CN113636497A - Lifting system and fork type AGV - Google Patents
Lifting system and fork type AGV Download PDFInfo
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- CN113636497A CN113636497A CN202010344855.1A CN202010344855A CN113636497A CN 113636497 A CN113636497 A CN 113636497A CN 202010344855 A CN202010344855 A CN 202010344855A CN 113636497 A CN113636497 A CN 113636497A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000003466 welding Methods 0.000 description 5
- 239000003921 oil Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 2
- 230000001976 improved effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a lifting system and a fork type AGV (automatic guided vehicle), wherein the lifting system comprises a gantry mechanism, a fork frame and a driving mechanism; the driving mechanism comprises a synchronous belt transmission mechanism and a power unit, the synchronous belt transmission mechanism comprises a synchronous belt, a driving belt wheel and a driven belt wheel, the driving belt wheel, the driven belt wheel and the power unit are arranged in the gantry mechanism, the driving belt wheel and the driven belt wheel are distributed up and down, the driving belt wheel is driven by the power unit, the synchronous belt bypasses the driving belt wheel and the driven belt wheel, and the front part of the synchronous belt is connected with the fork frame. The lifting system provided by the invention adopts the synchronous belt transmission mechanism to be matched with the power unit, and has the characteristics of high lifting speed, high lifting precision, no maintenance, no pollution and the like, so that the defects of the lifting system in the prior art are overcome.
Description
Technical Field
The invention relates to a lifting system and a fork type AGV.
Background
The lifting system of present common fork AGV car has: hydraulic lifting systems and electric lifting systems. The hydraulic lifting system drives the hydraulic pump through the motor, and the on-off of the oil way is controlled through the hydraulic valve group, so that the stretching of the lifting hydraulic cylinder is controlled, and the lifting of the fork is realized. Hydraulic lifting systems are commonly used in pallet stackers, and the fork AGVs retrofitted from pallet stackers, are the largest in number in the industry. The electric lifting system is commonly provided with a screw rod lifting system and a chain lifting transmission. The screw rod lifting system generally connects the screw rod with a driving motor, the nut and the fork are relatively fixed, and the nut and the fork are lifted and lowered by driving the screw rod to rotate through the motor. The chain of the chain lifting system is arranged on the driving chain wheel and the driven chain wheel, the driving chain wheel is driven to rotate through the motor, the chain is driven to move around the chain wheel, the pallet fork and the chain are relatively fixed, and the lifting can be achieved along with the movement of the chain.
However, the above hydraulic lifting system has the following disadvantages:
1) the lifting speed is not high. The full load lifting speed of the pallet stacker and the AGV transformed by the pallet stacker in the current market is about 0.1-0.15 m/s;
2) the rate of descent cannot be controlled. According to the common tray stacker and the hydraulic lifting system for transforming the AGV in the current market, the principle of a hydraulic valve group determines that only the lifting speed can be controlled, the descending speed cannot be controlled, and the descending speed mainly depends on the load weight.
3) The stop position accuracy is not high. The stop position precision of the hydraulic lifting system is usually 2-3 mm, and accurate stop cannot be realized.
4) Periodic maintenance and replacement of spare parts is required. The hydraulic lifting system needs to replace hydraulic oil, filter elements and vent plugs regularly, otherwise the working performance is easy to decline.
5) There is a risk of leakage. If the hydraulic lifting system is not enough in sealing condition, oil leakage is easy to occur, and the working environment is polluted, so that the hydraulic lifting system is not suitable for working conditions with high requirements on cleanliness.
The screw rod lifting system has the following defects:
1) the load capacity is small. The lead screw has a helix angle which affects the lifting bearing capacity and the lifting speed, and in order to meet the requirement of higher lifting speed, the helix angle cannot be too small, so the bearing weight cannot be too large. Therefore, lead screw lifting systems are typically used in lighter cargo conditions.
2) Has higher requirement on environmental cleanliness. If metal chips or particles exist in the working environment, when the metal chips or particles are rolled into the screw-nut pair, thread damage can be caused, and the movement precision is further influenced.
