CN115557426A - Adaptive posture gantry fork device for field use and forklift - Google Patents

Adaptive posture gantry fork device for field use and forklift Download PDF

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Publication number
CN115557426A
CN115557426A CN202211021103.7A CN202211021103A CN115557426A CN 115557426 A CN115557426 A CN 115557426A CN 202211021103 A CN202211021103 A CN 202211021103A CN 115557426 A CN115557426 A CN 115557426A
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CN
China
Prior art keywords
frame
assembly
driving
sub
fork
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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.)
Pending
Application number
CN202211021103.7A
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Chinese (zh)
Inventor
魏永
杨晓春
符磊
孙浩
刘峥
郝海博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Aerospace Precision Electromechanical Institute
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Xian Aerospace Precision Electromechanical Institute
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Publication date
Application filed by Xian Aerospace Precision Electromechanical Institute filed Critical Xian Aerospace Precision Electromechanical Institute
Priority to CN202211021103.7A priority Critical patent/CN115557426A/en
Publication of CN115557426A publication Critical patent/CN115557426A/en
Priority to CN202322248704.8U priority patent/CN220596940U/en
Priority to CN202311054016.6A priority patent/CN117105124A/en
Pending legal-status Critical Current

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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
    • 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
    • B66F9/087—Monomasts
    • 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
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • B66F9/105—Articulated, i.e. front chassis with wheels and mast rotatable relative to rear chassis with wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • 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 provides a field self-adaptive posture-adjusting portal fork device and a forklift, and mainly solves the technical problems that the existing forklift can only finish the tray goods storing and taking operation on a flat road surface and a road surface with smaller unevenness degree, and the tray goods storing and taking operation under the field road surface with complex terrain environment and larger unevenness degree is difficult to finish. The forklift comprises a portal frame assembly and a pallet fork assembly arranged on the portal frame assembly; the gantry assembly is provided with an upper hinge point and a lower hinge point, the upper hinge point is connected with the vehicle body, and the lower hinge point is hinged with a lower driving piece; the pallet fork assembly comprises a pallet fork, a mounting frame and a rotating frame connected to the gantry assembly through a rotating connecting piece; the gantry assembly is provided with a fourth driving assembly, and the fourth driving assembly is connected to the rotating frame; the mounting frame comprises a first sub frame and a second sub frame, the first sub frame is connected with the rotating frame in a sliding mode, the second sub frame is connected with the first sub frame in a relatively rotating mode, and the fork is connected with the second sub frame; the first sub-frame is provided with a first driving assembly and a second driving assembly.

Description

Adaptive posture portal fork device for field use and forklift
Technical Field
The invention relates to a portal fork device and a forklift, in particular to a field self-adaptive posture-adjusting portal fork device and a forklift.
Background
At present, the tray goods to under the field environment use fork truck to come access and transportation usually to reduce operating personnel intensity of labour and improve the goods and transport efficiency.
The traveling wheel system of the existing forklift does not have cross-country capacity and is only suitable for leveling pavements, and the portal fork device of the forklift only has basic lifting and pitching functions, so that when the forklift is parked on an uneven pavement in the field, the portal fork device of the forklift is in an inclined state and cannot be leveled and aligned according to the pavement condition, and normal forking of pallet goods is difficult to finish; in addition, the gantry fork device of the crawler-type forklift capable of running off the cross country does not have the leveling function, although the wheel system of the forklift can adapt to uneven road surfaces to a certain extent, when the uneven road surfaces are large, the leveling state of the gantry fork device is difficult to maintain.
To sum up, current fork truck can only accomplish the tray goods access operation on level and smooth road surface and the less road surface of unevenness degree, is difficult to accomplish the access operation of tray goods under the complicated, great open-air road surface of unevenness degree of topography environment.
Disclosure of Invention
The invention aims to solve the technical problems that the existing forklift can only finish the tray goods storing and taking operation on a flat road surface and a road surface with smaller unevenness degree, and is difficult to finish the tray goods storing and taking operation under the field road surface with complex terrain environment and larger unevenness degree, and provides a self-adaptive posture gantry fork device for the field and the forklift.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a self-adaptive posture-adaptive portal fork device for the field is characterized in that: the fork assembly comprises a portal assembly with adjustable length and a fork assembly arranged at an adjusting end of the portal assembly, wherein the adjusting end of the portal assembly is used for adjusting the height of the fork assembly;
the fixed end of the portal frame assembly is provided with an upper hinge point and a lower hinge point, the upper hinge point is used for being connected with a vehicle body, the lower hinge point is hinged with a lower driving piece, and the output end of the lower driving piece is used for driving the portal frame assembly to rotate around the upper hinge point in a pitching mode;
the fork assembly comprises a fork, a mounting frame and a rotating frame connected to the portal assembly through a rotating connecting piece;
the adjusting end of the gantry assembly is provided with a fourth driving assembly, and the output end of the fourth driving assembly is connected to the rotating frame and used for driving the rotating frame to lift or rotate;
the mounting frame comprises a first sub frame and a second sub frame, one end of the first sub frame is connected to the rotating frame in a sliding mode, the sliding direction of the first sub frame is along the width direction of the portal frame assembly when the rotating frame is at the initial position, one side of the second sub frame is connected with the other end of the first sub frame in a relatively rotating mode, and the fork is connected to the other side of the second sub frame;
the first sub-frame is provided with a first driving assembly and a second driving assembly, the first driving assembly is used for driving the first sub-frame to slide relative to the rotating frame, and the second driving assembly is used for driving the second sub-frame to rotate relative to the first sub-frame.
