CN112607667A - Lifting mechanism and accurate control system of laser navigation forklift - Google Patents
Lifting mechanism and accurate control system of laser navigation forklift Download PDFInfo
- Publication number
- CN112607667A CN112607667A CN202011455162.6A CN202011455162A CN112607667A CN 112607667 A CN112607667 A CN 112607667A CN 202011455162 A CN202011455162 A CN 202011455162A CN 112607667 A CN112607667 A CN 112607667A
- Authority
- CN
- China
- Prior art keywords
- column
- liquid
- lifting
- hydraulic
- liquid filling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B66F9/063—Automatically guided
-
- 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
-
- 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
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a lifting mechanism of a laser navigation forklift, which comprises a hydraulic lifting column arranged on the surface of the bottom of a body in a U-shaped structure, wherein one end of the hydraulic lifting column, which is far away from the body, is provided with a lifting frame connected with the body, and a pallet fork is arranged on the lifting frame. Therefore, the lifting mechanism can be prevented from being subjected to larger instantaneous impact force, so that the situation that the lifting mechanism is damaged and leaks oil is caused.
Description
Technical Field
The invention relates to the technical field of forklift lifting, in particular to a lifting mechanism and an accurate control system of a laser navigation forklift.
Background
In the existing warehouse field, an intelligent gypsum board stereoscopic warehouse is established, so that gypsum board products with bar codes can be automatically stored in the warehouse by using a laser navigation forklift; meanwhile, sales data are transmitted into a warehouse management system, and the laser navigation forklift receives the data and automatically transports the gypsum board to a delivery place from a warehouse. The intelligent and unmanned management of the gypsum board warehouse is realized, and the laser navigation forklift plays an important role in the process.
The laser navigation comprises a vehicle body, a navigation system, a data acquisition system, a communication system and the like, wherein a more important structure is a lifting mechanism arranged on the vehicle body, and most of the lifting mechanisms in the prior art use one or two hydraulic rods.
And fork truck mechanism is in the use, in case the heavy object that bears on the fork is great, it also is great to exert the pressure on lifting mechanism, if user misoperation this moment for the heavy object of lifting is when not reaching the place of placing, just the decline trend appears, the heavy object that is about to lift is transferred fast, later the heavy object can push the fork and fall fast, lead to receiving very big instantaneous impact force on the lifting mechanism, make lifting mechanism can't stop rapidly when stopping, and lifting mechanism can produce great rocking in the stopping process, can damage lifting mechanism even when serious, make it appear the oil leak phenomenon.
Disclosure of Invention
The invention aims to provide a lifting mechanism and an accurate control system of a laser navigation forklift, and aims to solve the technical problems that once a lifted heavy object is quickly lowered, the heavy object pushes a fork to quickly fall down, so that the lifting mechanism is subjected to extremely large instantaneous impact force, the lifting mechanism cannot be quickly stopped when being stopped, the lifting mechanism can generate large shaking in the stopping process, and even the lifting mechanism can be damaged in serious cases, so that oil leakage occurs in the lifting mechanism.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a lifting mechanism of a laser navigation forklift comprises a hydraulic lifting column arranged on the surface of the bottom of a forklift body in a U-shaped structure, wherein one end, far away from the forklift body, of the hydraulic lifting column is provided with a lifting frame connected with the forklift body, a pallet fork is arranged on the lifting frame, and a quick-falling speed reducing mechanism for reducing impact force and shaking amplitude when the lifting frame descends quickly is arranged on the forklift body;
the quick-falling speed reducing mechanism comprises a liquid filling plate connected with the surface of the bottom of the vehicle body and a speed limiting strip arranged on the U-shaped opening inner wall of the vehicle body, a clamping frame groove used for clamping the lifting frame is formed in the speed limiting strip, a column pressing strip used for pressing the lifting frame and reducing the shaking amplitude of the lifting frame is arranged in the clamping frame groove, a hydraulic push column used for pushing the column pressing strip to press the lifting frame is arranged on the surface of one side, away from the lifting frame, of the column pressing strip, a liquid filling channel is formed in the liquid filling plate, a liquid filling device used for feeding or sucking liquid into or out of the hydraulic lifting column and the hydraulic push column is arranged in the liquid filling channel, a rotating shaft driven by a power mechanism to drive the liquid filling device to move is arranged on the liquid filling plate, and an oil liquid speed limiting block used for plugging the liquid filling channel to control the liquid flow rate in the hydraulic lifting;
the rotating shaft drives the liquid filling device to move to suck out liquid in the hydraulic lifting column, so that the lifting frame is pulled to be lowered by lowering the height of the hydraulic lifting column, then the liquid is filled into the hydraulic push column through the movable liquid filling device, so that the lifting frame is pushed by pushing the pressure column bar to reduce the descending speed and the shaking amplitude of the lifting frame, and meanwhile, the oil liquid speed limiting block is driven to be inserted into the liquid filling channel to limit the sucking-out speed of the liquid in the hydraulic lifting column, so that the lowering speed of the hydraulic lifting column is more stable.
