CN112723252A

CN112723252A - Fork frame device and AGV fork truck with fork broad width regulatory function

Info

Publication number: CN112723252A
Application number: CN202011565334.5A
Authority: CN
Inventors: 段文朗; 葛元昊; 苏建红
Original assignee: Jac Heavy Duty Construction Machine Co ltd
Current assignee: Jac Heavy Duty Construction Machine Co ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-04-30

Abstract

The invention discloses a fork frame device with a fork width adjusting function and an AGV fork truck, the fork carriage device comprises a fork carriage body, a pair of forks and a width adjusting mechanism, wherein the width adjusting mechanism comprises an annular synchronous chain, a first chain wheel component, a second chain wheel component and a distance adjusting oil cylinder, the inner sides of the left side plate and the right side plate of the fork frame body are respectively provided with a first chain wheel assembly and a second chain wheel assembly, two ends of the annular synchronous chain are supported on chain wheels of the first chain wheel assembly and the second chain wheel assembly, the upper side chain of the annular synchronous chain is connected with the first fork, the lower side chain of the annular chain is connected with the second fork, the piston rod end of the distance-adjusting oil cylinder is hinged with the first fork, its cylinder barrel end with the curb plate of fork support body is articulated, wherein, the piston rod is used for driving first and second fork centering when flexible and removes to adjust the fork broad width. The fork frame device has the advantages of simple and reliable mechanism structure, easy realization of wide ranging and wide adjustment, strong adaptability to the tray and the like.

Description

Fork frame device and AGV fork truck with fork broad width regulatory function

Technical Field

The present invention relates to a fork carriage device having a fork width adjusting function and an AVG forklift using the same.

Background

The forklift is a common mechanical device in loading, unloading and carrying work, wherein the battery forklift is increasingly applied by the advantages of small pollution, multiple adaptive occasions and the like, and the power source of the battery forklift is the battery assembled on the forklift.

The current fork truck lift height is higher and higher, and the loading capacity is also bigger and bigger, and like this although the transport capacity has improved, but also brought some unfavorable factors to fork truck's stability, especially to the fork truck of some high gantries, if operate too fast, cause the vehicle to damage very easily and overturn even, lead to property and personal loss.

The AGV forklift is an unmanned automatic carrying forklift which takes a battery as power. Compared with the manned forklift, the walking and carrying actions of the unmanned forklift need to be controlled intelligently, and particularly the width adjustment of the pallet fork is very important.

Disclosure of Invention

The invention aims to provide a fork frame device with a fork width adjusting function, which is suitable for different trays to convey different materials.

The invention also aims to provide an AGV fork truck using the fork frame device.

To this end, the invention provides a fork carriage device with a fork width adjusting function, comprising a fork carriage body, a pair of forks and a width adjusting mechanism, wherein the width adjusting mechanism comprises an annular synchronous chain, a first chain wheel component, a second chain wheel component and a distance adjusting oil cylinder, the first chain wheel component and the second chain wheel component are respectively arranged on the inner sides of the left side plate and the right side plate of the fork carriage body, two ends of the annular synchronous chain are supported on chain wheels of the first chain wheel component and the second chain wheel component, an upper side chain of the annular synchronous chain is connected with the first fork, a lower side chain of the annular chain is connected with the second fork, a piston rod end of the distance adjusting oil cylinder is hinged with the first fork, a cylinder end of the distance adjusting oil cylinder is hinged with the side plate of the fork carriage body, and the piston rod is used for driving the first fork and the second fork to move in a centering way when the piston rod is stretched, to adjust the fork width.

According to another aspect of the present invention, there is provided an AGV forklift including a body, a mast, and a fork carriage apparatus having a fork width adjustment function according to the above description.

Compared with the width adjusting mechanism in the prior art, the invention can realize the centering and amplitude-modulation movement of the first fork and the second fork by only using one distance-adjusting oil cylinder, and has the advantages of simple and reliable mechanism structure, easy realization of wide-range distance measurement and wide-range adjustment, strong adaptability to the pallet and the like.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic perspective view of a fork carriage apparatus with fork width adjustment according to the present invention;

FIG. 2 is a schematic rear view of a fork carriage apparatus according to the present invention;

FIG. 3 is a side view schematic of an AGV according to the present invention;

FIG. 4 is a front schematic view of an AGV according to the present invention;

FIG. 5 is a schematic diagram of the operation of an AGV according to the present invention; and

fig. 6 is a block diagram showing the configuration of a control system of an AGV forklift according to the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1-6 illustrate some embodiments according to the invention.

As shown in fig. 1 and 2, the present invention provides a fork carriage apparatus with fork width adjustment, which includes a fork carriage body 10, a pair of forks 21, 23, and a width adjustment mechanism including an endless timing chain 31, a first sprocket assembly 33, a second sprocket assembly 35, and a pitch cylinder 37.

First sprocket assembly 33 and second sprocket assembly 35 set up respectively in the left and right curb plate 11 of fork support body, 13 inboardly, the both ends of synchronous chain 31 of ring encircle to support on the sprocket of first sprocket assembly 33 and second sprocket assembly 35, the last side chain 311 of synchronous chain 31 of ring with first fork 21 is connected, the lower side chain 313 of synchronous chain 31 of ring is connected with second fork 23.

The piston rod end of the distance-adjusting oil cylinder 37 is hinged to the first fork 21, the cylinder end of the distance-adjusting oil cylinder is hinged to the side plate 13 of the fork frame body, and the piston rod 371 of the distance-adjusting oil cylinder 37 is used for driving the first fork 21 and the second fork 23 to move in a centering mode when extending and retracting so as to adjust the width of the fork.

When the hydraulic drive motor receives the instruction of the controller, oil is pumped to the distance adjusting oil cylinder 37, and a piston rod of the distance adjusting oil cylinder drives the left fork 21 to move; the right fork 23 on the other side also starts to move under the action of the annular synchronous chain 31 (namely, the distance adjusting chain), so that the synchronous movement consistency of the forks on the two sides is ensured.

In this embodiment, each of the above-mentioned sprocket assemblies includes a sprocket frame 331, a sprocket 333, and a pair of tie rods 335, wherein the sprocket frame 331 is mounted on the

side plates

11 or 13 of the fork frame body through the pair of tie rods 335.

In this embodiment, the endless synchronization chain 31 includes an upper side chain 311, a first link plate 315, a lower side chain 313, and a second link plate 317, which are sequentially connected end to form an endless shape, wherein the first link plate 315 is connected to the first fork 21 via a first pin 312, and the second link plate 317 is connected to the second fork 23 via a second pin 314.

In the present embodiment, a fork open width sensor 41 is provided between the side plate 11 of the fork frame body and the first fork 21. This width sensor is opened shelves to goods is infrared distance measuring instrument, including infrared emission end and infrared receiving terminal, this infrared emission end sets up on the both one of the limit curb plate of fork support body and first fork, and the infrared receiving terminal sets up on another in the two.

Since the fork carriage width is given and the first forks and the second forks are symmetrically arranged about the fork carriage center, the distance between the first forks and the second forks, i.e. the width, can be calculated when the distance between the first forks and the side plates is detected, thus overcoming the problem that the direct measurement between the first forks and the second forks is inconvenient due to the existence of obstacles.

In this embodiment, the first fork 21 and the second fork 23 on the fork carriage are slidably supported on a pair of guide rods 15, the upper ends of the first fork and the second fork have sliding

sleeves

211, 231 fitted one by one with the pair of guide rods, and the lower ends of the first fork and the second fork are snap-fitted with the lower beam 17 of the fork carriage body so that the first fork and the second fork can slide in the fork carriage width direction.

In this embodiment, the top ends of the first fork and the second fork are respectively provided with a laser scanner 43 for sensing the distance between the fork and the cargo pallet, sensing the opening size of the cargo pallet, and sensing the height of the fork.

So its opening distance that can come automatic adjustment fork according to goods tray opening size can be suitable for different trays like this, is convenient for transport different materials, practices thrift the manufacturing cost of tray, in the more production process of the material kind that involves, has very strong suitability. In addition, the height of the pallet fork can be fed back, the height position of the pallet can be automatically positioned, and the pallet can be stacked at different heights in the three-dimensional warehouse.

The first and second forks are provided at their rear ends with a tow chain 38 for shielding the wiring harness of the electrical module 18 electrically connected to the lower beam of the fork carriage body. The beam is composed of a wiring of electric components such as the laser scanner 43.

It should be noted that the fork carriage apparatus of the present invention can be used not only for a conventional forklift but also for an AGV forklift, and the structure of the AGV forklift of the present invention will be described below.

Referring collectively to fig. 3-5, the AGV fork lift of the present invention includes a body 100, a mast 200, and the fork carriage apparatus 300 described above.

The vehicle body 100 is a three-wheel layout, namely two side wheels (power wheels) 101 are arranged on one side close to the door frame, and a direction wheel 103 is arranged in the middle of the tail part of the vehicle body.

The anti-collision mechanism 105 arranged at the tail part of the vehicle body can ensure the safety between vehicles and between the vehicles and environmental objects. Because the material is placed on special tray and is transported by AGV fork truck, so can guarantee the safety of material during transporting, avoid because the loss that the collision caused during transportation.

The gantry 200 is a forward-moving gantry, a lifting mechanism 210 is mounted on the forward-moving gantry, the gantry is fixedly arranged on a sliding frame, the sliding frame is of a drawing structure relative to a chassis of a vehicle body, is driven by a forward-moving oil cylinder 201, and performs forward and backward movement operation on the gantry according to an instruction sent by a vehicle body controller, and the sliding frame occupies more than 1/2 of the length of the vehicle body, so that forward movement of the gantry is stable and reliable.

The vehicle body control system includes a manual control system and an automatic control system, and can realize switching between manual and automatic control, default to automatic control, and switching to a manual control state when a manual controller 107 such as an electronic operation handle is triggered.

In order to be adapted to the manual controller, a simple driver seat space 109 for accommodating an operator is provided on the vehicle body.

Referring to fig. 6 in combination, the vehicle body control system includes a ground control system 111 and a vehicle-mounted control system 113, and the ground control system is composed of a wireless digital communication module, a main control computer, an I/O interface module, a charging device, and the like.

The vehicle-mounted control system comprises a forklift controller such as a PLC (programmable logic controller), a servo walking amplifier, a servo walking motor, a servo steering amplifier, a servo steering motor, a gantry position sensor, a fork opening width sensor, a laser scanner, a manual controller, a hydraulic driving motor, a servo proportional valve and a working device.

Material 500 is placed and is transported by AGV fork truck on special tray 400, and the sharp-ended laser scanner of fork can be opened a shelves apart from the size according to the goods tray and carry out automatically regulated fork broad width, and AGV fork truck vehicle just can be used for transporting different materials. Meanwhile, the laser scanner of the fork point automatically positions the height required by the fork according to the height requirement of the goods stacking, and the goods stacking at different heights in the three-dimensional warehouse is met. In the production process of more material types, the AGV fork truck system has very strong adaptability.

The AGV forklift path planning method also uses an AGV forklift path planning tool to plan the AGV forklift path, and plans a running path and a stopping platform of the AGV forklift vehicle on a background picture of a production workshop. The traveling path of the AGV forklift can be planned according to actual needs, and the traveling path of the AGV forklift can be modified according to needs after the system starts to operate formally.

The AGV trolley also uses an intelligent operation system, so that the AGV forklift can dynamically arrange the running of the AGV forklift according to the conditions of the carrying task and the path, for example, the AGV forklift system can schedule the AGV forklift closest to the task starting point to execute the task. When the path is blocked, the AGV forklift can be instructed to select other paths to walk and the like.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fork frame device with a fork width adjusting function comprises a fork frame body, a pair of forks and a width adjusting mechanism, and is characterized in that the width adjusting mechanism comprises an annular synchronous chain, a first chain wheel component, a second chain wheel component and a distance adjusting oil cylinder,

the inner sides of the left side plate and the right side plate of the fork frame body are respectively provided with a first chain wheel component and a second chain wheel component, two ends of the annular synchronous chain are supported on chain wheels of the first chain wheel component and the second chain wheel component,

the upper side chain of the annular synchronous chain is connected with the first fork, the lower side chain of the annular synchronous chain is connected with the second fork,

the piston rod end of the distance-adjusting oil cylinder is hinged with the first fork, the cylinder barrel end of the distance-adjusting oil cylinder is hinged with the side plate of the fork frame body,

the piston rod is used for driving the first fork and the second fork to move in a centering mode when the piston rod stretches out and draws back, and therefore the width of the forks is adjusted.

2. The fork carriage apparatus with fork width adjustment of claim 1 wherein a fork opening width sensor is provided between the first sprocket assembly and the first fork.

3. The fork carriage apparatus with fork width adjustment as claimed in claim 1, wherein the sprocket assembly comprises a sprocket carrier, a sprocket and a pair of tie rods, wherein the sprocket carrier is mounted on the side plates of the fork carrier body by the pair of tie rods.

4. The fork carriage apparatus with fork width adjustment as claimed in claim 1, wherein the endless timing chain comprises an upper side chain, a lower side chain, a first chain link plate, and a second chain link plate, wherein the first chain link plate is connected to the first fork by a first pin, and the second chain link plate is connected to the second fork by a second pin.

5. The AGV fork truck of claim 1, wherein the top ends of the first and second forks are provided with laser scanners for sensing the distance between the forks and the pallet, for sensing the opening size of the pallet, and for sensing the fork height.

6. The fork carriage apparatus with fork width adjustment as claimed in claim 1, wherein the fork carriage body is provided at an upper end thereof with a pair of guide rods, and the pair of forks have sliding sleeves fitted one by one with the pair of guide rods.

7. An AGV forklift comprising a vehicle body, a mast, and a fork carriage apparatus, characterized in that the fork carriage apparatus is the fork carriage apparatus having a fork width adjusting function according to any one of claims 1 to 6.

8. The AGV fork truck of claim 7, wherein the door frame is mounted to the truck body in a forwardly movable manner, and wherein the truck body is provided with a forward cylinder for driving the lifting door frame to move forward and backward.

9. The AGV forklift of claim 7, wherein the forklift automatically adjusts the width of the forks based on the opening distance of the pallets.

10. The AGV fork truck of claim 7, wherein said truck includes a floor control system and an on-board control system in digital wireless communication with each other,

the ground control system comprises a wireless digital communication module, a main control computer, an I/O interface module and a charging device;

the vehicle-mounted control system comprises a forklift controller, a servo walking amplifier, a servo walking motor, a servo steering amplifier, a servo steering motor, a gantry position sensor, a fork opening width sensor, a laser scanner, a manual controller, a hydraulic driving motor, a servo proportional valve and a working device.