The chain lifting system has the following defects: the transmission stability is poor. The structural characteristics of the chain drive determine that the instantaneous speed and the instantaneous transmission ratio are variable and therefore shock and noise are present.
Disclosure of Invention
The invention provides a lifting system and a fork type AGV, which overcome the defects of the lifting system of the fork type AGV in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a lift system includes a mast mechanism, a fork carriage, a drive mechanism; the driving mechanism comprises a synchronous belt transmission mechanism and a power unit, the synchronous belt transmission mechanism comprises a synchronous belt, a driving belt wheel and a driven belt wheel, the driving belt wheel, the driven belt wheel and the power unit are arranged in the gantry mechanism, the driving belt wheel and the driven belt wheel are distributed up and down, the driving belt wheel is driven by the power unit, the synchronous belt bypasses the driving belt wheel and the driven belt wheel, and the front part of the synchronous belt is connected with the fork frame.
Furthermore, the synchronous belt transmission mechanism further comprises at least one idler wheel, the idler wheel is arranged on the gantry mechanism, and the idler wheel presses the rear part of the synchronous belt to the front.
Further, the portal mechanism comprises a left side beam, a right side beam, an upper beam assembly and a lower beam assembly, wherein the upper beam assembly is connected between the tops of the two side beams, and the lower beam assembly is connected between the bottoms of the two side beams; the driving belt wheel and the power unit are arranged on the upper cross beam assembly, and the driven belt wheel is arranged on the lower cross beam assembly; the idler wheels are one and arranged on the upper beam assembly or the lower beam assembly, or the number of the idler wheels is two, one of the idler wheels is arranged on the upper beam assembly, and the other idler wheel is arranged on the lower beam assembly.
Further, the fork frame comprises a lifting plate and a fork fixed on the lifting plate, and the front part of the synchronous belt is connected with the lifting plate; the two side beams are respectively matched with the lifting plate to form a sliding guide mechanism, the sliding guide mechanism comprises a long strip-shaped guide groove which is vertically arranged on the inner side surface of the side beam and a roller which is arranged at one end of the lifting plate corresponding to the side beam, and the roller is in sliding fit in the long strip-shaped guide groove.
Further, the fork frame comprises a lifting plate and a fork fixed on the lifting plate, and the front part of the synchronous belt is connected with the lifting plate; the hold-in range is the opening area, and its both ends are in the front to distribute from top to bottom, the both ends of hold-in range respectively through a splint assembly with the lifter plate is connected.
Furthermore, one of them splint assembly with hold-in range one end, lifter plate fixed connection, another splint assembly with hold-in range other end fixed connection to through have the external screw thread the first part, have the internal screw thread the second part with the lifter plate is connected, and first part and second part threaded connection, first part or second part can be rotated, in order to order about another splint assembly relatively the lifter plate is upwards or move down.
Furthermore, the power unit comprises a motor assembly and a speed reducer, the motor assembly comprises a motor and a motor brake connected with the motor, the input end of the speed reducer is fixedly connected with the output shaft of the motor, and the output end of the speed reducer is fixedly connected with the rotating shaft of the driving belt wheel; and a motor rotating speed sensor is arranged in the motor.
Furthermore, the fork truck also comprises a distance measuring sensor which is arranged at the front end of the fork; the device also comprises a loading in-place sensor which is arranged on the lifting plate.
The invention further provides a fork type AGV which comprises a frame and the lifting system, wherein the gantry mechanism is arranged on the frame.
Further, the fork lifting device further comprises a lifting height sensor for measuring the current lifting height of the fork frame, wherein the lifting height sensor is arranged on the frame; the lifting height switch is arranged on the frame.
Compared with the prior art, the invention has the following beneficial effects:
1. the driving mechanism of the invention adopts the synchronous belt transmission mechanism to be matched with the power unit, and has the characteristics of high lifting speed, high lifting precision, no maintenance, no pollution and the like, thereby overcoming the defects of the lifting system in the prior art.