Furthermore, a walking track group is arranged on the rotating frame, one end of the first sub-frame is connected into the walking track group through a plurality of walking wheels, and one side of the second sub-frame is connected to the other end of the first sub-frame through a rotating shaft;
the output end of the first driving assembly is connected with a wheel shaft of one of the walking wheels and used for driving the walking wheels to rotate, and the output end of the second driving assembly is connected with the rotating shaft and used for driving the rotating shaft to rotate.
Further, the rotating frame comprises a connecting frame and a sliding frame, wherein one side of the sliding frame is connected to the connecting frame;
the connecting frame is connected with the door frame component through a rotary connecting piece;
the output end of the fourth driving assembly is connected to the sliding frame, the length direction of the sliding frame is arranged along the width direction of the gantry assembly when the sliding frame is at the initial position, the walking track set is connected to the other side of the sliding frame, and the length direction of the walking track in the walking track set is arranged along the length direction of the sliding frame.
Furthermore, the first driving assembly and the second driving assembly have the same structure and respectively comprise a first driving motor and a transmission assembly connected to an output shaft of the first driving motor;
the first driving motor of the first driving assembly and the first driving motor of the second driving assembly are both arranged on the first sub-frame, the output end of the transmission assembly of the first driving assembly is connected with the wheel shaft of the travelling wheel, and the output end of the transmission assembly of the second driving assembly is connected with the rotating shaft.
Furthermore, the pallet fork is connected to the other side of the second sub-frame in a sliding mode, and the sliding direction is along the length direction of the second sub-frame;
and a third driving assembly is arranged on the other side of the second sub-frame, and the output end of the third driving assembly is connected with the fork and used for driving the fork to slide.
Furthermore, two slide rails are oppositely arranged at the upper end and the lower end of the other side of the second sub-frame along the length direction, two slide blocks matched with the slide rails are connected to the cargo fork, and the two slide blocks are respectively connected into the two slide rails;
the third driving assembly comprises a second driving motor arranged on the second sub-frame, a screw rod connected to an output shaft of the second driving motor through a transmission unit, a moving block sleeved on and in threaded connection with the screw rod, a fixed block sleeved on and in rotary connection with the end part of the screw rod and a moving plate connected to the moving block;
the fixed block is connected to the second sub-frame, and two ends of the moving plate are connected with the two sliding blocks respectively.
Further, the gantry assembly comprises a first-stage gantry, a second-stage gantry connected to the first-stage gantry in a sliding manner, a third-stage gantry connected to the second-stage gantry in a sliding manner, and a floating carriage connected to the third-stage gantry in a sliding manner;
the upper hinge point and the lower hinge point are both arranged on the first-stage door frame; the rotating frame is connected to the floating sliding frame, and the fourth driving assembly is connected to the third-stage gantry;
an upper driving piece is mounted on the first-stage door frame, and the output end of the upper driving piece is connected with the second-stage door frame and used for driving the second-stage door frame to lift along the length direction of the first-stage door frame; the second-stage portal frame is provided with a first transmission mechanism, one end of the first transmission mechanism is connected with the first-stage portal frame, and the other end of the first transmission mechanism is connected with the third-stage portal frame and used for driving the third-stage portal frame and the second-stage portal frame to lift simultaneously;
and a second transmission mechanism is arranged on the third-stage portal frame, one end of the second transmission mechanism is connected with the third-stage portal frame, and the other end of the second transmission mechanism is connected with the floating sliding frame and used for driving the floating sliding frame to synchronously lift with the rotating frame.
Further, the lower driving piece and the upper driving piece are both first electric cylinders;
the fourth driving assembly comprises two second electric cylinders which are oppositely arranged and respectively controlled, the two second electric cylinders drive the sliding frame and the floating sliding frame to synchronously lift when synchronously stretching, and the sliding frame is driven to rotate around the rotating connecting piece when respectively stretching;
the first transmission mechanism and the second transmission mechanism are both chain transmission mechanisms.
