WO2022151698A1 - 一种新型主动伸缩系统及自动搬运设备 - Google Patents

一种新型主动伸缩系统及自动搬运设备 Download PDF

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Publication number
WO2022151698A1
WO2022151698A1 PCT/CN2021/108051 CN2021108051W WO2022151698A1 WO 2022151698 A1 WO2022151698 A1 WO 2022151698A1 CN 2021108051 W CN2021108051 W CN 2021108051W WO 2022151698 A1 WO2022151698 A1 WO 2022151698A1
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WO
WIPO (PCT)
Prior art keywords
fork arm
slide rail
drive assembly
fork
telescopic system
Prior art date
Application number
PCT/CN2021/108051
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English (en)
French (fr)
Inventor
田光义
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北京图什科技有限公司
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Publication date
Application filed by 北京图什科技有限公司 filed Critical 北京图什科技有限公司
Publication of WO2022151698A1 publication Critical patent/WO2022151698A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B66F9/065—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 non-masted
    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • the utility model relates to the field of AGV, in particular to a novel active telescopic system and automatic handling equipment.
  • telescopic mechanism is often used for picking and storing goods.
  • the fork arms of these telescopic mechanisms basically adopt a cantilever structure, which is usually only suitable for light loads. Since the telescopic motion of the telescopic mechanism is driven by the drive mechanism on the body, the telescopic The distance that the mechanism can extend depends on the stroke of the drive mechanism or the stroke of the slide rail, and generally the telescopic mechanism cannot be extended beyond the body.
  • the body needs to add additional counterweight to improve the rigidity and strength of the body structure, so as to ensure that the body structure will not roll over when the fork arm is extended; this will cause the entire equipment to take up space increase.
  • auxiliary means for example, fixing the body structure on the ground through anchor bolts, or adding a cable-stayed device from other places to fix the body structure, etc., which will make the equipment structure complicated. And it's not easy to move.
  • the purpose of the present invention is to provide a novel active telescopic system, which can solve one or more of the above technical problems.
  • a new type of active telescopic system includes a main body, a fork arm and a slide rail. At least one of the fork arms is arranged on the body, and each of the fork arms and the body is connected by at least one of the slide rails.
  • the sliding rail and the body are slidably connected, and the sliding rail and the fork arm are slidably connected.
  • a fork arm drive assembly is arranged on the fork arm, and several of the fork arm drive assemblies operate independently of each other.
  • the fork arm driving assembly enables the fork arm to actively leave the body or actively return to the body; the fork arm driving assembly moves along the slide rail and the extension line of the slide rail.
  • the fork arm drive assembly includes a first mounting plate, a connecting rod, a second mounting plate, a caster, a caster motor, and a belt; the first mounting plate and the second mounting plate are connected by a connecting rod, and the The caster, the caster motor, and the belt are mounted on the second mounting plate; the caster motor is forward and reversed, and the caster is driven forward or backward by the belt.
  • the fork arm drive assembly is installed at the front end of the fork arm.
  • a first limiting mechanism is arranged between the sliding rail and the body, and a second limiting mechanism is arranged between the sliding rail and the fork arm.
  • the body is provided with sliding grooves, and the number of the sliding grooves corresponds to the number of the fork arms; the sliding rails are installed in the sliding grooves.
  • the body is provided with a body drive assembly, and the body drive assembly and the fork arm drive assembly operate independently of each other.
  • Another object of the present invention is to provide an automatic handling device that can realize medium and heavy transport.
  • An automatic handling equipment includes the novel active telescopic system described in any one of the above.
  • a drive mechanism is installed on the fork arm, so that the fork arm can realize active expansion and contraction; since the bottom of the fork arm is supported by a drive mechanism and a sliding rail, the fork arm can carry heavier items, and the body structure It will not roll over; the whole device occupies a small space, the structure is simple and concise, and the movement is convenient, which can greatly save costs.
  • Fig. 1 is the structural representation of the present utility model
  • Fig. 2 is the concrete structure schematic diagram of the fork arm drive assembly in the present utility model
  • Fig. 3 is the three-dimensional structure schematic diagram of Fig. 2;
  • Fig. 4 is the schematic diagram 1 of the use state of the handling equipment
  • Fig. 5 is the schematic diagram 2 of the use state of the handling equipment
  • Fig. 6 is the schematic diagram 3 of the use state of the handling equipment
  • Fig. 7 is the schematic diagram 4 of the use state of the handling equipment
  • FIG. 8 is a schematic diagram 5 of the use state of the handling equipment.