2. The synchronous belt transmission mechanism further comprises the idler wheel, the rear part of the synchronous belt can be pressed to the front part, so that the space occupied by the synchronous belt transmission mechanism is reduced, and the structure of a vehicle to which the lifting system provided by the invention is applied can be made more compact.
3. The invention further provides the first component and the second component which are used for adjusting the tension of the synchronous belt, the operation is convenient, the structure is simple, a tension wheel is not required to be introduced, the number of parts of the synchronous belt transmission mechanism is reduced, and the structure of the traditional mechanism of the synchronous belt is simplified. In addition, one end of the synchronous belt is fixed, and the other end of the synchronous belt is adjustable, so that the number of movable parts required by tension adjustment of the synchronous belt is reduced to the greatest extent, and the failure risk of a transmission mechanism of the synchronous belt is reduced. In particular, the load mass of the hoisting system or the frequent start and stop of the system can generate huge stress at the joint of the parts for tension adjustment, and the reliability of the hoisting system is improved by reducing the number of movable parts required by the tension adjustment of the synchronous belt.
4. The power unit is arranged on the upper cross beam assembly, so that the internal space of the vehicle to which the lifting system is applied can be released, and the structure of the vehicle to which the lifting system is applied can be more compact. .
The invention is further explained in detail with the accompanying drawings and the embodiments; however, the lift system and fork AGV of the present invention are not limited to the embodiments shown.
Drawings
FIG. 1 is a schematic perspective view of a lift system assembly and frame of the present invention;
FIG. 2 is a schematic structural view of the lift system of the present invention;
FIG. 3 is a schematic perspective view of the synchronous belt drive mechanism of the present invention;
FIG. 4 is a partially enlarged first schematic view of the synchronous belt drive mechanism of the present invention;
FIG. 5 is a second enlarged partial schematic view of the synchronous belt drive mechanism of the present invention;
FIG. 6 is a first schematic structural view of another cleat assembly of the invention in a connected state with a lifter plate;
FIG. 7 is a second schematic structural view of another cleat assembly of the present invention in a connected state with a lifter plate;
FIG. 8 is a schematic perspective view of the power unit of the present invention;
FIG. 9 is a schematic perspective view of the gantry mechanism of the present invention;
FIG. 10 is a schematic view of the mounting of the mast mechanism of the present invention to the frame;
FIG. 11 is an enlarged schematic view of portion A of FIG. 10;
FIG. 12 is an enlarged fragmentary schematic view of the side sill and lifter plate of the present invention in an engaged condition;
FIG. 13 is a schematic view of the mounting position of the lift height sensor and lift height switch of the present invention;
fig. 14 is a schematic view of the installation positions of the loading position sensor and the distance measuring sensor of the invention.
Detailed Description
Detailed description of the embodiments referring to fig. 1-14, a lift system of the present invention for a fork AGV vehicle includes a gantry mechanism 2, a fork carriage 3, and a drive mechanism, the fork carriage 3 being movably disposed up and down on the gantry mechanism 2. The fork carriage 3 specifically includes a lift plate 31 and forks 32 fixed to the lift plate 31, and the lift plate 31 is slidably connected to the carriage mechanism 2 up and down. The driving mechanism comprises a synchronous belt transmission mechanism 5 and a power unit 4, the synchronous belt transmission mechanism 5 comprises a synchronous belt 51, a driving belt wheel 52 and a driven belt wheel 53, the driving belt wheel 52, the driven belt wheel 53 and the power unit 4 are arranged on the gantry mechanism 2, the driving belt wheel 52 and the driven belt wheel 53 are distributed up and down, the driving belt wheel 52 is driven by the power unit 4, and the synchronous belt 51 bypasses the driving belt wheel 52 and the driven belt wheel 53. The portions of the timing belt 51 on opposite sides of the driving pulley 52 and the driven pulley 53 are in a front-rear relationship, and the front portion of the timing belt 51 is connected to the lifting plate 31. When the lifting system is applied to a fork AGV, a portal mechanism 2 is arranged on the front side of a frame 1 of the fork AGV, as shown in figure 1.
In this embodiment, the synchronous belt transmission mechanism 5 further includes at least one idler pulley, which is disposed on the gantry mechanism 2 and located on an outer side surface of a rear portion of the synchronous belt 51, and the rear portion of the synchronous belt 51 is slightly pressed forward. By the idler pulley, the running direction of the timing belt 51 at the rear portion can be changed, thereby reducing the space occupied by the timing belt drive mechanism 5. The number of the idler pulleys is specifically two, but is not limited thereto. Two idler pulleys 54, 55 are distributed one above the other, and one of the idler pulleys 54 is close to the driving pulley 52, and the other idler pulley 55 is close to the driven pulley 53.
In this embodiment, as shown in fig. 3 to 7, the synchronous belt 51 is an open belt, two ends of the open belt are arranged in front and distributed up and down, and two ends of the synchronous belt 51 are respectively connected to the lifting plate 31 through a clamping plate assembly. Specifically, one of the clamp assemblies 56 is fixedly connected to one end of the timing belt 51 and the lifting plate 31, and the other clamp assembly 57 is fixedly connected to the other end of the timing belt 51, and is connected to the lifting plate 31 through a first member having an external thread and a second member having an internal thread, and the first member is connected to the second member through a thread, and the first member or the second member can be rotated to drive the other clamp assembly 57 to move upward or downward relative to the lifting plate 31.
In this embodiment, the other clamping plate assembly 57 includes a first clamping plate 571 and a first fixing plate 572, the first clamping plate 571 is fixedly connected to the first fixing plate 572 to clamp the other end of the timing belt 51, and the first clamping plate 571 is engaged with the other end of the timing belt 51. The first clamping plate 571 and the first fixing plate 572 may be fixed by welding, screwing, or adhering, and in this embodiment, the first clamping plate 571 and the first fixing plate 572 are fixed by four screws 573.
In this embodiment, the first component is specifically an adjusting bolt 574, and the second component is an adjusting nut 575, but is not limited thereto. In other embodiments, the first member is an adjusting bolt, and the second member is a hollow member (not a nut) with internal threads, and is fixed with the first fixing plate or the lifting plate, and the fixing manner may be welding manner or integral molding manner. In other embodiments, the second component is an adjusting nut, and the first component is a screw or other component (not a bolt) with external threads, and is fixed with the first fixing plate or the lifting plate by welding or integral molding. A boss 5722 is disposed on one side of the first fixing plate 572 facing the lifting plate 31, the lifting plate 31 is provided with a through slot 311, a connection portion 312 is disposed in the through slot 311, the boss 5722 is disposed in the through slot 311, and a screw of the adjusting bolt 574 passes through the boss 5722 and the connection portion 312 along the predetermined direction and is screwed with the adjusting nut 575. The through groove 311 is a long strip-shaped structure arranged along the preset direction (i.e., the vertical direction), and can guide the movement of the boss 5722. The connecting portion 312 is located between two ends of the through slot 311, and more particularly, approximately located in the middle or middle-upper portion of the through slot 311, and the boss 5722 is located at the lower side of the connecting portion 312. The inner side of the end of the boss 5722 away from the connecting portion 312 is provided with a first sunken groove (not shown), and the shape of the first sunken groove is adapted to the shape of the adjusting bolt 574, and the first sunken groove is polygonal, such as hexagonal. The head of the adjusting bolt 574 is limited to the first sinking groove, and the first sinking groove is used to stop the rotation of the adjusting bolt 574, but not limited thereto, and other methods may also be used to stop the rotation of the adjusting bolt 574, for example, a method of welding and fixing the head of the fixing bolt and the boss 5722 is used.
