CN218320604U

CN218320604U - Omnidirectional carrying and stacking forklift mechanism

Info

Publication number: CN218320604U
Application number: CN202222009575.2U
Authority: CN
Inventors: 常宏; 任志刚
Original assignee: Shenzhen Branch Billion Technology Co ltd
Current assignee: Shenzhen Branch Billion Technology Co ltd
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-01-17
Anticipated expiration: 2032-08-01

Abstract

The utility model relates to the technical field of engineering manufacturing and transportation, in particular to an omnidirectional carrying and stacking forklift mechanism, which comprises a forklift body, a driving system and a pallet fork moving mechanism; the fork moving mechanism comprises a main beam, a cross beam, a telescopic beam, a sleeve beam, a fork and an auxiliary beam, and the telescopic beam is connected with the sleeve beam in a sliding manner; the main beam is connected with the cross beam in a sliding manner; the auxiliary beam is rotatably connected with the main beam, and the fork is slidably connected with the auxiliary beam. The utility model discloses a carry on mecanum wheel coordination complex actuating system, fork moving mechanism and push pedal telescopic machanism and realize the omnidirectional transport stack of goods, have very high flexible flexibility under the special occasion that operating space is limited and need the wide-angle turn, can high-efficiently accomplish work, compare with traditional transportation technique and have obvious superiority.

Description

Omnidirectional carrying and stacking forklift mechanism

Technical Field

The utility model relates to an engineering manufacturing transportation technical field specifically is an omnidirectional carrying stack fork truck mechanism.

Background

Industrial transportation vehicles represented by forklifts are widely used in ports, stations, airports, cargo yards, workshops, warehouses, distribution centers and the like, and are indispensable equipment for transporting and stacking cargos.

Under the influence of a design mechanism, the common forklift faces the limitations of minimum turning radius, the minimum radius of a right-angle channel, the minimum radius of a stacking space and the like in the processes of carrying goods and stacking, and the common forklift requires that a running channel and a turning channel have certain space allowance so as to ensure that the forklift can smoothly turn, turn around and the like and is difficult to adapt to narrow operation environments. For the specific place, the common forklift can not accurately reach the target position; or require multiple directional adjustments which significantly reduces the operating efficiency and range of the truck. In addition, ordinary fork truck usually needs to take the tray to carry and stack the goods, and the tray is moved back and forth along with the commodity circulation, and this has reduced the effective utilization space of carrier, has increased the damage of tray and has lost the probability. For the scene that strictly requires to go the tray, generally adopt artifical stack at present, intensity of labour is big, and the human cost is high.

SUMMERY OF THE UTILITY MODEL

To the problem that exists among the prior art, the utility model provides an omnidirectional carrying stack fork truck mechanism for the automobile body can accurately target in place fast, reduces artifical stack intensity of labour, improves stack efficiency.

The utility model discloses a realize through following technical scheme:

an omnidirectional carrying and stacking forklift mechanism comprises a forklift body, a driving system and a pallet fork moving mechanism;

the driving system comprises a plurality of driving mechanisms, each driving mechanism comprises a planetary gear reducer, a direct current servo motor and a Mecanum wheel, and the Mecanum wheels are suspended below the vehicle body; the Mecanum wheel is connected with the direct current servo motor through a planetary gear reducer;

the fork moving mechanism comprises a main beam, a cross beam, a telescopic beam, a sleeve beam, a fork and a secondary beam, wherein the telescopic beam is fixedly connected with the cross beam, the telescopic beam is connected with the sleeve beam in a sliding manner, and one end of the sleeve Liang Yuanli telescopic beam is connected with a vehicle body; the main beam is connected with the cross beam in a sliding manner; the auxiliary beam is rotatably connected with the main beam, and the fork is slidably connected with the auxiliary beam.

Preferably, a first linear sliding guide rail is arranged between the telescopic beam and the sleeve beam, and the length axis of the first linear sliding guide rail is parallel to the length axis of the sleeve beam.

Preferably, a third linear sliding guide rail is arranged between the main beam and the cross beam, and the length axis of the third linear sliding guide rail is parallel to the length axis of the cross beam.

Preferably, the fork includes fork truck pinion rack and holding down plate, the holding down plate is connected in fork truck pinion rack bottom, fork truck pinion rack and auxiliary girder sliding connection.

Preferably, a second linear sliding guide rail is arranged between the forklift toothed plate and the secondary beam, and the length axis of the second linear sliding guide rail is parallel to the length axis of the secondary beam.