  • 1 is the main body
  • 1-1 is the main body drive assembly
  • 2 is the slide rail
  • 3 is the fork arm, 3-1 is the fork arm drive assembly; 3-11 is the first mounting plate, 3-12 is the connecting rod, 3-13 is the second mounting plate, 3-14 is the caster, 3-15 is the caster Motor, 3-16 are belts;
  • spatially relative terms such as “on”, “over”, “on the surface”, “above”, etc., may be used herein to describe what is shown in the figures.
  • spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “above” or “over” other devices or features would then be oriented “below” or “over” the other devices or features under other devices or constructions”.
  • the exemplary term “above” can encompass both an orientation of "above” and “below.”
  • the device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.
  • a new type of active telescopic system includes a main body, a fork arm and a slide rail. At least one of the fork arms is arranged on the body, and each of the fork arms and the body is connected by at least one of the slide rails.
  • the sliding rail and the body are slidably connected, and the sliding rail and the fork arm are slidably connected.
  • a fork arm drive assembly is arranged on the fork arm, and several of the fork arm drive assemblies operate independently of each other.
  • the fork arm driving assembly enables the fork arm to actively leave the body or actively return to the body; the fork arm driving assembly moves along the slide rail and the extension line of the slide rail.
  • a drive assembly is arranged on the fork arm to realize the active expansion and contraction of the fork arm relative to the body, so as to achieve the purpose of extending the fork arm body to the position of the cargo; and after the fork arm body is used to fork the cargo, it can Control the fork arm drive assembly on the fork arm to rotate in the opposite direction, and send the goods back to the body; the bottom of the fork arm is supported during the telescopic process (the drive assembly and the slide rail are supported at both ends of the fork arm), and the fork arm is supported by the bottom of the fork arm.
  • the fork arm structure can be made lighter and thinner, and at the same time, compared with the traditional technology, the present invention does not need to use anchor bolts, or cable-stayed devices and other fixing structures to fix the body structure, and does not need to use a high-power motor to
  • the drive and retraction of the fork arm structure can reduce the space occupied by the equipment, simplify the equipment structure, facilitate and simple to move, save energy, reduce the requirements for equipment, and greatly save costs.
  • the fork arm drive assembly includes a first mounting plate, a connecting rod, a second mounting plate, a caster, a caster motor, and a belt; the first mounting plate and the second mounting plate are connected by a connecting rod, and the The caster, the caster motor, and the belt are mounted on the second mounting plate; the caster motor is forward and reversed, and the caster is driven forward or backward by the belt.
  • the fork arm drive assembly in this embodiment has a simple structure, and the whole is used as a module to be assembled with the fork arm, which reduces the overall assembly difficulty and improves the assembly efficiency.
  • the fork arm drive assembly is installed at the front end of the fork arm. In this way, the front and rear ends of the fork arm can be balanced and stable to ensure the safety of the goods during the transfer process.
  • the rear end of the slide rail slides on the body, and the rear end of the fork arm slides on the slide rail.
  • Sliding is rolling friction, which is realized by rollers, bearings, etc.
  • a roller is installed at the rear end of the fork arm to slide on the slide rail, and a roller is installed at the back end of the slide rail to slide on the body.
  • a slideway or no slideway can be provided between the slide rail and the body, and the limit is determined by the size between the fork arm and the body, which is not limited.
  • a first limiting mechanism is arranged between the sliding rail and the body, and a second limiting mechanism is arranged between the sliding rail and the fork arm.
  • the limit mechanism may be a stopper.
  • the sliding rail connects the fork arm and the body, and limits the fork arm in the telescopic direction to prevent the fork arm from deviating from the running direction or out of the body.
  • the body is provided with sliding grooves, and the number of the sliding grooves corresponds to the number of the fork arms; the sliding rails are installed in the sliding grooves.
  • the fork arm can be completely retracted into the main body, and when the main body carries the object, the fork arm will not become an obstacle to the operation of the main body, and it is also convenient for the placement of the object.
  • the body is provided with a body drive assembly, and the body drive assembly and the fork arm drive assembly operate independently of each other.