Furthermore, the chain transmission mechanisms of the first transmission mechanism and the second transmission mechanism comprise two chain wheels and two chains which are connected to the two chain wheels and arranged in parallel respectively;
two chain wheels of the second transmission mechanism are oppositely arranged on the three-stage door frame, one end of a chain of the second transmission mechanism is connected with the three-stage door frame, and the other end of the chain of the second transmission mechanism is connected with the floating sliding frame;
two chain wheels of the first transmission mechanism are oppositely arranged on the secondary portal frame, one end of a chain of the first transmission mechanism is connected with the primary portal frame, and the other end of the chain of the first transmission mechanism is connected with the tertiary portal frame.
Meanwhile, the invention also provides a forklift, which comprises a forklift body and a portal fork device arranged in front of the forklift body, and is characterized in that: the portal fork device is a self-adaptive posture-adaptive portal fork device used in the field.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the portal frame assembly can be driven to perform posture adjustment in the front and rear directions through the arranged lower driving part, the rotating frame is driven to rotate around the rotating connecting piece to adjust the posture through the arranged fourth driving part, and the second sub-frame can be driven to rotate to adjust the posture through the arranged second driving part, so that three-dimensional posture adjustment of the pallet fork is realized.
2. According to the invention, the gantry assembly is a three-stage telescopic gantry, so that the height adjusting range is large, the storage and taking problem of the goods tray under different height conditions can be adapted, and the practicability is strong.
3. The invention adopts pure electric power to complete the rotation of the first-stage portal frame, the lifting of the second-stage portal frame and the sliding floating frame and the rotation of the rotating frame, replaces the conventional hydraulic power, and ensures that the whole device is easier to maintain and the failure risk caused by the leakage of hydraulic oil can not occur.
4. The fork can be used for translating and adjusting the posture, and the fork can be translated and adjusted when the vehicle is inaccurately parked at the position, so that the fork and the cargo tray can be accurately aligned.
Drawings
FIG. 1 is a schematic diagram of the structure of one embodiment of the truck of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of an adaptive attitude mast fork apparatus for field use according to the present invention;
FIG. 3 is a front view of FIG. 2; (the direction indicated by the arrow in the figure is the main view direction)
FIG. 4 is a schematic diagram of a mast assembly in an embodiment of an adaptive attitude mast fork apparatus for field use according to the present invention;
FIG. 5 is a schematic diagram of the construction of a fork assembly in an embodiment of an adaptive attitude mast fork apparatus for field use according to the present invention;
FIG. 6 is a schematic diagram of the first drive assembly, second drive assembly, mounting bracket and forks of an embodiment of an adaptive attitude mast fork apparatus for field use according to the present invention;
FIG. 7 is a schematic diagram of the third drive assembly and forks of an embodiment of an adaptive attitude mast fork apparatus for field use according to the present invention.
In the figure, 01-fork truck, 02-pallet goods;
1-gantry assembly, 11-primary gantry, 12-secondary gantry, 13-tertiary gantry, 14-floating carriage, 15-upper drive member, 16-first transmission mechanism, 17-second transmission mechanism, 171-sprocket, 172-chain, 18-lower drive member;
2-pallet fork assembly, 21-pallet fork, 22-rotating frame, 221-connecting frame, 222-sliding frame, 23-mounting frame, 231-first sub frame, 232-second sub frame, 24-fourth driving assembly, 25-first driving assembly, 26-second driving assembly, 261-first driving motor, 262-transmission assembly, 27-third driving assembly, 271-second driving motor, 272-lead screw, 273-moving block, 274-fixed block, 275-moving plate, 28-sliding block, 29-rotating connecting piece, 210-traveling wheel and 211-rotating shaft.
Detailed Description
To make the objects, advantages and features of the present invention more apparent, an adaptive attitude mast fork apparatus and a forklift for field use according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following detailed description. It should be noted that: the drawings are in simplified form and are not to precise scale, the intention being solely for the convenience and clarity of illustrating embodiments of the invention; second, the structures shown in the drawings are intended to be part of actual structures.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 2-7, the self-adaptive posture-adjusting mast fork device for field use of the invention comprises a mast assembly 1 with adjustable length and a fork assembly 2 arranged at an adjusting end of the mast assembly 1, wherein the adjusting end of the mast assembly 1 is used for correspondingly adjusting the height of the fork assembly 2 according to the placing height of the cargo pallet 02, so as to finish the storing and taking work of the cargo pallets 02 with different heights.
