 220 move forward. At this time, the angle between the upper link 213 and the lower link 214 becomes smaller, that is, the distance between the upper end of the upper link 213 and the lower end of the lower link 214 should be shortened, and the guide pillar 211 can only move up and down under the restriction of the guide groove 210, so that the guide pillar 211 moves down at this time to realize a state where the angle between the upper link 213 and the lower link 214 becomes smaller. And the lifting plate 400 moves downward along with the guide post 211, thereby achieving the lowering of the lifting plate 400. On the contrary, when the connection plate 220 moves backward, the connection points of the upper and

lower links

213 and 214 with the connection plate 220 move backward, so that the lifting plate 400 and the guide post 211 move upward under the restriction of the guide groove 210, thereby achieving the lifting of the lifting plate 400. Since the two lifting mechanisms (including the size) in one fork are identical in structure and are simultaneously driven by the same driving mechanism, i.e., the same connecting plate 220, moving back and forth, the lifting plates 400 in the two lifting mechanisms simultaneously ascend and descend and ascend or descend at the same speed for the same distance. Further, since the pulling rod 221 and the connecting plate 220 in the two forks 200 are driven by the rotation of the same horizontal shaft 111, all the lifting plates 400 in the two forks simultaneously ascend and descend at the same rate and by the same distance because the lifting mechanisms in the two forks are the same.

Therefore, through the above-mentioned jacking mechanism and driving mechanism, the carrier plates 300 covered on the two fork bodies 200 can be simultaneously lifted or lowered to the same height at the same speed. As shown in fig. 1, after the fork 200 is located at the hollow 501 at the bottom of the pallet 500 matched with the forklift, the loading plate 300 is lifted to lift the pallet, so that the pallet can be moved by the walking of the forklift.

As shown in fig. 2, 3, 9 and 10, the walking of the metro forklift is realized by the following scheme.

A driven wheel 101 is arranged below the interior of the vehicle head 100, and the lower portion of the driven wheel 101 extends out of the bottom surface of the vehicle head 100. Each fork 200 is provided with a driving wheel 102 and a driving motor 103 for driving the driving wheel 102 to rotate. An output shaft of the driving motor 103 extends from front to back, the driving motor 103 is connected with a right-angle speed reducer 104, and an output shaft of the right-angle speed reducer 104 is arranged perpendicular to an output shaft of the driving motor 103. And the output shaft of the right-angle speed reducer 104 is provided with a first driving chain wheel 105, and the driving wheel 102 is installed in the fork body 200 through a driving wheel shaft 106. A bearing 107 is arranged between the driving wheel 102 and the driving wheel shaft 106, and a second driving chain wheel 108 coaxial with the driving wheel is fixed on one side of the driving wheel 102. As shown in fig. 10, in the present embodiment, the driver 102 and the second driving sprocket 108 are integrally formed. A drive chain 109 is connected between the first drive sprocket 105 and the second drive sprocket 108. The first driving sprocket 105 rotates and drives the second driving sprocket 108 to rotate through the driving chain 109, so as to drive the driving wheel shaft 106 and the driving wheel 102 to rotate. In the present embodiment, as shown in fig. 4, the driven wheels 101 are follower universal wheels, and three are transversely arranged at the bottom of the vehicle head 100.

The driving motor 103 is located in front of the driving wheel 102 in the fork 200, and an opening is provided below the fork 200 for the lower part of the driving wheel 102 to extend out of the bottom surface of the fork 200. The angle change of the transmission shaft is realized by the driving motor through the right-angle speed reducer 104, and the driving motor 103 can be positioned in front of the driving wheel 102 in the fork body 200 through chain transmission so as to adapt to the lengthwise inner space of the fork body 200. The transmission structure has the advantages of clear structure, low requirement on machining precision and low use and maintenance cost of the chain, and compared with the realization form of bevel gears adopted in the prior art, the structure can not cause error or damage to the meshing of the bevel gears due to dust brought into the vehicle by the travelling wheels in the use process. Meanwhile, the driving motor 103 is positioned in the front of the driving wheel 102, so that the driving motor 103 can be used as a counterweight at the same time, the weight of the front position of the fork body 200 is increased, the front and rear weight of the whole forklift tends to be balanced, and the walking stability is facilitated.