  • the main body and the fork arm are assembled independently, and are assembled and used together through the slide rail. In addition, the structure is more concise and efficient during the assembly process.
  • 1 is the body
  • 1-1 is the body drive assembly
  • 2 is the slide rail
  • 3 is the fork arm
  • 3-1 is the fork arm drive assembly.
  • the body drive assembly 1-1 is assembled on the body 1 and can drive the body to move;
  • the fork arm drive assembly 3-1 is assembled on the fork arm 3 and can drive the fork arm 3 to move actively.
  • One end of the slide rail 2 is slidably connected with the main body 1 , and the other end is slidably connected with the fork arm 3 .
  • the fork arm 3 slides along the slide rail 2 , and when the fork arm 3 slides to a limit structure (eg, a stopper), the fork arm 3 drives the slide rail 2 to slide together, wherein the slide rail 2 slides on the body 1 .
  • a limit structure eg, a stopper
  • the fork arm 3 drives the slide rail 2 to slide together, wherein the slide rail 2 slides on the body 1 .
  • the active over-travel sliding of the fork arm can be realized; since both ends of the fork arm are supported, the fork arm can take and deliver items from a long distance without modifying the body 1 or adding a counterweight, and the whole device is easy to move, Use more flexible.
  • the fork arm drive assembly includes a first mounting plate 3-11, a connecting rod 3-12, a second mounting plate 3-13, a caster 3-14, a caster motor 3-15, and a belt 3-16.
  • the caster motor rotates forward and reverse, and the caster is driven forward or backward through the belt.
  • the belt is a synchronous pulley belt.
  • An automatic handling equipment includes the novel active telescopic system described in any one of the above.
  • the fork arm of the handling equipment can be extended and retracted in the slideway of the main body, and can be freely extended to the outside of the main body; when an item needs to be carried (such as a pallet), the fork arm is extended to the bottom of the item, and then the fork arm is raised to lift the item to a certain height; then the main body moves forward or the fork arm moves in the opposite direction, so that the main body is located under the article; finally the fork arm descends to place the article on the main body.
  • the body transports the item to the designated location.
  • the fork arm is not stressed during the transportation process, which maximizes the service life of the fork arm; in addition, the driving wheels of the main body are located on both sides of the middle of the car body, which can realize in-situ rotation, the turning radius is small, and the required channel width is small, which can realize Intensive storage.
  • Figure 5 Figure 6, Figure 7, Figure 8 it is a schematic diagram of the use state of the conveying equipment of the present invention.
  • Handling equipment is 4, pallet 5.
  • the items to be transported here are pallets as an example.
  • the body drive assembly drives the body and the fork arm located in the body to move to a designated position (at a certain distance from the goods, this position is set according to the actual situation) waiting for handling tray.
  • FIG 5 a schematic diagram of the fork arm actively extending into the bottom of the tray after reaching the designated position.
  • the main body drive assembly 1-1 remains fixed, thereby keeping the main body 1 still, and the fork arm 3, driven by the fork arm drive assembly 3-1, protrudes out of the main body 1 through the slide rail 2, and enters the bottom of the tray 5.
  • the length of the fork arm 3 that can be extended is greater than the length of the body 1 or the length of the slide rail 2.
  • a scissor lift assembly is provided on the fork arm, and the scissor lift assembly lifts the tray beyond the height of the body. At this time, the fork arm drive assembly 3-1 remains stationary.
  • the scissor lift assembly falls back to normal, the tray is placed on the main body, and the main body drive assembly moves the tray to a designated position according to predetermined requirements.
  • the fork arm 3 is lowered, and the pallet 5 is placed on the main body 1 to complete the operation of forking and picking up the goods.
  • the main body is the main body and the fork arm is not loaded; the life and reliability of the fork arm are improved.
  • the scissor lift assembly can be lifted first, and the goods can be lifted to the position where they are separated from the surface of the main body 1.
  • the fork arm drive assembly 3-1 can be controlled to rotate, and the goods can be transported to the main body 1. Outside, then control the fork arm 3 to descend and place the goods on the ground; then control the fork arm drive assembly 3-1 to rotate in the reverse direction, retract the fork arm 3 into the body 1, and complete the delivery operation.
  • a fork arm drive assembly is arranged on the fork arm, and the picking process is as follows: the fork arm drive assembly actively extends the fork arm to the lower part of the pallet ⁇ the fork arm lifts the goods ⁇ the fork arm drive assembly rotates in the opposite direction to make the fork arm Retract, send the goods to the top of the main body ⁇ lower the goods to the main body; in this process, due to the slide rails set between the main body and the fork arm, the length of the fork arm structure that can be extended is greater than the length of the main body or the slide rail itself ; It can realize long-distance pickup; and during the process of cargo transfer, the cargo is placed on the body, so as to ensure that the fork arm structure does not carry load during the operation process, and improve the life and reliability of the fork arm structure.

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  • Transportation (AREA)
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Abstract

一种新型主动伸缩系统及自动搬运设备。包括本体、叉臂、滑轨。在本体上至少设置一个叉臂，每一叉臂与本体之间通过至少一条滑轨连接。滑轨与本体之间滑动连接，滑轨与叉臂之间滑动连接。叉臂上设置叉臂驱动组件，若干叉臂驱动组件彼此独立运行。叉臂驱动组件使叉臂主动离开本体或主动回到本体；叉臂驱动组件沿滑轨以及滑轨的延长线运动。通过在叉臂上安装有驱动机构，让叉臂可以实现主动伸缩；由于叉臂的底部有驱动机构和滑轨做支撑，因此叉臂可以承载更大重量的物品，而本体结构不会侧翻；整个设备占用空间小，结构简单精简，移动方便，可极大的节约成本。

Description

一种新型主动伸缩系统及自动搬运设备 技术领域
本实用新型涉及AGV领域，具体涉及一种新型主动伸缩系统及自动搬运设备。
背景技术
伸缩机构作为一种自动化设备，经常用于取放和存储货物。这些伸缩机构的叉臂基本上都采用的是悬臂结构，而此种悬臂结构通常来说只适用于负载较轻的情况，再由于伸缩机构的伸缩运动是靠本体上的驱动机构来驱动，伸缩机构可以伸长的距离取决于驱动机构的行程或者滑轨的行程，一般不能将伸缩机构伸出到本体以外。
对于重载或伸出距离比固定部分长度要长的情况并不实用。例如当重载情况(500kg以上)需要使用这种机构时，本体需要额外增加配重以提升本体结构刚度、强度，保证叉臂伸出去时本体结构不会侧翻；这会导致整个设备占用空间增大。
如果本体结构配重不够，还会采用其他辅助手段：例如把本体结构通过地脚螺栓固定在地面上，或者从其他地方增加斜拉装置对本体结构进行固定等，将使设备结构变得复杂，而且不方便移动。
另外为了保证叉臂顺利缩回来，还需要采用大功率的电机，通过提升扭矩把整个负载后的叉臂拉回来，这样对机构和能源要求均较高。
实用新型内容
本实用新型的目的是提供一种新型主动伸缩系统，可以解决上述技术问题中的一个或是多个。
为了达到上述目的，本实用新型提出的技术方案如下：
一种新型主动伸缩系统，包括本体、叉臂、滑轨。在所述本体上至少设置一个所述叉臂，每一所述叉臂与所述本体之间通过至少一条所述滑轨连接。
所述滑轨与所述本体之间滑动连接，所述滑轨与所述叉臂之间滑动连接。
所述叉臂上设置叉臂驱动组件，若干所述叉臂驱动组件彼此独立运行。
所述叉臂驱动组件使所述叉臂主动离开所述本体或主动回到所述本体；所述叉臂驱动组件沿所述滑轨以及所述滑轨的延长线运动。
进一步的：所述叉臂驱动组件包括第一安装板、连杆、第二安装板、脚轮、脚轮电机、皮带；所述第一安装板和第二安装板之间通过连杆连接，所述脚轮、所述脚轮电机、所述皮带安装在第二安装板上；所述脚轮电机正反转、通过皮带使脚轮主动前进或主动后退。
进一步的：所述第一安装板与所述第二安装板之间具有锐角夹角。
进一步的：所述叉臂驱动组件安装在叉臂前端。
进一步的：所述滑轨后端在所述本体上滑动，所述叉臂后端在所述滑轨上滑动。
进一步的：所述滑轨与所述本体之间设置第一限位机构，所述滑轨与所述叉臂之间设置第二限位机构。
进一步的：所述滑轨为两条，对应安装在所述叉臂的两侧。
进一步的：所述本体上设置滑动槽，所述滑动槽数量与叉臂数量对应；所述滑轨安装在所述滑动槽内。
进一步的：所述本体上设置本体驱动组件，所述本体驱动组件与叉臂驱动组件彼此独立运行。
本实用新型的另一个目的是提供一种自动搬运设备，可以实现中重型转运。
一种自动搬运设备，包括上述任意一项所述的新型主动伸缩系统。
本实用新型的技术效果是：
本实用新型中通过在叉臂上安装有驱动机构，让叉臂可以实现主动伸缩；由于叉臂的底部有驱动机构和滑轨做支撑，因此叉臂可以承载更大重量的物品，而本体结构不会侧翻；整个设备占用空间小，结构简单精简，移动方便，可极大的节约成本。
附图说明
构成本申请的一部分的说明书附图用来提供对本实用新型的进一步理解，本实用新型的示意性实施例及其说明用于解释本实用新型，并不构成对本实用新型的不当限定。
在附图中：
图1是本实用新型的结构示意图；
图2是本实用新型中的叉臂驱动组件具体结构示意；
图3是图2的立体结构示意图；
图4是搬运设备的使用状态示意图一；
图5是搬运设备的使用状态示意图二；
图6是搬运设备的使用状态示意图三；
图7是搬运设备的使用状态示意图四；
图8是搬运设备的使用状态示意图五。
其中，上述附图包括以下附图标记：
1为本体，1-1为本体驱动组件，2为滑轨，
3为叉臂，3-1为叉臂驱动组件；3-11为第一安装板、3-12为连杆、3-13为第二安装板、3-14为脚轮、3-15为脚轮电机、3-16为皮带；
4为搬运设备，5为托盘。
具体实施方式
下面将结合附图以及具体实施例来详细说明本实用新型，其中的示意性实施例以及说明仅用来解释本实用新型，但并不作为对本实用新型的不当限定。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本实用新型。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
一种新型主动伸缩系统，包括本体、叉臂、滑轨。在所述本体上至少设置一个所述叉臂，每一所述叉臂与所述本体之间通过至少一条所述滑轨连接。
所述滑轨与所述本体之间滑动连接，所述滑轨与所述叉臂之间滑动连接。
所述叉臂上设置叉臂驱动组件，若干所述叉臂驱动组件彼此独立运行。
所述叉臂驱动组件使所述叉臂主动离开所述本体或主动回到所述本体；所述叉臂驱动组件沿所述滑轨以及所述滑轨的延长线运动。
在本实用新型中，在叉臂上设置驱动组件，实现叉臂相对于本体的主动伸缩，以达到将叉臂主体伸出到货物位置的目的；而在利用叉臂主体叉取货物后，可以控制叉臂上的叉臂驱动组件反向转动，将货物送回到本体上；叉臂的底部在伸缩过程中都存在支撑(驱动组件和滑轨共同支撑在叉臂的两端)，提高叉臂的承载能力，因此可以将叉臂结构做的更加轻薄，同时相对于传统技术，本发明无需使用地脚螺栓、或斜拉装置等固定结构对本体结构进行固定，也无需使用大功率电机对叉臂结构进行驱动伸缩，可以减小设备占用空间，简化设备结构，移动方便简单，还可节约能源，降低对设备的要求，可极大地节约成本。
在某些实施例中，公开一个叉臂驱动组件的具体结构。进一步的：所述叉臂驱动组件包括第一安装板、连杆、第二安装板、脚轮、脚轮电机、皮带；所述第一安装板和第二安装板之间通过连杆连接，所述脚轮、所述脚轮电机、所述皮带安装在第二安装板上；所述脚轮电机正反转、通过皮带使脚轮主动前进或主动后退。
在本发明中，优选的是在第一安装板上设置安装孔。本实施例中的叉臂驱动组件结构简单，整体作为一个模块用于与叉臂组装，降低整体的装配难度，提高装配效率。
进一步的：所述第一安装板与所述第二安装板之间具有锐角夹角。保证脚轮转动过程中，前后不受干涉，运行平稳。
进一步的：所述叉臂驱动组件安装在叉臂前端。这样叉臂的受力端前端和后端，让受力均衡、稳定，保证货品在转运过程中的安全。
进一步的：所述滑轨后端在所述本体上滑动，所述叉臂后端在所述滑轨上滑动。滑动是滚动摩擦，通过滚轮、轴承等实现；例如在所述叉臂后端安装滚轮在滑轨上滑动，在滑轨后端安装滚轮在本体上滑动。
滑轨与本体之间可以设置滑道或是不设置滑道，通过叉臂与本体之间的尺寸做限位，不做限定。
进一步的：所述滑轨与所述本体之间设置第一限位机构，所述滑轨与所述叉臂之间设置第二限位机构。限位机构可以是挡块。
滑轨连接叉臂和本体，在叉臂伸缩方向上对其进行限位，防止叉臂偏离运行方向或脱出本体。
进一步的：所述滑轨为两条，对应安装在所述叉臂的两侧。让叉臂的受力均匀，运行平稳。
进一步的：所述本体上设置滑动槽，所述滑动槽数量与叉臂数量对应；所述滑轨安装在所述滑动槽内。
这样叉臂就可以完全收进本体内，在本体运载物品时，叉臂不会成为本体运行的阻碍， 也便于物的放置。
进一步的：所述本体上设置本体驱动组件，所述本体驱动组件与叉臂驱动组件彼此独立运行。
彼此独立，相互不影响，在工作时可以相互配合、分工合作。在检修时也更方便。本体和叉臂之间是独立装配，通过滑轨组装在一起使用，另外在装配过程中也结构更简洁、高效。
如图1所示，1为本体，1-1为本体驱动组件，2为滑轨，3为叉臂，3-1为叉臂驱动组件。
其中本体驱动组件1-1装配在本体1上，可以驱动本体移动；叉臂驱动组件3-1装配在叉臂3上，可以驱动叉臂3主动移动。滑轨2一端与本体1滑动连接，另一端与叉臂3滑动连接。
叉臂3沿着滑轨2滑动，在滑动到限位结构(例如挡块)时，叉臂3带动滑轨2一起滑动，其中滑轨2在本体1上滑动。这样可以实现叉臂的主动超行程滑动；由于叉臂的两端都有支撑，因此叉臂可以远距离的取送物品，而无需对本体1进行改造或是增加配重，整个装置便于移动，使用更灵活。
如图2、图3所示，是本实用新型中的叉臂驱动组件3-1具体结构示意。其中，所述叉臂驱动组件包括第一安装板3-11、连杆3-12、第二安装板3-13、脚轮3-14、脚轮电机3-15、皮带3-16。
所述脚轮电机正反转、通过皮带使脚轮主动前进或主动后退。其中皮带是同步轮带。
一种自动搬运设备，包括上述任意一项所述的新型主动伸缩系统。在叉臂上设置举升组件，例如剪叉组件。
本搬运设备的叉臂可以在本体的滑道内进行伸缩，可以自由伸出到本体外部；当需要搬运物品时(例如托盘)时，叉臂伸出至物品下方，然后叉臂升起将物品举到一定高度；然后本体向前移动或是叉臂反向运动，使本体位于物品下边；最后叉臂下降，将物品放置在本体上。本体将物品运送到指定位置。在运送过程中叉臂不受力，最大限度延长叉臂的使用寿命；另外本体的驱动轮位于车体中间两侧，可实现原地旋转，转弯半径小，需要的通道宽度较小，可以实现密集存储。
如图4、图5、图6、图7、图8所示，是本实用新型的搬运设备使用状态示意图。
搬运设备是4，托盘5。
在这里被搬运的物品以托盘为例。
其中图4是本搬运设备4向托盘5移动的示意图，本体驱动组件带动本体以及位于本体内的叉臂移动到指定位置(在距离货物一定距离的位置，此位置根据实际情况设定)等待搬 运托盘。
在图5中，到达指定位置之后叉臂主动伸出进入托盘底部的示意图。此时本体驱动组件1-1保持固定，从而保持本体1不动，叉臂3在叉臂驱动组件3-1的带动下，通过滑轨2伸出到本体1外部，进入到托盘5底部，实现叉臂的主动伸出；由于滑轨2一端与本体1滑动连接，另外一端与叉臂3滑动连接，因此叉臂3结构可以伸出的长度大于本体1的长度或滑轨2的长度。
在图6中，叉臂上设置剪叉举升组件，剪叉举升组件将托盘举起超过本体高度。此时叉臂驱动组件3-1保持不动。
在图7中，叉臂主动缩回到本体内，托盘位于本体上方。此时本体1保持固定位置不变，叉臂3在叉臂驱动组件3-1的驱动下，使叉臂3反向移动，将托盘送回到本体1上方；
在图8中，剪叉举升组件回落回复正常，托盘放置于本体上，本体驱动组件将托盘按照既定要求移动到指定位置。此时叉臂3下降，将托盘5放置到本体1上，完成叉取货物的操作。
在图4-图8中，在货物搬运过程中承载主要是本体而叉臂不承载；提高了叉臂的寿命和可靠性。
当需要将货物放到地面上时，可以先将剪叉举升组件升起，将货物顶起至脱离本体1表面位置，此时控制叉臂驱动组件3-1转动，可以将货物运送本体1外侧，然后控制叉臂3下降，将货物放在地面；然后控制叉臂驱动组件3-1反向转动，将叉臂3收回至本体1内，完成放货作业。
本设备中通过在叉臂上设置叉臂驱动组件，其取货过程是：叉臂驱动组件主动使叉臂伸出至托盘下部→叉臂举起货物→叉臂驱动组件反向转动使叉臂缩回，将货物送至本体上方→货物下放到本体上；在此过程中，由于本体和叉臂之间设置的滑轨，使叉臂结构可以伸出的长度大于本体或滑轨自身的长度；可以实现远距离的取货；而在货物转运的过程中货物放置在本体上，从而保证叉臂结构在运行过程中不承载，提高叉臂结构的寿命和可靠性。
以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，对于本领域的技术人员来说，本实用新型可以有各种更改和变化。凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。

Claims (10)

  1. 一种新型主动伸缩系统，其特征在于：包括本体、叉臂、滑轨；
    在所述本体上至少设置一个所述叉臂，每一所述叉臂与所述本体之间通过至少一条所述滑轨连接；所述滑轨与所述本体之间滑动连接，所述滑轨与所述叉臂之间滑动连接；
    所述叉臂上设置叉臂驱动组件，若干所述叉臂驱动组件彼此独立运行；
    所述叉臂驱动组件使所述叉臂主动离开所述本体或主动回到所述本体；
    所述叉臂驱动组件沿所述滑轨以及所述滑轨的延长线运动。
  2. 根据权利要求1所述的新型主动伸缩系统，其特征在于：所述叉臂驱动组件包括第一安装板、连杆、第二安装板、脚轮、脚轮电机、皮带；所述第一安装板和第二安装板之间通过连杆连接，所述脚轮、所述脚轮电机、所述皮带安装在第二安装板上；所述脚轮电机正反转、通过皮带使脚轮主动前进或主动后退。具体结构，结构简单，模块化，安装方便。
  3. 根据权利要求2所述的新型主动伸缩系统，其特征在于：所述第一安装板与所述第二安装板之间具有锐角夹角。保证脚轮转动过程中，前后不受干涉，运行平稳。
  4. 根据权利要求1所述的新型主动伸缩系统，其特征在于：所述叉臂驱动组件安装在叉臂前端。
  5. 根据权利要求1所述的新型主动伸缩系统，其特征在于：所述滑轨后端在所述本体上滑动，所述叉臂后端在所述滑轨上滑动。滑动是滚动摩擦，通过滚轮、轴承等实现；例如在所述叉臂后端安装滚轮在滑轨上滑动，在滑轨后端安装滚轮在本体上滑动。滑轨与本体之间可以设置滑道或是不设置滑道，通过叉臂与本体之间的尺寸做限位，不做限定。
  6. 根据权利要求5所述的新型主动伸缩系统，其特征在于：所述滑轨与所述本体之间设置第一限位机构，所述滑轨与所述叉臂之间设置第二限位机构。限位机构可以是挡块。
  7. 根据权利要求1所述的新型主动伸缩系统，其特征在于：所述滑轨为两条，对应安装在所述叉臂的两侧。
  8. 根据权利要求1所述的新型主动伸缩系统，其特征在于：所述本体上设置滑动槽，所述滑动槽数量与叉臂数量对应；所述滑轨安装在所述滑动槽内。
  9. 根据权利要求1所述的新型主动伸缩系统，其特征在于：所述本体上设置本体驱动组件，所述本体驱动组件与叉臂驱动组件彼此独立运行。
  10. 一种自动搬运设备，其特征在于包括权利要求1-9任意一项所述的新型主动伸缩系统。
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