As shown in fig. 2-4, the gantry assembly 1 is a three-stage telescopic gantry, and includes a primary gantry 11, a secondary gantry 12 slidably connected to the primary gantry 11, a tertiary gantry 13 slidably connected to the secondary gantry 12, and a floating carriage 14 slidably connected to the tertiary gantry 13; the sliding directions of the second-stage gantry 12, the third-stage gantry 13 and the floating carriage 14 are all along the length direction of the first-stage gantry 11, wherein a main structure body of the first-stage gantry 11 is formed by assembling and welding two C-shaped rails and a plurality of reinforcing ribs, an upper hinge point and a lower hinge point are arranged on the main structure body, the upper hinge point is used for being connected with a vehicle body, the lower hinge point is connected with an output end of a lower driving piece 18, the lower driving piece 18 is a first electric cylinder, a cylinder body of the lower driving piece 18 is hinged to the vehicle body, and the first-stage gantry 11 is driven to rotate around the first hinge point through the extension and retraction of the lower driving piece 18, so that the pitching pose (the front-back direction is the advancing or retreating direction of the vehicle body) of the gantry assembly 1 is adjusted within a certain angle range; two upper driving pieces 15 are mounted on the first-stage gantry 11, the output direction of the upper driving pieces 15 is along the length direction of the first-stage gantry 11, the two upper driving pieces 15 are symmetrically arranged about the width direction of the first-stage gantry 11, the upper driving pieces 15 are first electric cylinders, and the output ends of the upper driving pieces 15 are connected with the second-stage gantry 12 and used for directly driving the second-stage gantry 12 to lift along the length direction of the first-stage gantry 11;
the structure main body of the second-stage portal frame 12 is formed by assembling and welding two H-shaped rails and a plurality of reinforcing ribs, a first transmission mechanism 16 is arranged on the second-stage portal frame 12, the first transmission mechanism 16 is a chain transmission mechanism and comprises two chain wheels 171 and two chains 172 connected to the two chain wheels 171, the two chain wheels 171 are oppositely arranged on the second-stage portal frame 12, the two chains 172 are oppositely arranged, the length direction of the two chains are arranged along the length direction of the second-stage portal frame, one ends of the two chains 172 are connected with the upper end of the first-stage portal frame 11, the other ends of the two chains 172 are connected with the upper end of the third-stage portal frame 13, and when the upper driving piece 15 directly drives the second-stage portal frame 12 to lift, the third-stage portal frame 13 and the second-stage portal frame 12 can be driven to lift synchronously through the chain transmission mechanism;
the main structure body of the three-stage portal frame 13 is formed by assembling and welding two H-shaped rails and a plurality of reinforcing ribs, the three-stage portal frame 13 is provided with a second transmission mechanism 17, the second transmission mechanism 17 is a chain transmission mechanism and comprises two chain wheels 171 and two chains 172 connected to the two chain wheels 171, the two chain wheels 171 are oppositely arranged at the upper end of the three-stage portal frame 13, the two chains 172 are oppositely arranged in parallel, the length direction of the two chains is arranged along the length direction of the three-stage portal frame, one end of each chain 172 is connected with the middle end of the three-stage portal frame 13, the other end of each chain 172 is connected with the bottom end of the floating carriage 14, the fourth driving assembly 24 is arranged on the three-stage portal frame 13, the fourth driving assembly 24 comprises two second electric cylinders which are oppositely arranged and are respectively controlled, the output end of the second electric cylinder is hinged on a sliding frame 222 which is described in detail below, and the floating carriage 14 is driven to synchronously lift along the length direction of the third-stage gantry 13 through the co-lifting and co-lowering of the two second electric cylinders and the combined action of the second transmission mechanism 17, in the embodiment, the second-stage gantry 12, the third-stage gantry 13 and the floating carriage 14 are respectively installed on the corresponding tracks of the first-stage gantry 11, the second-stage gantry 12 and the third-stage gantry 13 through composite roller bearings, so that the second-stage gantry 12, the third-stage gantry 13 and the floating carriage 14 only have a single degree of freedom of lifting in the vertical direction, and are kept stable and do not shake during the lifting process, and of course, in other embodiments of the invention, a person skilled in the art also selects other sliding connection modes in the prior art; it should be noted that, in the present invention, the lower driving member 18, the fourth driving member 24 and the upper driving member 15 are preferably electric cylinders, which allows the electric cylinders to be purely electric driven, so that the whole device is easier to maintain, and failure risk caused by hydraulic oil leakage during hydraulic driving does not occur; for the portal assembly 1, the three-stage telescopic portal selected by the invention is a preferable scheme obtained by considering the environment in the practical application of the invention, and in other embodiments of the invention, the portal assembly 1 within a proper height adjusting range can be selected according to the comprehensive consideration of the practical application environment, cost and the like in the field; for the chain drive, other solutions in the prior art, such as a belt drive, etc., may be substituted by those skilled in the art.