As a preferred scheme of the invention, the oil liquid speed-limiting block comprises a plurality of step speed-limiting blocks, a sliding through groove for accommodating the step speed-limiting block to move is formed in the inner wall of the liquid filling channel, a fixed block in a right-angled trapezoid structure is mounted at one end, close to the sliding through groove, of each step speed-limiting block, a sliding strip is connected to the inclined surface of each fixed block in a sliding manner, a sealing rotating column which penetrates through the sliding through groove to the outer side and is in threaded connection with the liquid filling plate is sleeved at one end, far away from the fixed block, of each sliding strip, and the sealing rotating column and the sliding strips are combined to form an inverted;
the sealing rotating column moves towards one side of the liquid filling plate to drive the sliding strip to slide along the inclined surface of the fixed block, and the fixed block and the step speed limiting block are pushed out of the sliding through groove to reduce the width of the liquid filling channel and reduce the liquid flow rate.
As a preferable scheme of the invention, the ladder speed-limiting block is provided with a flow passage hole, and the cross section of the flow passage hole is of a splayed structure.
As a preferable scheme of the invention, the liquid filling device comprises a connecting column and lifting column conveying teeth which are arranged in the liquid filling channel and used for feeding or sucking liquid into or out of the hydraulic lifting column, the lifting column conveying teeth are connected with the inner wall of the liquid filling channel through the connecting column, one side of the lifting column conveying teeth, which is close to the bottom of the vehicle body, is in meshing connection with auxiliary conveying teeth, a turbine is mounted on the side wall of the connecting column and is in meshing connection with a rotating shaft, and an auxiliary feeder used for feeding liquid into the hydraulic pushing column is arranged at the end part of the connecting column.
As a preferred scheme of the invention, the auxiliary feeder comprises a rotary column installed at the end of a connecting column, a friction ring is sleeved on the side wall of the rotary column, the side wall of the friction ring is connected with a movable push bar, a push bar chute for accommodating the movable push bar to slide is formed on the liquid filling plate, a suction block is installed at one end of the movable push bar, which is far away from the friction ring, a suction cavity for accommodating the suction block to move is formed on the liquid filling plate, and a liquid inlet hole and a liquid outlet hole are formed in the inner wall of the suction cavity;
the rotating shaft is meshed with the turbine and the connecting column to drive the turbine and the connecting column to rotate, so that the lifting column is meshed with the conveying teeth to drive the auxiliary conveying teeth, liquid in the hydraulic lifting column is sucked out, the rotating connecting column drives the friction ring to slide along the movable pushing strip, and the liquid in the suction cavity is pressed into the hydraulic pushing column from the liquid outlet hole.
As a preferable scheme of the invention, the column pressing bar comprises a deceleration clamping block connected with the output end of the hydraulic push column, a clamping groove is formed in the surface of one side, close to the lifting frame, of the deceleration clamping block, damping rubber is installed on the inner wall of the clamping groove, and a damping slide bar connected with the lifting frame is arranged in the clamping groove.
As a preferable scheme of the invention, the hydraulic push column is composed of a column filling cylinder arranged on the column pressing bar and a push rod block connected in the column filling cylinder and connected with the speed reduction clamping block, a liquid discharge spring connected with the push rod block is arranged in the column filling cylinder, and the column filling cylinder is connected with the liquid outlet hole through a pipeline.
As a preferable scheme of the invention, a plurality of grooves are formed in the inner wall of the liquid filling channel, a plurality of gear stages for assisting in reducing the flow rate of liquid are rotatably connected to the inner wall of each groove, and each gear stage is of a right-angled triangle structure.
As a preferable scheme of the invention, the width of the stepped speed limiting block is larger than that of the liquid filling channel, and the inner wall of the liquid filling channel is provided with a stepped block groove.
In order to solve the above technical problems, the present invention further provides the following technical solutions: the digital camera comprises a stay wire coding module, a control module and a D camera module;
the stay wire coding module is used for feeding back real-time height information of the hydraulic lifting column lifting fork in real time so as to realize coarse positioning of the fork height;
the D camera module is used for carrying out visual detection on the height of the pallet fork according to the rough positioning information of the height of the pallet fork so as to realize accurate positioning of the height position of the pallet fork;
the control module is used for receiving rough positioning information and accurate positioning information of the height of the fork and controlling the lifting of the fork according to the received information.
