CN213976838U - Three-degree-of-freedom forklift - Google Patents

Three-degree-of-freedom forklift Download PDF

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Publication number
CN213976838U
CN213976838U CN202022356442.3U CN202022356442U CN213976838U CN 213976838 U CN213976838 U CN 213976838U CN 202022356442 U CN202022356442 U CN 202022356442U CN 213976838 U CN213976838 U CN 213976838U
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China
Prior art keywords
chassis
wheels
degree
fork
bearing
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CN202022356442.3U
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Chinese (zh)
Inventor
刘宏伟
闫善玉
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Harbin liangdun Technology Co.,Ltd.
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Harbin Shengshi Kanghong Biotechnology Co ltd
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Abstract

A three-degree-of-freedom forklift belongs to cargo handling equipment and solves the problems that when an existing forklift is used for handling cargos, the cargos are prone to tilting, steering is not flexible enough, safety is poor, and handling and unloading efficiency is affected. The utility model discloses a fork, hydraulic pressure subassembly, portal, chassis, glide machanism, drive division, motor and four wheels rotate on the chassis and are provided with four wheels, and every wheel passes through motor drive, and the fork setting is on the portal, is provided with hydraulic pressure subassembly and drive fork on the portal and can the lift removal on the portal, and the portal passes through glide machanism and is connected with the chassis, makes the fork stretch out from chassis one side through the drive division drive between portal and the chassis, be equipped with sign indicating number goods platform on the chassis, four wheels are mecanum wheel, and two adjacent mecanum wheel rotation directions are opposite around the chassis. The utility model discloses application range is wide, can replace ordinary fork truck, is applicable to the narrow and small occasion in space more and uses.