As shown in fig. 2 and 5-7, the fork assembly 2 includes a swivel frame 22 coupled to the float carriage 14 by a swivel connection 29, a mounting frame 23 slidably coupled to the swivel frame 22, and the forks 21 slidably coupled to the mounting frame 23.
The pallet fork 21 is a plurality of L-shaped plates which are adjacently arranged in parallel, and the end part of the pallet fork 21 far away from the mounting frame 23 is arranged to be wedge-shaped so as to be conveniently inserted into the bottom of the cargo pallet; through the respective extension and contraction (i.e. one is extended and one is shortened) of the two second electric cylinders, a sliding frame 222 to be described below is driven to rotate around the rotating connecting piece 29, so as to drive the pallet fork 21 to rotate and adjust the posture; in the present embodiment, the rotary connector 29 is a slewing bearing;
the rotating frame 22 includes a connecting frame 221 and a sliding frame 222 connected to the connecting frame 221 at one side, the sliding frame 222 is a rectangular frame in this embodiment, the length direction of the rectangular frame is arranged along the horizontal direction in the initial state, and the connecting frame 221 is connected with the floating sliding frame 14 through a rotating connecting piece 29; the sliding rack 222 is provided with a traveling track group, the traveling track group in this embodiment comprises two traveling tracks which are oppositely arranged, the two traveling tracks are oppositely connected to the other side of the sliding rack 222, the length direction of the traveling tracks is along the width direction of the first-stage gantry 11, the mounting rack 23 comprises a first sub-rack 231 and a second sub-rack 232, one end of the first sub-rack 231 is connected into the traveling tracks through the traveling wheels 210, and moves in the horizontal direction in the traveling tracks through the first sub-rack 231, when a goods pallet is stored and taken out, the forks 21 can extend into the bottoms of the goods pallets to be conveniently taken out, or the forks 21 are drawn out from the bottoms of the goods pallets to complete the placement of the goods pallets, one side of the second sub-rack 232 is connected to the other end of the first sub-rack 231 through a rotating shaft 211, the axial direction of the rotating shaft 211 is along the width direction of the sliding frame 222, the first sub-frame 231 is provided with a first driving assembly 25 and a second driving assembly 26, the first driving assembly 25 and the second driving assembly 26 have the same structure, and each of the first driving assembly 25 and the second driving assembly 26 comprises a first driving motor 261 and a transmission assembly 262 connected to an output shaft of the first driving motor 261, the first driving motor 261 of the first driving assembly 25 and the first driving motor 261 of the second driving assembly 26 are both mounted on the first sub-frame 231, an output end of the transmission assembly 262 of the first driving assembly 25 is connected with a wheel shaft of the traveling wheel 210 and used for driving the first sub-frame 231 to relatively slide along the rotating frame 22, and an output end of the transmission assembly 262 of the second driving assembly 26 is connected with the rotating shaft 211 and used for driving the second sub-frame 232 to relatively rotate with the first sub-frame 231; specifically, two connecting plates are fixedly connected to one side of the second sub-frame 232, the two connecting plates are sleeved and rotatably connected to the peripheral side of the rotating shaft 211, and the second sub-frame 232 and the first sub-frame 231 are spaced by a certain distance, so that the first sub-frame 231 and the second sub-frame 232 are not easily interfered when rotating, the relative rotating angle range is expanded, and the second sub-frame 232 can rotate about the rotating shaft 211 by 170 degrees plus or minus 5 degrees; in other embodiments of the present invention, in order to further improve the braking effect of the rotating shaft 211 and improve the stability of the fork 21 when forking goods, an electromagnetic brake is installed on the rotating shaft 211; in this embodiment, the transmission assembly 262 is a transmission gear set, but in other embodiments of the present invention, a person skilled in the art may also select belt transmission, chain transmission, etc. in the prior art, and cooperate with an electromagnetic brake to realize the rotation and braking of the second sub-frame 232;
the other side of the second subframe 232 is connected with two slide rails oppositely arranged along the width direction of the second subframe 232, the fork 21 is connected with two slide blocks 28 matched with the slide rails, the two slide blocks 28 are respectively connected in the two slide rails, the sliding direction of the slide blocks 28 is along the length direction of the second subframe 232, the second subframe 232 is provided with a third driving assembly 27, the output end of the third driving assembly 27 is connected with the fork 21 and used for driving the fork 21 to move, the third driving assembly 27 comprises a second driving motor 271 arranged on the second subframe 232, a screw rod 272 connected to the output shaft of the second driving motor 271 through a transmission unit, a moving block 273 sleeved and screwed on the screw rod 272, a fixed block 274 sleeved and rotatably connected to the end of the screw rod 272, and a moving plate 275 connected to the moving block 273; the axial direction of the screw 272 is arranged along the length direction of the sliding rail, the axis of the output shaft of the second driving motor 271 is perpendicular to the axis of the screw 272, the two driving units are in transmission connection through a transmission unit, the transmission unit is a bevel gear set, the fixed block 274 is connected to the second subframe 232, two ends of the moving plate 275 are respectively connected with the two sliders 28, the second driving motor 271 rotates to drive the screw 272 to rotate, the screw 272 rotates to drive the moving block 273 connected thereto to move along the axial direction of the screw 272 through screw transmission, so that the moving plate 275 drives the sliders 28 to move, and the position adjustment of the pallet fork 21 is realized; it should be noted that the specific structure of the third driving assembly 27 is only a preferred embodiment of the present invention, and in other embodiments of the present invention, a person skilled in the art can select other driving structures to drive the sliding block 28 to move along the sliding rail, so as to accomplish the same position adjustment of the fork 21.