Compared with the prior art, the invention has the following beneficial effects:
the lifting frame can reduce the descending speed and the shaking amplitude of the lifting frame through the pressing column strip and the oil liquid speed limiting block, when the lifting frame is implemented, the rotating shaft drives the liquid filling device to move to suck out liquid in the hydraulic lifting column, so that the lifting frame is pulled to be reduced by reducing the height of the hydraulic lifting column, then the movable liquid filling device fills liquid into the hydraulic pushing column to push the pressing column strip to press the lifting frame to reduce the descending speed and the shaking amplitude of the lifting frame, and meanwhile, when the liquid in the hydraulic lifting column begins to be discharged, the oil liquid speed limiting block can be driven to be inserted into the liquid filling channel to limit the sucking-out speed of the liquid in the hydraulic lifting column, so that the descending speed of the hydraulic lifting column is more stable, and therefore, the lifting mechanism can be fully prevented from being subjected to larger instantaneous impact force, and the lifting mechanism is damaged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a side view of a vehicle body of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a liquid-filled plate structure according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a structure of an oil speed bump according to an embodiment of the invention;
FIG. 5 is a schematic view of the structure at A in FIG. 3;
FIG. 6 is a schematic view of an exemplary embodiment of an embodiment of the present invention;
fig. 7 is a schematic structural view of a hydraulic push column according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-a speed reduction mechanism; 2-liquid filling plate; 3-oil liquid speed limiting block; 4-liquid filling device; 5-pressing the column bar; 6-vehicle body; 7-hydraulic pushing columns;
101-speed limit bar; 102-a card cage slot;
201-liquid filling channel; 202-rotating shaft; 203-sliding through groove; 204-groove; 205-gear stage; 206-a stepped block groove;
301-step speed limiting block; 302-fixed block; 303-a sliding bar; 304-sealing the rotary column; 305-a flow channel hole;
401-lifting column conveying teeth; 402-connecting column; 403-auxiliary tooth conveying; 404-an auxiliary transmitter; 405-a turbine;
4041-spin column; 4042-friction ring; 4043-moving the push bar; 4044-push bar chute; 4045-suction block; 4046-suction lumen; 4047-liquid inlet hole; 4048-liquid outlet;
501-a deceleration clamping block; 502-a clamping groove; 503-damping rubber; 504-damping slide bar;
601-hydraulic lifting column; 602-a lifting frame; 603-a pallet fork;
701-column filling cylinder; 702-a pusher block; 703-liquid discharge spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
As shown in fig. 1 and fig. 2, the present invention provides a lifting mechanism and an accurate control system of a laser navigation forklift, comprising a hydraulic lifting column 601 installed on the bottom surface of a body 6 with a U-shaped structure, a lifting frame 602 connected with the body 6 is installed at one end of the hydraulic lifting column 601 far from the body 6, a fork 603 is installed on the lifting frame 602, and a quick-lowering speed reducing mechanism 1 for reducing impact force and shaking amplitude when the lifting frame 602 descends quickly is installed on the body 6;
the speed-reducing and reducing mechanism 1 comprises a liquid-filling plate 2 connected with the bottom surface of a vehicle body 6 (one end of the liquid-filling plate 2 far away from a hydraulic lifting column 601 is provided with an oil tank for performing oil-filling or oil-storing operation in real time) and a speed-limiting bar 101 arranged on the U-shaped opening inner wall of the vehicle body 6, a clamping frame groove 102 for clamping a lifting frame 602 is arranged on the speed-limiting bar 101, a column-pressing bar 5 for pressing the lifting frame 602 and reducing the shaking amplitude of the lifting frame 602 is arranged in the clamping frame groove 102, a hydraulic push column 7 for pushing the column-pressing bar 5 to press on the lifting frame 602 is arranged on the surface of one side of the column-pressing bar 5 far away from the lifting frame 602, a liquid-filling channel 201 is arranged in the liquid-filling plate 2, a liquid-filling device 4 for feeding or sucking liquid into or out from the hydraulic lifting column 601 and the hydraulic push column 7 is arranged in the liquid-filling channel 201, a rotating shaft 202 driven by a power, an oil liquid speed limiting block 3 for plugging the liquid filling passage 201 to control the flow rate of liquid in the hydraulic lifting column 601 is connected in the liquid filling passage 201;
the rotating shaft 202 drives the liquid filling device 4 to move to suck out liquid in the hydraulic lifting column 601, so that the lifting frame 602 is pulled to be lowered by lowering the height of the hydraulic lifting column 601, then the movable liquid filling device 4 fills liquid into the hydraulic push column 7 to push the pressure column bar 5 to press the lifting frame 602 to reduce the lowering speed and the shaking amplitude of the lifting frame 602, and meanwhile, the oil liquid speed limiting block 3 is driven to be inserted into the liquid filling channel 201 to limit the sucking-out speed of the liquid in the hydraulic lifting column 601, so that the lowering speed of the hydraulic lifting column 601 is more stable.
This mechanism of lifting can realize when the fork 603 fork plays the heavy object, plays the guard action, in case the fork 603 takes crane 602 to descend promptly, alright carry out the falling speed protection through pressure column strip 5 and fluid speed limit piece 3, prevent that the falling speed is too fast to lead to causing great impact to hydraulic pressure lift post 601 to the condition such as oil leak damage appears.