Description

Three-degree-of-freedom forklift
Technical Field
The utility model relates to a fork truck, concretely relates to can turn to in a flexible way and fork truck who removes.
Background
Industrial transportation vehicles are widely used in ports, stations, airports, cargo yards, factory workshops, warehouses, distribution centers, and the like, and are equipments essential for carrying and loading/unloading pallet goods in cabins, carriages, and containers.
Forklifts play a very important role in logistics systems of enterprises, being the prime force among materials handling equipment. The method is widely applied to various departments in national economy such as stations, ports, airports, factories, warehouses and the like. During world war ii, forklifts were developed. China manufactured forklifts from the beginning of the 50 s of the 20 th century. Particularly, with the rapid development of Chinese economy, the material handling of most enterprises has been separated from the original manual handling, and is replaced by the mechanical handling mainly based on a forklift. And fork truck when the longer broad goods of transport size, the balanced degree of difficulty is big, the slope takes place easily for the goods in the handling, the stack security is poor, it is not stable enough, and do not have the overhead traveling crane usually in the storehouse, in order to improve storehouse space utilization, the storehouse passageway is narrower, the longer goods of general fork truck transport hardly passes through, fork truck also is difficult to turn to in the passageway in a flexible way when carrying general goods, it is very inconvenient when making the transport goods, influence transport and discharge efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve current fork truck and have the goods to take place the slope easily when the transport goods, turn to not nimble enough and the security is poor, influence the problem of transport and discharge efficiency, and provide a three degree of freedom fork truck.
The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be:
the utility model provides a three degree of freedom fork truck, includes fork, hydraulic assembly, portal, chassis, glide machanism, drive division, motor and four wheels, rotates on the chassis and is provided with four wheels, and every wheel passes through motor drive, and the fork sets up on the portal, is provided with hydraulic assembly on the portal and drives the fork and can the elevating movement on the portal, and the portal passes through glide machanism and is connected with the chassis, makes the fork follow chassis one side through the drive division drive between portal and the chassis and stretches out, be equipped with sign indicating number goods platform on the chassis, four wheels are mecanum wheel, and two adjacent mecanum wheel rotation opposite around the chassis.
Preferably, the sliding mechanism comprises two groups of guide wheels and two groups of bearing wheels, a group of guide wheels and a group of bearing wheels are respectively arranged on two sides of the door frame, two guide grooves are formed in the chassis, and each group of guide wheels and each group of bearing wheels are respectively arranged in each guide groove, so that the door frame transversely moves and extends out of one side of the chassis.
Preferably, the driving part comprises a hydraulic cylinder, the gantry and the chassis are connected through the hydraulic cylinder, and the gantry moves through the hydraulic cylinder.
Preferably, the motors driving the four wheels are all servo motors.
Preferably, the cargo platform is located between the left and right sets of wheels.
Preferably, a balancing weight for keeping the forklift balanced when carrying goods is arranged on the chassis.
Preferably, the three-degree-of-freedom forklift further comprises four motor batteries for driving the wheels.
Preferably, the three-degree-of-freedom forklift further comprises four sets of damping systems, each set of damping system comprises a bearing seat, a guide mechanism, a mounting seat and an elastic damping part, the bearing seats are connected with the mounting seats through the guide mechanisms and can slide up and down, the mounting seats are fixed on the chassis, the elastic damping parts are further arranged on the mounting seats, the bearing seats are abutted to the elastic damping parts, and rotating shafts on wheels are arranged in the bearing seats through bearings.
Preferably, the guide mechanism comprises two linear guide rails and two sliding blocks, wherein the two linear guide rails are fixedly connected with the bearing seat and are arranged on two sides of the rotating shaft, the sliding blocks are fixedly connected with the mounting seat, and each sliding block is arranged on each linear guide rail in a sliding manner.
Compared with the prior art, the utility model following beneficial effect has:
one, the utility model discloses set up four mecanum wheels on the chassis to through the rotational speed of each wheel of motor drive control and turn to, can realize the advancing of wheel, translation and original place are rotatory, walk more in narrow space when making fork truck transport goods more nimble, and with the fork setting in one side of fork truck, when the longer goods of the great length of transport width, make the length of goods unanimous with fork truck walking side, can walk in constrictive space, and the utility model discloses sign indicating number goods platform has been set up on the chassis, on carrying fork truck's sign indicating number goods platform with the goods through the fork, make fork truck transport walking more stable safety, avoid traditional fork to appear the slope when carrying longer goods, make the focus take place the skew, cause the unstable problem of fork truck walking.