In order to enable the fork 200 to automatically cooperate with the tray hollowed-out part 501 during walking, i.e. the hollowed-out part 501 is inserted without interference, in the embodiment, the laser radar 117 is installed at the top of the vehicle head 100; a vision sensor 118 is disposed inside the vehicle head 100, and the vision sensor 118 is located above the jacking motor 110. This ox fork truck walking location adopts laser radar 117, walks to the preset position before the tray 500, adjusts the dolly gesture, makes fork body 200 face tray fretwork department 501. At this time, the navigation mode is switched, and the visual sensor 118 is used for alignment until the fork 200 extends to the hollow part 501 of the tray.

The inside wall of the fork body 200 close to one end of the vehicle head 100 is provided with a distance measuring sensor 119, when the fork body 200 extends to the hollowed-out part 501 in the tray, the distance measuring sensors 119 on two sides of the fork body 200 respectively measure the distance between the distance measuring sensor 119 and the side wall of the hollowed-out part 501 at the bottom of the tray, so that the posture of the ox forklift can be adjusted to ensure that the fork body 200 can be directly inserted into the hollowed-out part 501 at the bottom of the tray without interference.

The invention embodies a number of methods and approaches to this solution and the foregoing is only a preferred embodiment of the invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims

1. A ground ox forklift for carrying ground pallets comprises a headstock and two fork bodies extending forwards from the front end surface of the headstock; two jacking plates are arranged on the upper surfaces of the two fork bodies, and the two jacking plates are arranged in tandem; the bicycle is characterized in that a jacking motor and a cross shaft driven by the jacking motor to rotate are arranged in the bicycle head, and the positions of two ends of the cross shaft are respectively positioned at the rear ends of the two fork bodies;

2. The metro forklift of claim 1, wherein: the connecting plates in each fork body are two, the two connecting plates extend forwards and backwards in parallel, and the guide groove is located between the two connecting plates.

3. The metro forklift of claim 2, wherein: the jacking motor is positioned above the cross shaft, an output shaft of the jacking motor is provided with a driving chain wheel, the cross shaft is provided with a driven chain wheel, and the driving chain wheel drives the driven chain wheel and the cross shaft to rotate through a chain or a belt.

4. The metro forklift of claim 1, 2 or 3, wherein: a driven wheel is arranged below the interior of the vehicle head, and the lower part of the driven wheel extends out of the bottom surface of the vehicle head; a driving wheel and a driving motor for driving the driving wheel to rotate are arranged in each fork body, an output shaft of the driving motor extends from front to back, the driving motor is connected with a right-angle speed reducer, an output shaft of the right-angle speed reducer is arranged perpendicular to the output shaft of the driving motor, a first driving chain wheel is arranged on the output shaft of the right-angle speed reducer, the driving wheel is installed in the fork body through a driving wheel shaft, a bearing is arranged between the driving wheel and the driving wheel shaft, and a second driving chain wheel coaxial with the driving wheel is fixed on one side of the driving wheel; a driving chain is connected between the first driving chain wheel and the second driving chain wheel, the first driving chain wheel rotates and drives the second driving chain wheel to rotate through the driving chain, and then the driving wheel shaft and the driving wheel are driven to rotate.

5. The metro forklift of claim 4, wherein: the driving motor is positioned in front of the driving wheel in the fork body, and an opening is arranged below the fork body for the lower part of the driving wheel to extend out of the bottom surface of the fork body.

6. The metro forklift of claim 5, wherein: the fork body is covered with along the loading board that fork body length direction extends, the loading board is installed simultaneously on two jacking boards in same fork body.

7. The metro forklift of claim 1, 2 or 3, wherein: the top of the vehicle head is provided with a laser radar; a vision sensor is arranged in the vehicle head and is positioned above the jacking motor, a laser radar is adopted for walking and positioning the ox forklift, the ox forklift walks to a preset position in front of the tray, and the posture of the trolley is adjusted to enable the fork body to face the hollowed-out position of the tray; and at the moment, the navigation mode is switched, and the alignment is carried out by using the visual sensor until the fork body extends to the hollow-out position of the tray.

8. The metro forklift of claim 4, wherein: the driven wheel is a follow-up universal wheel and is provided with three transverse arrangements at the bottom of the vehicle head.

9. The metro forklift of claim 4, wherein: the inside lithium cell that still is equipped with of locomotive, the locomotive back is equipped with the brush piece that charges of being connected with the lithium cell.

10. The metro forklift of claim 7, wherein: the inside wall that the fork body is close to locomotive one end is equipped with range finding sensor, and when the fork body stretched in the tray fretwork department, the range finding sensor of fork body both sides this moment measured the distance of range finding sensor and tray bottom fretwork department lateral wall respectively to adjust ox fork truck's gesture makes the straight inserting tray bottom fretwork department of fork body and does not produce the interference.