When the lifting frame is implemented, only the motor is used for driving the rotating shaft 202 to rotate, then the rotating shaft 202 drives the liquid filling device 4 to move, taking fig. 1 and fig. 3 as an example, if the rotating shaft 202 drives the liquid filling device 4 (the lifting column conveying teeth 401) to deflect towards the direction of the hydraulic lifting column 601, oil is pressed into the hydraulic lifting column 601, at the moment, the oil speed limiting block 3 is not opened, then once the hydraulic lifting column 601 needs to be put down, the rotating shaft 202 can be driven in the opposite direction to suck out the liquid in the hydraulic lifting column 601 so as to reduce the height of the hydraulic lifting column 601 by reducing the oil in the hydraulic lifting column 601, meanwhile, the lifting frame 602 is pulled to be lowered by the lowered hydraulic lifting column 601, then the liquid is filled into the hydraulic pushing column 7 through the movable liquid filling device 4 to push the pressure column bar 5 to press the lifting frame 602 to reduce the lowering speed and the shaking amplitude of the lifting frame 602, and simultaneously the oil speed limiting, so as to limit the liquid sucking speed in the hydraulic lifting column 601 and make the reducing speed of the hydraulic lifting column 601 more stable.
As shown in fig. 1, 3 and 4, the oil-liquid speed-limiting block 3 includes a plurality of stepped speed-limiting blocks 301, a flow passage hole 305 is formed in each stepped speed-limiting block 301, the cross section of each flow passage hole 305 is of a splayed structure, the width of each stepped speed-limiting block 301 is larger than that of the corresponding liquid-filling passage 201, a stepped block groove 206 is formed in the inner wall of each liquid-filling passage 201, a sliding through groove 203 for accommodating the stepped speed-limiting block 301 to move is formed in the inner wall of each liquid-filling passage 201, a fixed block 302 in a right-angled trapezoid structure is mounted at one end, close to the sliding through groove 203, of each stepped speed-limiting block 301, a sliding strip 303 is slidably connected to an inclined surface of each fixed block 302, a sealing rotary column 304 penetrating through the sliding through groove 203 to the outer side and in threaded connection with the liquid-filling plate 2 is;
the sealing rotating column 304 moves towards one side of the liquid filling plate 2 to drive the sliding strip 303 to slide along the inclined surface of the fixed block 302, so that the fixed block 302 and the step speed limiting block 301 are pushed out of the sliding groove 203, and the liquid filling channel 201 is reduced in width to reduce the liquid flow rate.
When the hydraulic lifting column 601 is implemented, once the hydraulic lifting column 601 descends, the driver can drive the sealing rotating column 304 (which can be driven by a selective motor), then the movable sealing rotating column 304 can spirally move towards the liquid filling plate 2, then the movable sealing rotating column 304 can push the sliding strip 303 to slide along the inclined surface of the fixed block 302, as shown in fig. 3 and 4, at the moment, the movable sliding strip 303 can push the fixed block 302 and the plurality of stepped speed limiting blocks 301 to move together towards the direction far away from the sliding groove 203, when the plurality of stepped speed limiting blocks 301 slide to be embedded into the stepped block groove 206, the plurality of stepped speed limiting blocks 301 can play a role of plugging the liquid filling channel 201, and then when the liquid filling device 4 works in the opposite direction, the liquid in the hydraulic lifting column 601 can be gradually sucked out by the liquid filling device 4, because the fork 603 for loading goods is arranged on the hydraulic lifting column 601, oil on the hydraulic lifting column 601 can be sucked out at a high speed, when the oil impacts a plurality of step speed limiting blocks 301, the speed of the oil can be reduced, meanwhile, the impact force of the oil is low, the damage to the liquid charger 4 is low, and then the oil can contact the liquid charger 4 through the channel hole 305, so that the sucking speed of the liquid charger 4 is reduced, namely, the reducing speed of the hydraulic lifting column 601 is low, even if the goods loaded on the fork 603 are large, and the operation is wrong, the hydraulic lifting column 601 is also low when being reduced, and the high impact on the hydraulic lifting column 601 when the fork 603 is reduced is avoided.
In this embodiment, two fixing blocks 302 may be provided.
In this embodiment, in order to make the subsequent hydraulic lifting column 601 not be affected when rising, so the extension spring is installed between the two fixing blocks 302, or the sliding slot for limiting the sliding strip 303 is directly arranged on the inclined surface of the fixing block 302, so after the sealing rotary column 304 rotates out of the liquid filling plate 2 in the opposite direction, the extension spring will pull the two fixing blocks 302 to gradually slide into the sliding slot 203.