In this embodiment, the other clamping plate assembly 57 further comprises at least one auxiliary fixing component, the auxiliary fixing component comprises a fixing bolt 577 and a fixing nut 576, the first fixing plate 572 is provided with at least one elongated hole 5721 located in the predetermined direction, and the screw of the fixing bolt 577 passes through the elongated hole 5721 and the lifting plate 31, and the fixing nut 576 is screwed on. The inboard one end that fixing nut 576 was kept away from in rectangular hole 5721 is equipped with the heavy groove 5723 of second, the head of fixing bolt 577 is spacing in this heavy groove 5723 of second, utilizes the heavy groove 5723 of second to play the effect of stalling fixing bolt 577. In this embodiment, the number of the elongated holes 5721 is two, and the two elongated holes 5721 are arranged in parallel and located on the left and right opposite sides of the adjusting bolt 574; each rectangular hole 5721 corresponds at least one supplementary fixed subassembly respectively, and specifically, in this embodiment, each rectangular hole 5721 corresponds two sets of supplementary fixed subassemblies respectively, makes first fixed plate 572 and lifter plate 31 be the supplementary connected state in four corners to it is more firm, stable.
In this embodiment, the one of the clamping plate assemblies includes a second clamping plate 561 and a second fixing plate 562, the second fixing plate 562 is fixedly connected to the lifting plate 31, the second clamping plate 561 is fixedly connected to the second fixing plate 562 to clamp one end of the synchronous belt 51, and the second clamping plate 561 is engaged with one end of the synchronous belt 51. The second clamping plate 561 and the second fixing plate 562 may be fixed together, and the second fixing plate 562 and the lifting plate 31 may be fixed together by welding, screwing, or adhering, and specifically, by four screws 563. The fixing manner of one end of the timing belt 51 to the lifting plate 31 is not limited thereto.
In this embodiment, as shown in fig. 8, the power unit 4 includes a motor assembly 41 and a speed reducer 42, the motor assembly 41 includes a motor and a motor brake (motor brake) connected to the motor, an input end of the speed reducer 42 is fixedly connected to an output shaft of the motor, an output end of the speed reducer 42 is fixedly connected to one end of a rotating shaft 521 of the driving pulley 52, the other end of the rotating shaft 521 of the driving pulley 52 is disposed on the gantry mechanism 2 through a supporting mechanism 6, and the supporting mechanism 6 may be a bearing seat and a bearing disposed in the bearing seat. The rotating shaft 521 fixes the driving pulley 52 by the mutual matching of the key and the key slot. Be provided with motor speed sensor in the motor, utilize this motor speed sensor to measure motor speed, this motor speed sensor's output connects to the controller of fork AGV car.
In this embodiment, as shown in fig. 9-12, the gantry mechanism 2 includes left and right side beams 21, an upper beam assembly 22, and a lower beam assembly 23, the side beams 21 are respectively fixed at the front end of the frame 1, the upper beam assembly 22 is connected between the tops of the side beams 21, and the lower beam assembly 23 is connected between the bottoms of the side beams 21, so that the gantry mechanism 2 forms a frame structure. Specifically, the two side beams 21 are both located in the vertical direction, and the outer sides of the middle portions of the two side beams 21 are respectively provided with a positioning block 211, which is limited by a buckle 11 arranged on the frame 1, as shown in fig. 10 and 11. In addition, the lower cross member assembly 23 is provided with mounting holes 232 which are aligned with the mounting holes on the frame 1 and fixed by bolts 233, as shown in fig. 10. The driving pulley 52 and the power unit 4 are arranged on the upper cross beam assembly 22, and the driven pulley 53 is arranged on the lower cross beam assembly 23; one of the idler pulleys 54 is disposed on the upper cross member assembly 22, and the other idler pulley 55 is disposed on the lower cross member assembly 23. Specifically, the upper beam assembly 22 has a platform 221 for fixing the power unit 4, the support mechanism 6, and an upper bracket 222 for mounting one of the idler pulleys 54; the lower cross beam assembly 23 has a lower bracket 231 that can be used to mount the driven pulley 53 and another idler pulley 55. The synchronous belt transmission mechanism 5 is arranged on the central axis of the gantry mechanism 2 along the vertical direction.
In this embodiment, the two side beams 21 are respectively matched with the lifting plate 31 to form a sliding guide mechanism, the sliding guide mechanism includes a strip-shaped guide groove 212 vertically arranged on the inner side surface of the side beam 21 and two rollers 7 arranged at one end of the lifting plate 31 corresponding to the side beam 21, and the two rollers 7 are slidably fitted in the strip-shaped guide groove 212, as shown in fig. 7 and 12, so as to guide the up-and-down movement of the lifting plate 31 and limit the movement of the fork 32 in the left-and-right direction.
In this embodiment, the lift system of the present invention further includes a distance measuring sensor 20, which is located at the front end of the forks 32 (as shown in FIG. 14) and whose output is connected to the controller of the fork AGV. The distance measuring sensor 20 is used to measure the distance of the front end of the fork 32 from an obstacle in front. In this embodiment, the distance measuring sensor 20 is an ultrasonic sensor. The present invention also includes a load-in-position sensor 10 that is located at the bottom of the channel 311 of the lift plate 31 (as shown in FIG. 14) and whose output is connected to the controller of the fork AGV. The load position sensor 10 is used to detect whether the load has been properly placed on the forks 32. In this embodiment, the loading position sensor 10 is a laser sensor.
According to the lifting system, the driving mechanism of the lifting system is matched with the power unit 4 by adopting the synchronous belt transmission mechanism 5, and the lifting system has the following characteristics:
1) the lifting speed is high. The full load lifting speed can reach 0.2-0.3 m/s.
2) The lifting precision is high. The stopping precision can reach within 0.5 mm.
3) And the maintenance is free. The timing belt 51 does not require maintenance or replacement of spare parts in everyday use.
4) No pollution. Because of adopting the electric lifting principle, no oil or lubricating grease exists, and leakage and pollution are avoided.
In the lifting system of the present invention, the tension adjusting method of the synchronous belt 51 comprises: by changing the position of the adjusting nut 575 on the adjusting bolt 574, the other clamping plate assembly 57 can move up and down relative to the lifting plate 31, so that the other end of the synchronous belt 51 can move up and down relative to the lifting plate 31. The method specifically comprises the following steps: the adjusting nut 575 is screwed down, so that a clamping plate assembly moves upwards relative to the lifting plate 31, and the tension of the synchronous belt 51 is increased; the adjusting nut 575 is loosened, the other clamp plate assembly 57 descends relative to the lifting plate 31, and the tension of the synchronous belt 51 is reduced.
The auxiliary fixing component has the following functions: when the tension of the timing belt 51 is adjusted, the fixing bolt 577 and the fixing nut 576 are tightened, and the first fixing plate 572 is firmly fixed to the rising plate 31. When the adjusting bolt 574 and the adjusting nut 575 fail accidentally, the synchronous belt 51 is not loosened relative to the lifting plate 31, so that the use safety is improved.
Referring to fig. 1-14, the fork AGV of the present invention includes a frame 1, and further includes a lifting system according to the present invention, wherein the gantry mechanism 2 is disposed on the frame 1. Specifically, the connection relationship between the gantry mechanism and the frame 1 is as described above, and further description is omitted here.
In this embodiment the invention also comprises a lift height sensor 8 for measuring the current lift height of the fork carriage, which is arranged to the frame 1 (see fig. 13). The elevation sensor 8 is embodied as a pull-cord encoder mounted on the frame 1, the end of the cord being fixed to the fork 32. When the fork 32 moves, the rope is pulled, so that the encoder rotating shaft is driven to rotate, and the measurement of the lifting height is realized. The invention also comprises a lift height switch 9, which is arranged on the frame 1 (as shown in fig. 13). The lifting height switch 9 can be installed at any height position within the lifting height range of the pallet fork 32, and when the pallet fork 32 passes through the height, the lifting height switch 9 can prompt through an electric signal output by the lifting height switch. The height-raising switch 9 is specifically an inductive proximity switch. The outputs of the lifting height sensor 8 and the lifting height switch 9 are connected to the controller of the fork AGV.
The parts which are not involved in the fork type AGV are the same as those in the prior art or can be realized by adopting the prior art.
The above embodiments are only used to further illustrate the lifting system and the fork type AGV of the present invention, but the present invention is not limited to the embodiments, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. A lift system includes a mast mechanism, a fork carriage, a drive mechanism; the method is characterized in that: the driving mechanism comprises a synchronous belt transmission mechanism and a power unit, the synchronous belt transmission mechanism comprises a synchronous belt, a driving belt wheel and a driven belt wheel, the driving belt wheel, the driven belt wheel and the power unit are arranged in the gantry mechanism, the driving belt wheel and the driven belt wheel are distributed up and down, the driving belt wheel is driven by the power unit, the synchronous belt bypasses the driving belt wheel and the driven belt wheel, and the front part of the synchronous belt is connected with the fork frame.
2. The lift system of claim 1, wherein: the synchronous belt transmission mechanism further comprises at least one idler wheel, the idler wheel is arranged on the gantry mechanism, and the idler wheel presses the rear part of the synchronous belt to the front.
3. The lift system of claim 2, wherein: the portal mechanism comprises a left side beam, a right side beam, an upper beam assembly and a lower beam assembly, wherein the upper beam assembly is connected between the tops of the two side beams, and the lower beam assembly is connected between the bottoms of the two side beams; the driving belt wheel and the power unit are arranged on the upper cross beam assembly, and the driven belt wheel is arranged on the lower cross beam assembly; the idler wheels are one and arranged on the upper beam assembly or the lower beam assembly, or the number of the idler wheels is two, one of the idler wheels is arranged on the upper beam assembly, and the other idler wheel is arranged on the lower beam assembly.
4. The lift system of claim 3, wherein: the fork frame comprises a lifting plate and a fork fixed on the lifting plate, and the front part of the synchronous belt is connected with the lifting plate; the two side beams are respectively matched with the lifting plate to form a sliding guide mechanism, the sliding guide mechanism comprises a long strip-shaped guide groove which is vertically arranged on the inner side surface of the side beam and a roller which is arranged at one end of the lifting plate corresponding to the side beam, and the roller is in sliding fit in the long strip-shaped guide groove.
5. The lift system of claim 1, wherein: the fork frame comprises a lifting plate and a fork fixed on the lifting plate, and the front part of the synchronous belt is connected with the lifting plate; the hold-in range is the opening area, and its both ends are in the front to distribute from top to bottom, the both ends of hold-in range respectively through a splint assembly with the lifter plate is connected.
6. The lift system of claim 5, wherein: wherein a splint assembly with hold-in range one end, lifter plate fixed connection, another splint assembly with hold-in range other end fixed connection to through have the external screw thread the first part, have the internal screw thread the second part with the lifter plate is connected, and first part and second part threaded connection, first part or second part can be rotated, in order to order about another splint assembly relative the lifter plate upwards or moves down.
7. The lift system of claims 1-6, wherein: the power unit comprises a motor assembly and a speed reducer, the motor assembly comprises a motor and a motor brake connected with the motor, the input end of the speed reducer is fixedly connected with the output shaft of the motor, and the output end of the speed reducer is fixedly connected with the rotating shaft of the driving belt pulley; and a motor rotating speed sensor is arranged in the motor.
8. The hoisting system of claim 4 or 5, wherein: the distance measuring sensor is arranged at the front end of the fork; the device also comprises a loading in-place sensor which is arranged on the lifting plate.
9. The utility model provides a fork formula AGV car, includes frame, its characterized in that: the lift system of any of claims 1-8, further comprising the mast mechanism disposed to the frame.
10. The fork AGV of claim 9, wherein: the lifting height sensor is used for measuring the current lifting height of the fork frame and is arranged on the frame; the lifting height switch is arranged on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010344855.1A CN113636497A (en) | 2020-04-27 | 2020-04-27 | Lifting system and fork type AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344855.1A CN113636497A (en) | 2020-04-27 | 2020-04-27 | Lifting system and fork type AGV |
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| Publication Number | Publication Date |
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| CN113636497A true CN113636497A (en) | 2021-11-12 |
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| CN202010344855.1A Pending CN113636497A (en) | 2020-04-27 | 2020-04-27 | Lifting system and fork type AGV |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4209445A1 (en) * | 2022-01-07 | 2023-07-12 | Cory Drummond | Lifting device and lifting system |
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