Two, the utility model discloses directly over two wheels around the yard goods platform is located, fork truck's focus is located around on the two-wheeled central plane, makes fork truck wheel atress more even, increases the static friction on wheel and ground.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a top view of the cargo platform without stacking according to the present invention, wherein the arrow indicates the moving direction of the fork 1;
fig. 3 is a front view of the fork 1 of the present invention when extended;
FIG. 4 is a schematic view of the shock absorbing system of the present invention;
fig. 5 is a schematic view of the glide mechanism on the gantry 3;
reference numerals in the drawings: 1. a pallet fork; 2. a hydraulic assembly; 3. a gantry; 4. a chassis; 5. a motor; 6. a wheel; 7. a guide wheel; 8. a hydraulic cylinder; 9. a bearing seat; 10. a guide mechanism; 11. a mounting seat; 12. an elastic shock-absorbing member; 13. a rotating shaft; 14. a bearing; 15. a load-bearing wheel; 10-1, linear guide rail; 10-2, a sliding block; 4-1, and a goods stacking platform.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
Example 1: the embodiment is described with reference to fig. 1 to 5, and the embodiment relates to a three-degree-of-freedom forklift, which includes a pallet fork 1, a hydraulic assembly 2, a mast 3, a chassis 4, a sliding mechanism, a driving part, a motor 5 and four wheels 6, wherein the chassis 4 is rotatably provided with the four wheels 6, each wheel 6 is driven by the motor 5, the pallet fork 1 is arranged on the mast 3, the mast 3 is provided with the hydraulic assembly 2 and drives the pallet fork 1 to be lifted on the mast 3, the mast 3 is connected with the chassis 4 by the sliding mechanism, the mast 3 and the chassis 4 are driven by the driving part to enable the pallet fork 1 to extend out from one side of the chassis 4, the chassis 4 is provided with a palletizing platform 4-1, the four wheels 6 are mecanum wheels, and the rotation directions of two mecanum wheels adjacent to each other on the chassis 4 are opposite.
Hydraulic assembly 2 includes the jacking pneumatic cylinder, lifts up the goods for making fork 1, establishes the jacking pneumatic cylinder is fixed on portal 3, and jacking pneumatic cylinder execution end and fork fixed connection, and fork 1 sets up in order playing the guide effect on portal 3 is slided, and its specific connection structure is the same with the connection structure on the current fork truck, no longer gives details here.
The four wheels 6 are Mecanum wheels, and in order to realize the forward, transverse and in-situ rotation movement of the forklift, each wheel 6 adopts a motor 5 to independently control the rotating speed and the steering direction, so that the wheels 6 generate independent forward driving force, transverse force and couple when in contact with the ground. Specifically, the motor 5 is a servo motor.
Fork truck's fork sets up at the front end usually, when carrying longer goods, violently puts the goods, walks at narrower passageway, can meet the hindrance to the width that the fork was adjusted is limited, and the goods takes place the slope easily during the transport walking, makes focus skew cause fork truck transport goods temperature stability poor, appears toppling easily.
This embodiment can save space when making fork truck transport goods walking in order to make fork truck, sets fork 1 to the telescopic form to fork 1 is located one side on chassis 4, makes fork 1 stretch out when transporting the goods, and fork 1 is in the contraction state during fork truck walking, is located the fork truck bottom, and places the goods on sign indicating number goods platform 4-1, so that the utility model discloses fork truck can save space when walking, also keeps stability simultaneously. Under the general condition, this embodiment fork truck is owing to fork 1 is in fork truck's one side when unloading, needn't turn to, and the loading and unloading efficiency is improved to convenient unloading more.
When the goods are transported, the gravity center of the forklift deviates to one side, the goods are transported to the goods stacking platform 4-1, the gravity center of the forklift is close to the centers of the four wheels, so that the stability is kept in the walking process,
the extension and retraction of the fork 1 is achieved by a sliding mechanism and a driving part. Specifically, the sliding mechanism comprises two groups of guide wheels 7 and two groups of bearing wheels 15, a group of guide wheels 7 and a group of bearing wheels 15 are respectively arranged on two sides of the door frame 3, two guide grooves are formed in the chassis 4, and each group of guide wheels 7 and each group of bearing wheels 15 are respectively arranged in each guide groove, so that the door frame 3 transversely moves and extends out of one side of the chassis 4.
As shown in fig. 5, for a schematic view of the sliding mechanism, optionally, two symmetrically arranged channel steels are welded on two sides of the chassis 4, notches of the channel steels are used as guide grooves, the notches of the channel steels are arranged oppositely inward, in order to enhance the bearing capacity of the joint of the chassis 4 and the gantry 3, two sets of bearing wheels 15 are arranged in the grooves of the channel steels, the axis of each bearing wheel 15 is horizontally arranged, the number of each set of bearing wheels 15 can be 2-3, and the distance between the two bearing wheels 15 is increased as much as possible. Each group of guide wheels 7 is arranged in the notch of each channel steel and attached to the bottom of the notch, and the number of each group of guide wheels 7 can be 2.
The driving part comprises a hydraulic cylinder 8, the gantry 3 is connected with the chassis 4 through the hydraulic cylinder 8, and the gantry 3 moves through the hydraulic cylinder 8.
As shown in fig. 4, the driving portion may be configured to have the same structure as the folding hydraulic lift mechanism of the folding hydraulic lift of the related art.
In order to maintain the stability of the forklift truck in carrying the goods, the center of the forklift truck is positioned between four wheels when the goods are carried as much as possible, therefore, the cargo stacking platform 4-1 is positioned between the left and right sets of wheels 6, and the fork 1 is arranged between the cargo stacking platform 4-1 to maintain the stability of the forklift truck in loading, carrying and unloading.
In order to make the forklift running process stable, each wheel 6 of the forklift is provided with a set of damping system, as shown in fig. 4, each set of damping system comprises a bearing seat 9, a guide mechanism 10, a mounting seat 11 and an elastic damping part 12, the bearing seats 9 are connected with the mounting seats 11 through the guide mechanisms 10 and can slide up and down, the mounting seats 11 are fixed on the chassis 4, the elastic damping parts 12 are further arranged on the mounting seats 11, the bearing seats 9 are propped against the elastic damping parts 12, and a rotating shaft 13 on each wheel 6 is arranged in the bearing seats 9 through a bearing 14.
In order to improve the bearing capacity and moment of the forklift during walking, optionally, the guide mechanism 10 comprises two linear guide rails 10-1 and two sliding blocks 10-2, wherein the two linear guide rails 10-1 are fixedly connected with the bearing seat 9 and are arranged on two sides of the rotating shaft 13, the sliding blocks 10-2 are fixedly connected with the mounting seat 11, and each sliding block 10-2 is arranged on each linear guide rail 10-1 in a sliding manner.
Alternatively, the resilient shock absorbing member 12 is a spring steel plate, which may be of the same construction as a shock absorbing steel plate in a vehicle. The elastic damping member 12 may also be a shock absorber.
In order to facilitate loading and unloading of goods and enable the forklift to walk more stably, the center of gravity of the forklift before and after goods are carried is guaranteed to move along the center plane of the front wheel and the center plane of the rear wheel, the center of gravity does not exceed the forklift body during goods fork loading and after goods carrying, stress on the four wheels 6 is more uniform, static friction force between the wheels 6 and the ground is increased, optionally, the fork 1 extends out from the left side or the right side of the forklift, and when the fork 1 does not extend out, the overlooking projection of the forklift is in a shape like a figure.
The chassis 4 is provided with a balancing weight 8 for keeping the forklift balanced during cargo carrying, and the balancing weight 8 is arranged on one side opposite to the cargo stacking platform 4-1 so as to increase the balance of the forklift and keep certain static friction force.
The present embodiment also includes batteries 9 for powering the motors 5 on the four wheels 6.
Also can set up the front end of fork truck in this embodiment and keep away the barrier radar, keep away the barrier radar and can adopt laser radar. The forklift is provided with a controller, and the obstacle avoidance radar is connected with an input port of the controller on the forklift to avoid the obstacle in front. When there is an obstacle in front, the obstacle-avoidance radar outputs a signal to a controller in the forklift, and the controller outputs a signal to a motor so that the forklift bypasses the obstacle.
The forklift in the embodiment can control walking in a human or remote control mode. When the remote controller is used for controlling the vehicle to walk, the remote control receiver is arranged on the forklift and connected with the remote control input port of the controller, a signal generated by pressing the remote controller by a person is transmitted to the remote control receiver in a wireless transmission mode, the remote control receiver transmits the signal to the controller, and the controller transmits an output signal to the driver so that the driver controls the motor to walk.
Example 2: the utility model discloses the overall dimension who contains the fork does: the length X width X height is 3500mm X3650 mm X2096 mm. The width of the passageway of the warehouse is 4200mm, if the pipe material of 5m bundle length is carried, then ordinary fork truck is difficult to pass through, and utility model's width after fork truck carries the goods remains unchanged, does not receive the restriction of goods length, consequently passes from the passageway of warehouse very easily.
Although the present invention has been described in detail with reference to certain specific embodiments, it will be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (10)

1. A three-degree-of-freedom forklift comprises a pallet fork (1), a hydraulic component (2), a portal frame (3), a chassis (4), a motor (5) and four wheels (6), wherein the chassis (4) is rotatably provided with the four wheels (6), each wheel (6) is driven by the motor (5), the pallet fork (1) is arranged on the portal frame (3), the portal frame (3) is provided with the hydraulic component (2) and drives the pallet fork (1) to lift on the portal frame (3), is characterized by also comprising a sliding mechanism and a driving part, wherein the door frame (3) is connected with the chassis (4) through the sliding mechanism, the door frame (3) and the chassis (4) are driven by the driving part to ensure that the pallet fork (1) extends out of one side of the chassis (4), a goods stacking platform (4-1) is arranged on the chassis (4), the four wheels (6) are Mecanum wheels, and the rotation directions of the two adjacent Mecanum wheels on the chassis (4) are opposite.
2. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: the sliding mechanism comprises two groups of guide wheels (7) and two groups of bearing wheels (15), a group of guide wheels (7) and a group of bearing wheels (15) are arranged on two sides of the door frame (3) respectively, two guide grooves are formed in the chassis (4), and each group of guide wheels (7) and each group of bearing wheels (15) are arranged in each guide groove respectively, so that the door frame (3) can move transversely and stretch out from one side of the chassis (4).
3. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: the driving part comprises a hydraulic cylinder (8), the gantry (3) is connected with the chassis (4) through the hydraulic cylinder (8), and the gantry (3) moves through the hydraulic cylinder (8).
4. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: the motors (5) driving the four wheels (6) are all servo motors.
5. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: the goods stacking platform (4-1) is positioned between the left and right groups of wheels (6).
6. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: and a balancing weight for keeping the forklift balanced during cargo carrying is arranged on the chassis (4).
7. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: the vehicle also comprises batteries for supplying power to the motors (5) on the four wheels (6).
8. The three-degree-of-freedom forklift truck according to claim 1, characterized in that: still include four sets of shock mitigation systems, every set of shock mitigation system includes bearing frame (9), guiding mechanism (10), mount pad (11) and elasticity shock-absorbing component (12), bearing frame (9) are connected and can slide from top to bottom through guiding mechanism (10) and mount pad (11), and mount pad (11) are fixed on chassis (4), still are equipped with elasticity shock-absorbing component (12) on mount pad (11), and bearing frame (9) push up mutually with elasticity shock-absorbing component (12), and pivot (13) on every wheel (6) pass through bearing (14) and set up in bearing frame (9).
9. The three degree-of-freedom forklift truck according to claim 8, characterized in that: the elastic damping component (12) is a spring steel plate.
10. The three degree-of-freedom forklift truck according to claim 8, characterized in that: the guide mechanism (10) comprises two linear guide rails (10-1) and two sliding blocks (10-2), wherein the two linear guide rails (10-1) are fixedly connected with the bearing seat (9) and arranged on two sides of the rotating shaft (13) opposite to the bearing seat, the sliding blocks (10-2) are fixedly connected with the mounting seat (11), and each sliding block (10-2) is arranged on each linear guide rail (10-1) in a sliding manner.
CN202022356442.3U 2020-10-21 2020-10-21 Three-degree-of-freedom forklift Active CN213976838U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202022356442.3U CN213976838U (en) 2020-10-21 2020-10-21 Three-degree-of-freedom forklift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202022356442.3U CN213976838U (en) 2020-10-21 2020-10-21 Three-degree-of-freedom forklift

Publications (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112125231A (en) * 2020-10-21 2020-12-25 哈尔滨盛世康虹生物技术有限公司 Three-degree-of-freedom forklift

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112125231A (en) * 2020-10-21 2020-12-25 哈尔滨盛世康虹生物技术有限公司 Three-degree-of-freedom forklift
CN112125231B (en) * 2020-10-21 2023-10-31 哈尔滨盛世康虹生物技术有限公司 Three-degree-of-freedom forklift

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Effective date of registration: 20211222

Address after: Room 211, 1-3 / F, building C, 140 Dacheng street, Nangang District, Harbin City, Heilongjiang Province

Patentee after: Harbin liangdun Technology Co.,Ltd.

Address before: Room a205-6, building a, building 2, innovation and entrepreneurship Plaza, science and technology innovation city, high tech Industrial Development Zone, Harbin, Heilongjiang Province

Patentee before: HARBIN SHENGSHI KANGHONG BIOTECHNOLOGY CO.,LTD.