As shown in fig. 1, 3 and 6, the liquid charger 4 comprises a connecting column 402 and a lifting column conveying tooth 401 arranged in the liquid charging channel 201 and used for feeding or sucking liquid into or out of a hydraulic lifting column 601, the lifting column conveying tooth 401 is connected with the inner wall of the liquid charging channel 201 through the connecting column 402, an auxiliary conveying tooth 403 is connected to one side, close to the bottom of the vehicle body 6, of the lifting column conveying tooth 401 in a meshed mode, a turbine 405 is installed on the side wall of the connecting column 402, the turbine 405 is connected with the rotating shaft 202 in a meshed mode, and an auxiliary feeder 404 used for feeding liquid into the hydraulic pushing column 7 is arranged at the end portion of the connecting column 402.
The operation principle between the lifting column transmission gear 401 and the auxiliary transmission gear 403 can refer to the operation principle of a double-gear pump.
When the liquid filling device 4 is used, the rotating shaft 202 can be directly driven to move, then the rotating shaft 202 can be meshed with the turbine 405 and the connecting column 402 to drive the turbine 402 and the connecting column 402 to rotate, then the rotating connecting column 402 can drive the lifting column conveying teeth 401 to be meshed with the auxiliary conveying teeth 403, the auxiliary conveying teeth 403 can convey oil into or suck out liquid from the hydraulic lifting column 601 in the meshing process of the lifting column conveying teeth 401, and the connecting column 402 can drive the auxiliary conveying device 404 to convey the liquid towards the hydraulic pushing column 7 in the rotating process.
As shown in fig. 3 and 6, the auxiliary feeder 404 includes a rotary column 4041 installed at an end of the connection column 402, a friction ring 4042 is sleeved on a side wall of the rotary column 4041, a movable push bar 4043 is connected to a side wall of the friction ring 4042, a push bar chute 4044 for accommodating the movable push bar 4043 to slide is formed on the liquid filling plate 2, a suction block 4045 is installed at one end of the movable push bar 4043 far away from the friction ring 4042, a suction chamber 4046 for accommodating the suction block 4045 to move is formed on the liquid filling plate 2, and a liquid inlet 4047 and a liquid outlet 4048 are formed on an inner wall of the suction chamber 4046;
the rotating shaft 202 is engaged with the turbine 405 and the connecting column 402 to rotate, so that the lifting column conveying teeth 401 are engaged with the auxiliary conveying teeth 403 to suck the liquid in the hydraulic lifting column 601, and the rotating connecting column 402 drives the friction ring 4042 to slide along the movable push bar 4043, so that the liquid in the suction cavity 4046 is pressed into the hydraulic push column 7 from the liquid outlet hole 4048.
The auxiliary delivery device 404 can deliver liquid into the hydraulic pushing column 7, when it is implemented, the rotating connecting column 402 drives the rotating column 4041 and the friction ring 4042 to move together, then the movable friction ring 4042 slides on the movable pushing bar 4043, so that the movable pushing bar 4043 slides in the pushing bar sliding slot 4044, and the movable pushing bar 4043 pushes the suction block 4045 to move in the suction chamber 4046 during the movement, and then the oil in the suction chamber 4046 is pressed into the hydraulic pushing column 7 through the liquid outlet hole 4048, so that the hydraulic pushing column 7 is swollen to push the column pressing bar 5, and meanwhile, the suction block 4045 blocks the liquid outlet hole 4048 so that the hydraulic pushing column 7 cannot reset (at this time, the oil in the hydraulic lifting column 601 is gradually discharged), and when the rotating column 4041 and the friction ring 4042 move in opposite directions (i.e., the oil is gradually sucked in the hydraulic lifting column 601), the suction block 4045 gradually moves away from the liquid outlet hole 4048, and then the oil in the hydraulic lifting column 601 can easily enter the suction chamber 4046, when the suction block 4045 moves to the liquid inlet hole 4047, the oil in the hydraulic push rod 7 can easily enter the suction chamber 4046.
As shown in fig. 1 and 3, the column pressing bar 5 comprises a deceleration clamping block 501 connected with the output end of the hydraulic push column 7, a clamping groove 502 is formed in the surface of one side, close to the lifting frame 602, of the deceleration clamping block 501, a damping rubber 503 is installed on the inner wall of the clamping groove 502, and a damping slide bar 504 connected with the lifting frame 602 is arranged in the clamping groove 502.
The pressing column bar 5 can be pressed on the lifting frame 602 through the hydraulic pushing column 7, when the hydraulic lifting column is implemented, the output end of the hydraulic pushing column 7 can push the speed reducing clamping block 501 to slide towards the shock absorption slide bar 504 until the clamping groove 502 is embedded in the shock absorption slide bar 504, and when the lifting frame 602 moves, the shock absorption slide bar 504 can slide along the shock absorption rubber 503 to reduce the generation of large shock when the lifting frame 602 descends.
As shown in fig. 1, 3 and 7, the hydraulic push column 7 is composed of a column filling cylinder 701 mounted on the column pressing bar 5 and a push rod block 702 connected in the column filling cylinder 701 and connected with the speed reduction clamping block 501, a liquid discharge spring 703 connected with the push rod block 702 is mounted in the column filling cylinder 701, and the column filling cylinder 701 is connected with a liquid outlet hole 4048 through a pipeline.