Preferably, still include push pedal telescopic machanism, push pedal telescopic machanism includes top board, push pedal and pushing mechanism, the top board sets up with lower clamp plate relatively, the top board is connected with fork truck pinion rack, the push pedal is parallel with fork truck pinion rack, pushing mechanism orders about the push pedal and slides and set up between top board and lower clamp plate.

Preferably, the pushing mechanism comprises a telescopic frame and a pushing machine, one end of the telescopic frame is hinged with the push plate, and the other end of the telescopic frame is connected with the driving end of the pushing machine; the pushing machine is fixedly connected with the forklift toothed plate.

Preferably, the telescopic frame comprises a plurality of cross structures which are connected in sequence, each cross structure comprises a first connecting rod and a second connecting rod which are rotatably connected at the middle part, in the cross structure close to the forklift toothed plate, the first connecting rod is hinged with the forklift toothed plate, and the second connecting rod is hinged with the driving end of the pushing machine; the connection of two adjacent crossing structures is realized by hinging the adjacent first connecting rod and the second connecting rod.

Preferably, the plurality of cross structures are arranged in two sets in opposition.

Preferably, a plurality of fork arms detachably connected are arranged on the upper pressing plate and the lower pressing plate respectively.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model relates to an omnidirectional movement stack fork truck mechanism has included 6 degree of freedom designs, utilizes the all-round fork truck that has six degrees of freedom and path planning to realize the purpose of accurate transport of goods, stack in the confined space environment of space of transporting the space limited, operation passageway, has avoided manual driving fork truck and artifical stack, has improved conveying efficiency, has increased space utilization, has reduced the human cost.

In the stacking process, the goods stacking operation by using the goods tray is avoided, and the damage and loss of the tray are avoided; while also increasing the effective utilization of the cargo carrier.

Carry on mecanum wheel coordinated coordination's actuating system, the omnidirectional transport stack of goods is realized to fork moving mechanism and push pedal telescopic machanism, rotational speed and the positive and negative direction of turning to the motor are controlled through the driver, thereby control the rotational speed and the positive and negative direction of mecanum road wheel, thereby realize the adjustment and the control to fork truck's moving speed and direction, make the automobile body can realize about, back-and-forth movement and rotation of self, have very high flexible flexibility under the special occasion that operating space is limited and need the wide-angle turn, can high-efficient completion work, compare with traditional transportation technique and have obvious superiority.

The omnibearing motion equipment based on the Mecanum wheel technology can realize the motion modes of advancing, transversely moving, obliquely moving, rotating, combining and the like. The omnibearing forklift developed on the basis is very suitable for the space environment with limited transfer space and narrow operation channel, and has obvious effects on improving the carrying efficiency, increasing the space utilization rate and reducing the labor cost; meanwhile, the running modes such as diagonal running, quarter turn, 360-degree in-situ rotation and the like enable the forklift to run in a shuttling mode between the roadways more conveniently, and narrow roadway stacking is enabled to have advantages.

In the pallet fork moving mechanism, the vertical movement of the forklift toothed plate can be realized through the sliding connection of the telescopic beam and the sleeve beam and the sliding connection of the forklift toothed plate and the auxiliary beam so as to adapt to the cargo stacking requirements of different heights; the transverse horizontal movement of the forklift toothed plate can be realized through the sliding connection of the main beam and the cross beam, so that goods can reach the marginal space of a limited space, and the goods are always aligned with the stacking line in parallel by adjusting; the rotation of the forklift toothed plate can be realized through the rotating connection between the main beam and the auxiliary beam, the blanking and stacking operation of cargoes on the left side and the right side of the forklift body can be carried out under the condition that the forklift body does not turn, the degree of freedom and the simplicity of operation are increased, and the flexibility of a forklift mechanism is improved.

Furthermore, the push plate telescopic mechanism can push the goods on the forklift toothed plate, so that the goods can be stacked conveniently. Avoid artifical stack, save artifical labour cost. The goods pallets are not required to be transported along with the goods, the pallet loss caused by transporting the goods pallets along with the goods is prevented, and the effective space utilization rate of the goods is improved due to the absence of the pallets.

Further, the detachably connected yoke arms are used for conveniently adjusting the size of the gap between the yoke arms.

Drawings

Figure 1 is the utility model relates to a schematic diagram of omnidirectional transport stack fork truck mechanism.