When the lifting device is used, the lower driving piece 18 is controlled to stretch according to the posture of a vehicle body, the first-stage portal frame 11 is pushed to rotate around the upper hinge point, the portal frame assembly 1 is adjusted to be on a vertical surface, then the upper driving piece 15 is controlled to extend, the output end of the upper driving piece 15 directly pushes the second-stage portal frame 12 to ascend, meanwhile, the chain 172 in the first transmission mechanism 16 pulls the third-stage portal frame 13 to ascend and descend along with the following, then the second electric cylinders are controlled to extend or shorten synchronously to drive the floating carriage 14 to ascend and descend until the fork 21 is adjusted to be close to the height of a target cargo pallet 02, then the two second electric cylinders are respectively controlled to work, one second electric cylinder is controlled to extend, the other second electric cylinder is controlled to shorten, the sliding frame 222 is driven to rotate around the slewing bearing until the fork part of the fork 21 is adjusted to the horizontal part, then the first driving motor 261 in the second driving assembly 26 is controlled to start working, the rotating shaft 211 is driven to rotate through gear transmission, the second sub-frame 232 is driven to move in a follow-up mode, the fork 21 is adjusted to the position aligned with the goods tray, then the first driving motor 261 of the first driving assembly 25 is controlled to work, the traveling wheels 210 are driven to rotate, the fork 21 is inserted into the bottom of the goods tray along the traveling track, at the moment, the two fourth driving assemblies 24 are controlled to synchronously extend for a certain distance, the goods tray is supported from the goods shelf, and finally the fork 21 is controlled to retract, so that the fork taking operation of the goods can be completed.
As shown in fig. 1, the forklift comprises a forklift body and a mast fork device arranged in front of the forklift body, wherein the mast fork device is a self-adaptive posture adjusting mast fork device for field use; the body of the forklift can be a common forklift, preferably a caterpillar forklift with cross-country capacity.
In the embodiment, in order to further reduce the working intensity of workers and realize the access of the unmanned cargo pallet 02, a laser navigation device is arranged on the forklift, a storage battery and a control system are installed in a forklift body, an inclination sensor is installed on the forklift, a laser scanner is arranged on the mounting frame 23, a reflector is correspondingly preset on the goods shelf, a distance sensor is installed on the goods fork 21 and used for sensing the relative position of the goods fork 21 and the cargo pallet 02 in real time, the laser navigation device, the laser scanner and the distance sensor are all connected into the control system, and the forklift can automatically move to the position near the designated cargo pallet 02 through laser navigation; fork truck adopts AGV track fork truck, send the operation instruction to fork truck through remote computer, the position state of automobile body is sent for control system through the form of signal of telecommunication through angular transducer, automatic relevant electric device work according to automobile body state control through control system, adjust the fork goods part of fork 21 to the horizontality, acquire fork truck's positional information through laser scanner scanning reflector panel, and compare with tray 02's positional information and solve, obtain the required horizontal translation of fork and vertical lift stroke, then go up and down and the translation accent appearance to the fork, realize the accurate back of counterpointing of fork and goods tray, begin to get goods, after fork 21 inserts goods tray 02 downside, can be according to predetermined operating procedure, withdraw the fork, accomplish goods tray 02 and take out the operation.

Claims (10)

1. The utility model provides an open-air self-adaptation appearance portal fork device that uses which characterized in that: the forklift truck comprises a portal assembly (1) with adjustable length and a fork assembly (2) arranged at an adjusting end of the portal assembly (1), wherein the adjusting end of the portal assembly (1) is used for adjusting the height of the fork assembly (2);
the fixed end of the gantry assembly (1) is provided with an upper hinge point and a lower hinge point, the upper hinge point is used for being connected with a vehicle body, the lower hinge point is hinged with a lower driving piece (18), and the output end of the lower driving piece (18) is used for driving the gantry assembly (1) to rotate around the upper hinge point in a pitching mode;
the fork assembly (2) comprises a fork (21), a mounting frame (23) and a rotating frame (22) hinged to the portal assembly (1) through a rotating connecting piece (29);
a fourth driving assembly (24) is installed at the adjusting end of the gantry assembly (1), and the output end of the fourth driving assembly (24) is connected to the rotating frame (22) and used for driving the rotating frame (22) to lift or rotate;
the mounting frame (23) comprises a first sub-frame (231) and a second sub-frame (232), one end of the first sub-frame (231) is slidably connected to the rotating frame (22), the sliding direction of the first sub-frame (231) is along the width direction of the portal frame assembly (1) when the rotating frame (22) is in the initial position, one side of the second sub-frame (232) is relatively rotatably connected with the other end of the first sub-frame (231), and the fork (21) is connected to the other side of the second sub-frame (232);
the first sub-frame (231) is provided with a first driving assembly (25) and a second driving assembly (26), the first driving assembly (25) is used for driving the first sub-frame (231) and the rotating frame (22) to slide relatively, and the second driving assembly (26) is used for driving the second sub-frame (232) and the first sub-frame (231) to rotate relatively.
2. The adaptive attitude mast fork apparatus for field use according to claim 1, wherein: a walking track group is arranged on the rotating frame (22), one end of the first sub-frame (231) is connected into the walking track group through a plurality of walking wheels (210), and one side of the second sub-frame (232) is connected to the other end of the first sub-frame (231) through a rotating shaft (211);
the output end of the first driving assembly (25) is connected with a wheel shaft of one of the travelling wheels (210) and used for driving the travelling wheels (210) to rotate, and the output end of the second driving assembly (26) is connected with the rotating shaft (211) and used for driving the rotating shaft (211) to rotate.
3. The adaptive attitude mast fork apparatus for field use of claim 2, characterized in that: the rotating frame (22) comprises a connecting frame (221) and a sliding frame (222) with one side connected to the connecting frame (221);
the connecting frame (221) is connected with the door frame component (1) through a rotary connecting piece (29);
the output end of the fourth driving assembly (24) is connected to the sliding frame (222), the length direction of the sliding frame (222) is arranged along the width direction of the gantry assembly (1) at the initial position, the walking track set is connected to the other side of the sliding frame (222), and the length direction of the walking track in the walking track set is arranged along the length direction of the sliding frame (222).
4. The adaptive attitude mast fork apparatus for field use according to claim 3, wherein: the first driving assembly (25) and the second driving assembly (26) are identical in structure and respectively comprise a first driving motor (261) and a transmission assembly (262) of which the input end is connected to the output shaft of the first driving motor (261);
the first driving motors (261) of the first driving assembly (25) and the second driving assembly (26) are both installed on the first sub-frame (231), the output end of the transmission assembly (262) of the first driving assembly (25) is connected with the wheel shaft of the traveling wheel (210), and the output end of the transmission assembly (262) of the second driving assembly (26) is connected with the rotating shaft (211).
5. The adaptive attitude mast fork apparatus for field use according to claim 4, wherein: the pallet fork (21) is connected to the other side of the second sub-frame (232) in a sliding mode, and the sliding direction is along the length direction of the second sub-frame (232);
and a third driving assembly (27) is arranged on the other side of the second sub-frame (232), and the output end of the third driving assembly (27) is connected with the pallet fork (21) and used for driving the pallet fork (21) to slide.
6. The adaptive attitude mast fork apparatus for field use according to claim 5, wherein: the upper end and the lower end of the other side of the second sub-frame (232) are oppositely provided with two sliding rails along the length direction, the fork (21) is connected with two sliding blocks (28) matched with the sliding rails, and the two sliding blocks (28) are respectively connected into the two sliding rails;
the third driving assembly (27) comprises a second driving motor (271) arranged on the second sub-frame (232), a lead screw (272) connected to an output shaft of the second driving motor (271) through a transmission unit, a moving block (273) sleeved on and in threaded connection with the lead screw (272), a fixed block (274) sleeved on and rotatably connected to the end of the lead screw (272), and a moving block (275) connected to the moving block (273);
the fixed block (274) is connected to the second sub-frame (232), and two ends of the moving plate (275) are respectively connected with the two sliding blocks (28).
7. The adaptive attitude mast fork apparatus for field use according to claim 6, wherein: the gantry assembly (1) comprises a first-stage gantry (11), a second-stage gantry (12) connected to the first-stage gantry (11) in a sliding mode, a third-stage gantry (13) connected to the second-stage gantry (12) in a sliding mode, and a floating sliding frame (14) connected to the third-stage gantry (13) in a sliding mode;
the upper hinge point and the lower hinge point are both arranged on the first-stage door frame (11); the rotating frame (22) is connected to the floating carriage (14), and the fourth driving assembly (24) is connected to the third-stage gantry (13);
an upper driving piece (15) is installed on the first-stage door frame (11), and the output end of the upper driving piece (15) is connected with the second-stage door frame (12) and used for driving the second-stage door frame (12) to lift along the length direction of the first-stage door frame (11); the two-stage gantry (12) is provided with a first transmission mechanism (16), one end of the first transmission mechanism (16) is connected with the one-stage gantry (11), and the other end of the first transmission mechanism (16) is connected with the three-stage gantry (13) and is used for driving the three-stage gantry (13) and the two-stage gantry (12) to lift simultaneously;
and a second transmission mechanism (17) is arranged on the third-stage door frame (13), one end of the second transmission mechanism (17) is connected with the third-stage door frame (13), and the other end of the second transmission mechanism is connected with the floating sliding frame (14).
8. The adaptive attitude mast fork apparatus for field use of claim 7, wherein: the lower driving piece (18) and the upper driving piece (15) are both first electric cylinders;
the fourth driving assembly (24) comprises two oppositely arranged and respectively controlled second electric cylinders, the two second electric cylinders drive the sliding frame (222) and the floating sliding frame (14) to synchronously lift during synchronous extension and retraction, and the sliding frame (222) is driven to rotate around the rotating connecting piece (29) during respective extension and retraction;
the first transmission mechanism (16) and the second transmission mechanism (17) are both chain transmission mechanisms.
9. The adaptive attitude mast fork apparatus for field use according to claim 8, wherein: the chain transmission mechanisms of the first transmission mechanism (16) and the second transmission mechanism (17) comprise two chain wheels (171) and two chains (172) which are connected to the two chain wheels (171) and arranged in parallel respectively;
two chain wheels (171) of the second transmission mechanism (17) are oppositely arranged on the third-stage door frame (13), one ends of two chains (172) of the second transmission mechanism (17) are connected with the third-stage door frame (13), and the other ends of the two chains are connected with the floating sliding frame (14);
two chain wheels (171) of the first transmission mechanism (16) are oppositely arranged on the second-stage door frame (12), one ends of two chains (172) of the first transmission mechanism (16) are connected with the first-stage door frame (11), and the other ends of the two chains are connected with the third-stage door frame (13).
10. The utility model provides a forklift, includes the automobile body and installs in the portal fork device in automobile body the place ahead which characterized in that: the mast pallet fork device is the self-adaptive attitude mast pallet fork device for field use as claimed in any one of claims 1 to 9.
CN202211021103.7A 2022-08-24 2022-08-24 Adaptive posture gantry fork device for field use and forklift Pending CN115557426A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202211021103.7A CN115557426A (en) 2022-08-24 2022-08-24 Adaptive posture gantry fork device for field use and forklift
CN202322248704.8U CN220596940U (en) 2022-08-24 2023-08-21 Crawler-type unmanned cross-country stacking forklift
CN202311054016.6A CN117105124A (en) 2022-08-24 2023-08-21 Crawler-type unmanned cross-country stacking forklift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211021103.7A CN115557426A (en) 2022-08-24 2022-08-24 Adaptive posture gantry fork device for field use and forklift

Publications (1)

Publication Number Publication Date
CN115557426A true CN115557426A (en) 2023-01-03

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Application Number Title Priority Date Filing Date
CN202211021103.7A Pending CN115557426A (en) 2022-08-24 2022-08-24 Adaptive posture gantry fork device for field use and forklift

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Country Link
CN (1) CN115557426A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116040533A (en) * 2023-03-30 2023-05-02 山东力达智能车辆产业技术研究院有限公司 Lifting device for expanding car window body side
CN116835201A (en) * 2023-07-28 2023-10-03 中国邮政集团有限公司淄博市博山区分公司 Warehouse logistics stacking device and method
CN117902210A (en) * 2024-02-26 2024-04-19 安徽海玛智能科技有限公司 Four-way shuttle with liftable tray

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116040533A (en) * 2023-03-30 2023-05-02 山东力达智能车辆产业技术研究院有限公司 Lifting device for expanding car window body side
CN116835201A (en) * 2023-07-28 2023-10-03 中国邮政集团有限公司淄博市博山区分公司 Warehouse logistics stacking device and method
CN116835201B (en) * 2023-07-28 2024-03-12 中国邮政集团有限公司淄博市博山区分公司 Warehouse logistics stacking device and method
CN117902210A (en) * 2024-02-26 2024-04-19 安徽海玛智能科技有限公司 Four-way shuttle with liftable tray

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