When the liquid in the liquid outlet hole 4048 enters the column filling cylinder 701, the push rod block 702 can be directly pushed to drive the speed reduction clamping block 501 to move in the direction away from the column filling cylinder 701, meanwhile, the liquid discharge spring 703 can be stretched, and then once the space in the suction cavity 4046 is increased, the liquid discharge spring 703 can be reset to pull the push rod block 702 to push the oil liquid to enter the liquid outlet hole 4048, so that the speed reduction clamping block 501 is separated from the damping slide bar 504 on the lifting frame 602, and then the lifting frame 602 can move conveniently.
As shown in fig. 3 and 5, a plurality of grooves 204 are formed in the inner wall of the liquid filling passage 201, a plurality of gear stages 205 for assisting in reducing the flow rate of the liquid are rotatably connected to the inner wall of the grooves 204, and the gear stages 205 are in a right-angled triangle structure.
This keep off position platform 205 can play the effect of unloading the fluid impact force of impact on lift post defeated tooth 401, and fluid can slide along keeping off position platform 205 inclined plane when fluid gets into to push into recess 204 with keeping off position platform 205, in case fluid is towards lift post defeated tooth 401 impact, afterwards, fluid can push and keep off position platform 205 and make keep off position platform 205 upset and go out recess 204, then, fluid just can impact and make the fluid impact force of impact on lift post defeated tooth 401 on keeping off position platform 205 less, the hydraulic lifting column 601 descends more slowly promptly.
An accurate control system of a lifting mechanism of a laser navigation forklift comprises a stay wire coding module, a control module and a 3D camera module;
the stay wire coding module is used for feeding back real-time height information of the hydraulic lifting column lifting fork in real time so as to realize coarse positioning of the fork height;
the 3D camera module is used for carrying out visual detection on the height of the pallet fork according to the rough positioning information of the height of the pallet fork so as to realize accurate positioning of the height position of the pallet fork;
the control module is used for receiving the rough positioning information and the accurate positioning information of the fork height and controlling the fork to lift according to the received information.
The control module is arranged on a lifting mechanism (specifically a hydraulic lifting column 601) of the forklift.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
Claims (10)
1. The utility model provides a laser navigation fork truck's lifting mechanism which characterized in that: the lifting device comprises a hydraulic lifting column (601) arranged on the bottom surface of a U-shaped structure vehicle body (6), wherein one end, far away from the vehicle body (6), of the hydraulic lifting column (601) is provided with a lifting frame (602) connected with the vehicle body (6), the lifting frame (602) is provided with a pallet fork (603), and the vehicle body (6) is provided with a quick-falling speed reducing mechanism (1) for reducing impact force and shaking amplitude when the lifting frame (602) descends quickly;
the speed reduction mechanism (1) comprises a liquid filling plate (2) connected with the bottom surface of the vehicle body (6) and a speed limiting bar (101) arranged on the U-shaped opening inner wall of the vehicle body (6), a clamping frame groove (102) used for clamping the lifting frame (602) is formed in the speed limiting bar (101), a pressure column bar (5) used for pressing the lifting frame (602) and reducing the shaking amplitude of the lifting frame (602) is arranged in the clamping frame groove (102), a hydraulic push column (7) used for pushing the pressure column bar (5) to press the lifting frame (602) is arranged on the surface of one side, far away from the lifting frame (602), of the pressure column bar (5), a liquid filling channel (201) is formed in the liquid filling plate (2), a liquid filling device (4) used for feeding or sucking out liquid towards the hydraulic lifting column (601) and the hydraulic push column (7) is arranged in the liquid filling channel (201), and a rotating shaft (202) driven by a power mechanism to drive the liquid filling device (4) to move is arranged on the liquid filling plate (2) ) The hydraulic lifting column (601) is characterized in that an oil liquid speed limiting block (3) for plugging the liquid filling channel (201) to control the flow rate of liquid in the hydraulic lifting column (601) is connected in the liquid filling channel (201);
the rotating shaft (202) drives the liquid filling device (4) to move to suck out liquid in the hydraulic lifting column (601), so that the lifting frame (602) is pulled to be lowered by lowering the height of the hydraulic lifting column (601), then liquid is filled into the hydraulic pushing column (7) through the movable liquid filling device (4) to push the hydraulic column bar (5) to press the lifting frame (602) to reduce the descending speed and the shaking amplitude of the lifting frame (602), and meanwhile, the oil liquid speed limiting block (3) is driven to be inserted into the liquid filling channel (201) to limit the sucking-out speed of the liquid in the hydraulic lifting column (601), so that the speed of lowering of the hydraulic lifting column (601) is more stable.