In the figure, 1, a main beam; 2. a cross beam; 3. a telescopic beam; 4. a sleeve beam; 5. a Mecanum wheel; 6. a forklift toothed plate; 7. a lower pressing plate; 8. pushing the plate; 9. an upper pressure plate; 10. a telescopic frame; 101. a first link; 102. A second link; 11. and (7) secondary beams.

Detailed Description

The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.

The utility model discloses an omnidirectional carrying stacking fork truck mechanism, refer to fig. 1, including automobile body, actuating system, fork moving mechanism and 8 telescopic machanisms of push pedal.

The driving system comprises a plurality of driving mechanisms, four pushing mechanisms are arranged in the embodiment, each driving mechanism comprises a planetary gear reducer, a direct-current servo motor and a Mecanum wheel 5, and the Mecanum wheels 5 are independently suspended below the vehicle body through a suspension system; the Mecanum wheel 5 is connected with the direct current servo motor through a planetary gear reducer.

Fork moving mechanism includes girder 1, crossbeam 2, flexible roof beam 3, sleeve roof beam 4, fork and auxiliary girder 11, and the fork includes fork truck pinion rack 6 and holding down plate 7, flexible roof beam 3 and crossbeam 2 fixed connection, flexible roof beam 3 and sleeve roof beam 4 sliding connection, is equipped with first linear sliding guide between flexible roof beam 3 and the sleeve roof beam 4, and the length axis of first linear sliding guide is parallel with the length axis of sleeve roof beam 4.

One end of the sleeve beam 4 far away from the telescopic beam 3 is connected with the vehicle body. The main beam 1 is connected with the cross beam 2 in a sliding mode, a third linear sliding guide rail is arranged between the main beam 1 and the cross beam 2, and the length axis of the third linear sliding guide rail is parallel to the length axis of the cross beam 2.

The auxiliary beam 11 is rotatably connected with the main beam 1 through a bearing, the forklift toothed plate 6 is in sliding connection with the auxiliary beam 11, a second linear sliding guide rail is arranged between the forklift toothed plate 6 and the auxiliary beam 11, and the length axis of the second linear sliding guide rail is parallel to that of the auxiliary beam 11.

The push plate 8 telescopic mechanism comprises an upper pressing plate 9, a push plate 8 and a pushing mechanism, the upper pressing plate 9 and a lower pressing plate 7 are arranged at the top and the bottom of the forklift toothed plate 6 relatively through bolts, a plurality of fork arms connected in a detachable mode are arranged on the upper pressing plate 9 and the lower pressing plate 7, and the fork arms are connected to the upper pressing plate 9 or the lower pressing plate 7 through bolts in the embodiment. The pushing mechanism drives the push plate 8 to be arranged between the upper pressing plate 9 and the lower pressing plate 7 in a sliding mode.

The pushing mechanism comprises a telescopic frame 10 and a pushing machine, and the pushing machine is fixedly connected with the forklift toothed plate 6. One end of the telescopic frame 10 is hinged with the fork truck toothed plate 6, and the other end is hinged with the push plate 8. The telescopic frame 10 includes a plurality of cross structures connected in sequence, and the plurality of cross structures are divided into two groups and oppositely arranged. In the embodiment, the number of the cross structures is four, and the pushing machine is an oil cylinder or an air cylinder.

The cross structure comprises a first connecting rod 101 and a second connecting rod 102 which are rotatably connected in the middle, in the clamping fork structure close to the forklift toothed plate 6, the first connecting rod 101 is hinged with the forklift toothed plate 6, and the second connecting rod 102 is hinged with the driving end of the pushing machine. The connection of two adjacent crossing structures is realized by hinging the adjacent first connecting rod 101 and the second connecting rod 102.

The utility model relates to an omnidirectional carrying stack fork truck mechanism's work flow as follows:

step 1: the mecanum wheel 5 moves.

The vehicle body moves to the approximate position where the goods need to be carried or stacked through the Mecanum wheels 5, the four Mecanum wheels 5 of the forklift are driven through respective direct current driving motors and planetary gear reduction mechanisms, and the forklift can move in all directions such as front-back, left-right, oblique translation, in-situ rotation and the like by controlling the rotating speed and the steering of each motor.

Step 2: handling or stacking of goods.

The goods are carried or stacked through the up-down and left-right moving mechanisms of the fork, the rotating mechanism and the push plate 8 telescopic mechanism. This process is through the relative motion of flexible roof beam 3 and sleeve roof beam 4, the relative motion of fork truck pinion rack 6 and auxiliary beam 11 realizes the action of lifting from top to bottom of goods, realize the action of fork transport fork truck left and right sides goods through horizontal relative motion between girder 1 and the crossbeam 2, the rotation of fork is realized through the rotary motion between fork truck pinion rack 6 and the auxiliary beam 11, make the action of fork alignment left and right sides goods, the action of realizing the stack of unloading is released push pedal 8 through the flexible of expansion bracket 10.

The above-mentioned embodiments are only preferred embodiments of the present invention, and it should be understood by those skilled in the art that the technical solution of the present invention can be modified and replaced easily without departing from the spirit and principle of the present invention, and the modified and replaced embodiments also fall within the protection scope of the appended claims.

Claims

1. An omnidirectional carrying and stacking forklift mechanism is characterized by comprising a forklift body, a driving system and a pallet fork moving mechanism;

the driving system comprises a plurality of driving mechanisms, each driving mechanism comprises a planetary gear reducer, a direct current servo motor and a Mecanum wheel (5), and the Mecanum wheels (5) are suspended below the vehicle body; the Mecanum wheel (5) is connected with a direct current servo motor through a planetary gear reducer;

the fork moving mechanism comprises a main beam (1), a cross beam (2), a telescopic beam (3), a sleeve beam (4), a fork and an auxiliary beam (11), wherein the telescopic beam (3) is fixedly connected with the cross beam (2), the telescopic beam (3) is in sliding connection with the sleeve beam (4), and one end, far away from the telescopic beam (3), of the sleeve beam (4) is connected with a vehicle body; the main beam (1) is connected with the cross beam (2) in a sliding manner; the auxiliary beam (11) is rotatably connected with the main beam (1), and the fork is slidably connected with the auxiliary beam (11).

2. Omnidirectional tote stacking forklift mechanism according to claim 1, characterized in that between the telescopic beams (3) and the telescopic beams (4) there is a first linear sliding guide with its length axis parallel to the length axis of the telescopic beams (4).

3. An omnidirectional carrying stacking forklift mechanism according to claim 1, characterized in that a third linear sliding guide is provided between said main beam (1) and cross beam (2), the length axis of said third linear sliding guide being parallel to the length axis of said cross beam (2).

4. An omnidirectional carrying stacking forklift mechanism according to claim 1, wherein said pallet fork comprises a forklift toothed plate (6) and a lower pressing plate (7), said lower pressing plate (7) is connected to the bottom of the forklift toothed plate (6), said forklift toothed plate (6) is slidably connected with the secondary beam (11).

5. Omnidirectional carry stacking forklift mechanism according to claim 4, characterized in that between the forklift toothed plate (6) and the secondary beam (11) there is provided a second linear sliding guide, the length axis of which is parallel to the length axis of the secondary beam (11).

6. An omnidirectional carrying stacking forklift mechanism according to claim 4, further comprising a push plate telescoping mechanism, wherein the push plate telescoping mechanism comprises an upper pressing plate (9), a push plate (8) and a pushing mechanism, the upper pressing plate (9) is arranged opposite to the lower pressing plate (7), the upper pressing plate (9) is connected with the forklift toothed plate (6), the push plate (8) is parallel to the forklift toothed plate (6), and the pushing mechanism drives the push plate (8) to be slidingly arranged between the upper pressing plate (9) and the lower pressing plate (7).

7. An omnidirectional carrying stacking forklift mechanism according to claim 6, wherein said pushing mechanism comprises a telescopic frame (10) and a pusher, one end of said telescopic frame (10) is hinged with said push plate (8), and the other end is connected with the driving end of said pusher; the pusher is fixedly connected with a forklift toothed plate (6).

8. An omnidirectional carrying stacking forklift mechanism according to claim 7, wherein said telescopic frame (10) comprises a plurality of cross structures connected in sequence, said cross structures comprise a first connecting rod (101) and a second connecting rod (102) which are rotatably connected at the middle part, in the clamping fork structure close to the forklift toothed plate (6), the first connecting rod (101) is hinged with the forklift toothed plate (6), and the second connecting rod (102) is hinged with the driving end of the pusher; the connection of two adjacent crossing structures is realized by hinging a first connecting rod (101) and a second connecting rod (102) which are adjacent.

9. An omnidirectional hand stacker mechanism according to claim 8, wherein said plurality of cross structures are arranged in two sets in opposing relation.

10. An omnidirectional transfer stacking forklift mechanism according to claim 6, wherein said upper press plate (9) and said lower press plate (7) are each provided with a plurality of detachably attached fork arms.