2. The lifting mechanism of the laser navigation forklift as claimed in claim 1, wherein: the oil liquid speed limiting block (3) comprises a plurality of step speed limiting blocks (301), a sliding groove (203) used for accommodating the step speed limiting blocks (301) to move is formed in the inner wall of the liquid filling channel (201), a fixed block (302) in a right-angled trapezoidal structure is installed at one end, close to the sliding groove (203), of each step speed limiting block (301), a sliding strip (303) is connected to the inclined surface of each fixed block (302) in a sliding mode, a sealing rotating column (304) which penetrates through the sliding groove (203) to the outer side and is in threaded connection with the liquid filling plate (2) is sleeved at one end, far away from the fixed block (302), of each sliding strip (303), and the sealing rotating column (304) and the sliding strip (303) are combined to form an inverted T-shaped structure;
the sealing rotating column (304) moves towards one side of the liquid filling plate (2) to drive the sliding strip (303) to slide along the inclined surface of the fixed block (302), and the fixed block (302) and the step speed limiting block (301) are pushed out of the sliding groove (203), so that the width of the liquid filling channel (201) is reduced, and the liquid flow rate is reduced.
3. The lifting mechanism of the laser navigation forklift as claimed in claim 2, wherein: the ladder speed limiting block (301) is provided with a flow channel hole (305), and the cross section of the flow channel hole (305) is of a splayed structure.
4. The lifting mechanism of the laser navigation forklift as claimed in claim 1, wherein: the liquid filling device (4) comprises a connecting column (402) and lifting column conveying teeth (401) which are arranged in a liquid filling channel (201) and used for conveying liquid into or sucking liquid out of a hydraulic lifting column (601), the lifting column conveying teeth (401) are connected with the inner wall of the liquid filling channel (201) through the connecting column (402), auxiliary conveying teeth (403) are meshed and connected to one side, close to the bottom of the vehicle body (6), of the lifting column conveying teeth (401), a turbine (405) is installed on the side wall of the connecting column (402), the turbine (405) is meshed and connected with a rotating shaft (202), and an auxiliary conveying device (404) used for conveying liquid into the hydraulic pushing column (7) is arranged at the end of the connecting column (402).
5. The lifting mechanism of the laser navigation forklift as claimed in claim 4, wherein: the auxiliary feeder (404) comprises a rotary column (4041) installed at the end of a connecting column (402), a friction ring (4042) is sleeved on the side wall of the rotary column (4041), the side wall of the friction ring (4042) is connected with a movable push bar (4043), a push bar sliding groove (4044) accommodating the movable push bar (4043) to slide is formed in the liquid filling plate (2), a suction block (4045) is installed at one end, far away from the friction ring (4042), of the movable push bar (4043), a suction cavity (4046) accommodating the suction block (4045) to move is formed in the liquid filling plate (2), and a liquid inlet hole (4047) and a liquid outlet hole (4048) are formed in the inner wall of the suction cavity (4046);
the rotating shaft (202) is meshed with the turbine (405) and the connecting column (402) to drive the turbine (405) and the connecting column (402) to rotate, so that the lifting column tooth conveying (401) is meshed with the auxiliary tooth conveying (403), liquid in the hydraulic lifting column (601) is sucked out, the rotating connecting column (402) drives the friction ring (4042) to slide along the movable push bar (4043), and liquid in the suction cavity (4046) is pressed into the hydraulic push column (7) from the liquid outlet hole (4048).
6. The lifting mechanism of the laser navigation forklift as claimed in claim 1, wherein: the pressing column bar (5) comprises a deceleration clamping block (501) connected with the output end of the hydraulic pushing column (7), a clamping groove (502) is formed in the surface, close to the lifting frame (602), of one side of the deceleration clamping block (501), damping rubber (503) is installed on the inner wall of the clamping groove (502), and a damping sliding bar (504) connected with the lifting frame (602) is arranged in the clamping groove (502).
7. The lifting mechanism of a laser navigation forklift as claimed in claim 1, wherein the hydraulic push column (7) is composed of a column filling cylinder (701) installed on the pressing column bar (5) and a push rod block (702) connected in the column filling cylinder (701) and connected with the speed reduction clamping block (501), a liquid discharge spring (703) connected with the push rod block (702) is installed in the column filling cylinder (701), and the column filling cylinder (701) is connected with the liquid outlet hole (4048) through a pipeline.
8. The lifting mechanism of the laser navigation forklift as claimed in claim 1, wherein a plurality of grooves (204) are formed in the inner wall of the liquid filling channel (201), a plurality of gear stages (205) used for assisting in reducing the flow rate of liquid are rotatably connected to the inner wall of the grooves (204), and the gear stages (205) are in a right-angled triangle structure.
9. The lifting mechanism of the laser navigation forklift as claimed in claim 1, wherein the width of the step speed limiting block (301) is larger than that of the liquid filling channel (201), and a step block groove (206) is formed in the inner wall of the liquid filling channel (201).
10. The precise control system of the lifting mechanism of the laser navigation forklift as claimed in claims 1-9, which comprises a bracing wire coding module, a control module and a 3D camera module;
the stay wire coding module is used for feeding back real-time height information of the hydraulic lifting column lifting fork in real time so as to realize coarse positioning of the fork height;
the 3D camera module is used for carrying out height visual detection on the pallet fork according to the rough positioning information of the height of the pallet fork so as to realize accurate positioning of the height position of the pallet fork;
the control module is used for receiving rough positioning information and accurate positioning information of the height of the fork and controlling the lifting of the fork according to the received information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011455162.6A CN112607667B (en) | 2020-12-10 | 2020-12-10 | Lifting mechanism and accurate control system of laser navigation forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011455162.6A CN112607667B (en) | 2020-12-10 | 2020-12-10 | Lifting mechanism and accurate control system of laser navigation forklift |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112607667A true CN112607667A (en) | 2021-04-06 |
| CN112607667B CN112607667B (en) | 2022-09-20 |
Family
ID=75233057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011455162.6A Active CN112607667B (en) | 2020-12-10 | 2020-12-10 | Lifting mechanism and accurate control system of laser navigation forklift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112607667B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3949892A (en) * | 1974-11-29 | 1976-04-13 | Caterpillar Tractor Co. | Cushioned mast for lift trucks |
| JP2004338869A (en) * | 2003-05-15 | 2004-12-02 | Kaga Sangyo Sharyo:Kk | Movable fork unit of forklift vehicle |
| CN106082039A (en) * | 2016-08-26 | 2016-11-09 | 合肥搬易通科技发展有限公司 | A kind of speed limiting safety system of high-order stacking door frame |
| CN108689337A (en) * | 2018-06-29 | 2018-10-23 | 浙江杭力鼎盛机械有限公司 | The door frame vibration absorber of fork truck |
| CN110642193A (en) * | 2019-08-16 | 2020-01-03 | 江苏顺达机械设备有限公司 | Safe type hydraulic forklift with regulatory function |
-
2020
- 2020-12-10 CN CN202011455162.6A patent/CN112607667B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3949892A (en) * | 1974-11-29 | 1976-04-13 | Caterpillar Tractor Co. | Cushioned mast for lift trucks |
| JP2004338869A (en) * | 2003-05-15 | 2004-12-02 | Kaga Sangyo Sharyo:Kk | Movable fork unit of forklift vehicle |
| CN106082039A (en) * | 2016-08-26 | 2016-11-09 | 合肥搬易通科技发展有限公司 | A kind of speed limiting safety system of high-order stacking door frame |
| CN108689337A (en) * | 2018-06-29 | 2018-10-23 | 浙江杭力鼎盛机械有限公司 | The door frame vibration absorber of fork truck |
| CN110642193A (en) * | 2019-08-16 | 2020-01-03 | 江苏顺达机械设备有限公司 | Safe type hydraulic forklift with regulatory function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112607667B (en) | 2022-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109319688A (en) | A kind of handling movable hydraulic hoistable platform | |
| US10107450B2 (en) | Lubricant injector | |
| CN208898436U (en) | A kind of handling movable hydraulic hoistable platform | |
| CN112025241B (en) | Outer chain plate and pin shaft press-fitting equipment for escalator chain | |
| CN112607667B (en) | Lifting mechanism and accurate control system of laser navigation forklift | |
| CN112934730A (en) | Formed product quantitative racking machine for handbag processing and use method thereof | |
| CN110294450B (en) | Auxiliary fixing device for discharging oil pipe at opening of metal oil storage tank | |
| CN111825018A (en) | Forklift capable of automatically loading and unloading goods | |
| CN110641723A (en) | Travelling bogie for aviation | |
| CN111174074A (en) | Bearing auxiliary device that oils | |
| CN113406286B (en) | Safety detection device capable of equally split charging food | |
| CN213469473U (en) | Outer chain plate and pin shaft press-fitting equipment for escalator chain | |
| CN206306058U (en) | A kind of packing extractor of rod-pumped well | |
| CN210313301U (en) | Oil pump with quick lifting function | |
| US6732514B2 (en) | Hydraulic jack with dual pump system | |
| CN108528840B (en) | A kind of environmental protection type packing mechanical device | |
| CN218032674U (en) | High viscosity material pressing machine | |
| CN110328105A (en) | A kind of accurate plastic emitting plunger valve and its working method | |
| CN215626484U (en) | Movable freight transport elevating platform | |
| CN214140285U (en) | Double-layer reciprocating type automatic sand conveying and tray recycling system | |
| CN216138433U (en) | Small-size dredge assembly line | |
| CN111828818B (en) | Gear pump lubricating oil filling machine | |
| CN220200291U (en) | Jacking medicine delivery channel | |
| CN215633560U (en) | Manual hydraulic driving system | |
| CN111791610B (en) | Automatic detect and prevent layering circulation and spout a yard ware |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |