Stretchable material handling forklift robot

Abstract

The extendable material transport forklift robot provided by the present invention comprises a machine body, a fork body and a walking device, wherein the walking device is arranged at the bottom of the machine body, the fork body comprises a basic bearing platform, and the basic bearing platform is arranged at the front side of the machine body in a manner that it can be raised and lowered; the fork body also comprises a first side extension bearing platform and a front extension bearing platform; the front extension bearing platform is arranged at the front end of the basic bearing platform in a telescopic manner along the extension direction of the fork body; the first side extension bearing platform is arranged at the side of the basic bearing platform in a telescopic manner along the width direction of the fork body, and the width direction is perpendicular to the extension direction. When the first side extension bearing platform and the front extension bearing platform are in the storage state, the fork body has a minimum support area, the first side extension bearing platform can be extended outward in the width direction, and the front extension bearing platform can be extended outward in the extension direction, thereby increasing the bearing width or bearing length, so that the fork body is suitable for carrying larger cargo or cargo racks, and improving transportation stability.

Description

Technical Field

[0001] The present invention relates to the technical field of material transport equipment, and in particular to an extendable material transport forklift robot. Background Art

[0002] The existing material transport forklift robot includes a body, a fork body and a traveling device. The traveling device is installed at the bottom of the forklift. The traveling device can be a steering wheel device or a differential drive device. The fork body is installed on the front side of the body through a lifting device. When the material transport forklift robot is working, the fork body in a low horizontal position can extend into the bottom of the goods or cargo rack to be carried, and then the fork body can be controlled to rise to lift the goods or cargo rack off the ground and transport the goods or cargo rack.

[0003] The problem with the existing material transport forklift robots is that the length and width of the fork body are fixed and they can only be used to lift goods or cargo racks within a certain size range, resulting in poor applicability. Summary of the invention

[0004] The object of the present invention is to provide an extendable material transport forklift robot with variable fork length and width.

[0005] The extendable material transport forklift robot provided by the present invention comprises a machine body, a fork body and a walking device, wherein the walking device is arranged at the bottom of the machine body, the fork body comprises a basic bearing platform, and the basic bearing platform is arranged on the front side of the machine body in a liftable manner; the fork body also comprises a first side extension bearing platform and a front extension bearing platform; the front extension bearing platform is telescopically arranged at the front end of the basic bearing platform along the extension direction of the fork body; the first side extension bearing platform is telescopically arranged on the side of the basic bearing platform along the width direction of the fork body, and the width direction is perpendicular to the extension direction.

[0006] It can be seen from the above scheme that when the first side-extending load-bearing platform and the front-extending load-bearing platform are in the storage state, the fork body has a minimum supporting area, the first side-extending load-bearing platform can extend outward in the width direction, and the front-extending load-bearing platform can extend outward in the extension direction, thereby increasing the load-bearing width or the load-bearing length, so that the fork body is suitable for carrying larger goods or cargo racks, thereby improving transportation stability.

[0007] A further solution is that the fork body also includes a side extension drive mechanism, which includes a first rotation drive unit and a first gear, and the first rotation drive unit can drive the first gear to rotate; the first side extension support platform includes a first turntable, and the first turntable can rotate along the first axis, and the outer periphery of the first turntable has a first gear tooth portion and a first bearing portion; the first gear tooth portion is meshed with the first gear, and under the drive of the first gear, the first turntable can rotate and the first bearing portion can move between a first retracted position and a first extended position, and in the width direction, the first retracted position is closer to the base support platform than the first extended position.

[0008] A further solution is that the fork body includes a second side-extending bearing platform, the second side-extending bearing platform includes a second turntable, the second turntable can rotate along the second axis, the outer periphery of the second turntable has a second gear tooth portion and a second bearing portion; the second gear tooth portion is meshed with the first gear tooth portion, and under the drive of the first turntable, the second turntable can rotate and the second bearing portion can move between a second retracted position and a second extended position, and in the width direction, the second retracted position is closer to the base bearing platform than the second extended position.

[0009] As can be seen from the above, the first side extension load platform and the second side extension load platform both perform telescopic movement in a swinging manner. This setting is more conducive to arranging the first side extension load platform and the second side extension load platform at the same position in the extension direction, so as to more stably carry goods or cargo racks. In addition, since the width of the fork body is relatively small, if the first side extension load platform and the second side extension load platform are arranged in a linear telescopic manner, in order to ensure the storage effect, the extension distance of the two in the width direction is limited. When the telescopic movement is performed in a swinging manner, the first load-bearing part and the second load-bearing part extend along the extension direction of the fork body, and the storage effect is not affected by the length of the first load-bearing part and the second load-bearing part. Therefore, under this setting, the setting of the width change amount of the fork body can be more flexible, further improving the applicability.

[0010] A further solution is that when the first bearing part is in the first retracted position, the second bearing part is in the second retracted position; when the first bearing part is in the first extended position, the second bearing part is in the second extended position.

[0011] As can be seen from the above, this arrangement enables the telescopic transformation of the first side extension bearing platform and the second side extension bearing platform to be synchronized, thereby improving the transformation efficiency.

[0012] A further solution is that the fork body also includes a first position detection device, a second position detection device, a first detection member and a second detection member; the first position detection device and the second position detection device are fixedly arranged on the basic bearing platform; the first detection member is arranged on the first turntable, and the second detection member is arranged on the second turntable; when the first bearing part is located at the first extended position, the first detection member is located within the detection range of the first position detection device, and when the second bearing part is located at the second contracted position, the second detection member is located within the detection range of the second position detection device, or when the first bearing part is located at the first contracted position, the first detection member is located within the detection range of the first position detection device, and when the second bearing part is located at the second extended position, the second detection member is located within the detection range of the second position detection device.

[0013] It can be seen from the above that since the contraction changes of the first side extension load platform and the second side extension load platform are carried out synchronously, the first detection member and the second detection member are respectively arranged on the first side extension load platform and the second side extension load platform, and the first detection member and the second detection member are respectively used to detect the contracted position and the extended position. Under this setting, only two position detection devices and two detection members are used to realize the detection of two different positions corresponding to the two turntables, thereby reducing production investment and ensuring detection accuracy.

[0014] A further solution is that the first bearing portion located at the first retracted position is received within a side portion of the basic bearing platform.

[0015] As can be seen from the above, this arrangement can ensure the storage effect of the first side extension bearing platform without affecting the use of the fork body in the basic state.

[0016] A further solution is that the basic bearing platform has a basic bearing surface; the first side bearing platform has a first side bearing surface; the front bearing platform has a front bearing surface; the basic bearing surface, the first side bearing surface and the front bearing surface are located on the same horizontal plane.

[0017] As can be seen from the above, the multiple bearing surfaces are located on the same horizontal plane to ensure that the multiple bearing surfaces can effectively abut against the cargo or cargo rack to ensure bearing stability.

[0018] A further solution is that, in the extension direction, the first side extension platform is close to the front extension platform and away from the machine body.

[0019] As can be seen from the above, under this setting, when the front extension load platform and the first side extension load platform are both in an extended state, in the extension direction of the fork body, the first side extension load platform can be roughly located in the middle area of ​​the fork body, and the first side extension load platform can be supported in the central area of ​​the bottom of the cargo or cargo rack, thereby making the distribution of support points more reasonable and further improving the load-bearing stability.

[0020] A further solution is that the fork body includes a first guide rail and a second guide rail, both of which are arranged along the extension direction, the first guide rail is fixed on the basic bearing platform, the second guide rail is fixedly connected to the forward bearing platform, one of the first guide rail and the second guide rail is provided with a track, and the other of the first guide rail and the second guide rail is provided with a pulley group, the track cooperates with the pulley group, and the first guide rail and the second guide rail can move relative to each other in the extension direction.

[0021] A further solution is that the fork body also includes a forward drive mechanism, which includes a second rotation drive unit, a second gear and a rack, and the second rotation drive unit can drive the second gear to rotate; the rack is fixedly connected to the second guide rail, the rack is arranged along the extension direction, and the second gear is meshed with the rack.

[0022] As can be seen from the above, this arrangement can ensure the telescopic stability of the forward-extending bearing platform and can also enable the forward-extending bearing platform to have a larger forward extension distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of the first perspective of an embodiment of the extendable material transport forklift robot of the present invention.

[0024] Figure 2 This is a structural diagram of the extendable material transport forklift robot embodiment from the second perspective of the present invention.

[0025] Figure 3 Schematic diagram of the structure of the fork body in the embodiment of the extendable material transport forklift robot of the present invention.

[0026] Figure 4 It is a structural diagram of the side extension bearing structure in a retracted state in an embodiment of the extendable material transport forklift robot of the present invention.

[0027] Figure 5 It is a structural diagram of the side extension bearing structure in an extended state in an embodiment of the extendable material transport forklift robot of the present invention.

[0028] Figure 6 It is a structural diagram of the forward extension bearing platform and the forward extension driving mechanism in the embodiment of the extendable material transport forklift robot of the present invention.

[0029] Figure 7 This is a structural diagram of the fork body of the extendable material transport forklift robot embodiment of the present invention in an extended state.

[0030] Figure 8 This is a structural diagram of the support mechanism in the first state in an embodiment of the extendable material transport forklift robot of the present invention.

[0031] Fig. 9 This is a structural diagram of the support mechanism in the second state in an embodiment of the extendable material transport forklift robot of the present invention. DETAILED DESCRIPTION

[0032] See also Figure 1 and Figure 2 The extendable material transport forklift robot of this embodiment mainly includes a body 1, a fork body 2, a traveling device 3 and a supporting device 4. The traveling device 3 is arranged at the bottom of the body 1, the fork body 2 is arranged at the front side of the body 1 in a liftable manner, and the supporting device 4 is arranged at the bottom of the fork body 2. The traveling device 3 is a steering wheel device, and the supporting device 4 includes a connecting rod mechanism 40 and a supporting wheel 44 arranged on the connecting rod mechanism 40.

[0033] See also Figure 3 The fork body 2 includes a base support platform 5, a first side extension support platform 63, a second side extension support platform 64 and a front extension support platform 7. Figure 1 , the x-axis direction in the figure is the length direction of the fork body 2, the y-axis direction in the figure is the width direction of the fork body 2, the fork body 2 and the basic supporting platform 5 thereon are both extended into a long shape along the x-axis direction, the front extending supporting platform 7 is telescopically arranged at the front end of the basic supporting platform 5 along the x-axis direction, and the first side extending supporting platform 63 and the second side extending supporting platform 64 are telescopically arranged on the left and right sides of the basic supporting platform 5 along the y-axis direction.

[0034] See also Figure 4 The fork body 2 further includes a side extension driving mechanism, which includes a first rotation driving unit 61 and a first gear 62. The first rotation driving unit 61 is a motor, and the first gear 62 is connected to the output shaft of the first rotation driving unit 61. The first side extension bearing platform 63 includes a first rotating disk 630 and a first bearing plate 65. The first rotating disk 630 can rotate along the first axis 601. The outer periphery of the first rotating disk 630 has a first gear tooth portion 631 and a first bearing portion 632. The first bearing plate 65 is fixed on the first bearing portion 632. The second side extension bearing platform 64 includes a second rotating disk 640 and a second bearing plate 66. The outer periphery of the second rotating disk 640 has a second gear tooth portion 641 and a second bearing portion 642. The second bearing plate 66 is fixed on the second bearing portion 642.

[0035] Combination Figure 6 The basic supporting platform 5 has two first guide rails 52 arranged opposite to each other in the y-axis direction. The extending ends of the two first guide rails 52 are each provided with a rotating shaft 53. The two rotating shafts 53 are located at the above-mentioned first axis 601 and second axis 602 respectively. The first turntable 630 and the second turntable 640 are respectively installed on the two rotating shafts 53 through bearings to realize rotation.

[0036] See also Figure 4 and Figure 5 The first gear tooth portion 631 meshes with the first gear 62 , and the second gear tooth portion 641 meshes with the first gear tooth portion 631 . After the first rotation driving unit 61 is driven, the first rotating disk 630 rotates under the drive of the first gear 62 . At the same time, the second rotating disk 640 rotates under the drive of the first rotating disk 630 .

[0037] Driven by the first gear 62, the first rotating disk 630 can rotate and the first bearing portion 632 can move between the first retracted position and the first extended position. Driven by the first rotating disk 630, the second rotating disk 640 can rotate and the second bearing portion 642 can move between the second retracted position and the second extended position. Figure 4 As shown, the first bearing portion 632 is in a first retracted position, and the second bearing portion 642 is in a second retracted position. Figure 5 As shown, when the first carrying portion 632 is in the first extended position, the second carrying portion 642 is in the second extended position.

[0038] See also Figure 1 , Figure 4 and Figure 5 In the y-axis direction, the first bearing portion 632 at the first retracted position and the second bearing portion 642 at the second retracted position are both stored inside the side of the basic bearing platform 5, while the first bearing portion 632 at the first extended position and the second bearing portion 642 at the second extended position are both extended outside the side of the basic bearing platform 5, that is, the first retracted position is closer to the basic bearing platform 5 than the first extended position, and the second retracted position is closer to the basic bearing platform 5 than the second extended position. In this embodiment, the side of the basic bearing platform 5 is the end surface of the basic bearing platform 5 in the y-axis direction.

[0039] In addition, the fork body 2 further includes a first position detection device 681, a second position detection device 682, a first detection member 691 and a second detection member 692. The first position detection device 681 and the second position detection device 682 are both infrared detectors. The first position detection device 681 and the second position detection device 682 are fixedly arranged on the base support platform 5. The first detection member 691 is arranged on the first rotating disk 630, and the second detection member 692 is arranged on the second rotating disk 640. Figure 4 It can be seen that when the second bearing portion 642 is located at the second retracted position, the second detection member 692 is located within the detection range of the second position detection device 682. Figure 5 It can be seen that when the first carrying portion 632 is located at the first extended position, the first detecting member 691 is located within the detection range of the first position detecting device 681 .

[0040] See also Figure 6 The fork body also includes a forward extension drive mechanism, which includes a second rotation drive unit 78, a driving bevel gear 77, a driven bevel gear 76, a second gear 75 and a rack 73. The second rotation drive unit 78 is a motor, which is arranged along the x-axis direction, and the driving bevel gear 77 is connected to the output shaft of the second rotation drive unit 78; the driven bevel gear 76 and the second gear 75 are coaxially arranged in the y-axis direction.

[0041] Recombination Figure 3 The fork body 2 includes a first guide rail 52 and a second guide rail 72. The basic bearing platform 5 has a shell 51, and the basic bearing surface 501 is the upper surface of the shell 51; the two first guide rails 52 are fixedly installed in the shell 51 and are respectively located on both sides of the width, and the two first guide rails 52 extend along the x-axis direction, and the first guide rail 52 has a track 520. The second guide rail 72 extends along the x-axis direction, and the extended ends of the two second guide rails 72 are fixedly connected to the forward bearing platform 7, and the rack 73 is fixedly installed on the inner side of the second guide rail 72. The outer side of the second guide rail 72 is provided with a pulley block 74, and the track 520 cooperates with the pulley block 74 so that the first guide rail 52 and the second guide rail 72 can move relative to each other in the extension direction.

[0042] Since the active bevel gear 77 is meshed with the driven bevel gear 76, the driven bevel gear 76 and the second gear 75 rotate coaxially, and the second gear 75 is meshed with the rack 73, when the second rotation drive unit 78 is started, the forward support platform 7 can perform telescopic movement in the x-axis direction relative to the basic support platform 5.

[0043] When the front extending load platform 7, the first side extending load platform 63 and the second side extending load platform 64 are in the storage state, the fork body 2 has a minimum supporting area; the first side extending load platform 63 and the second side extending load platform 64 can extend outward in the width direction, and the front extending load platform 7 can extend outward in the extension direction, thereby increasing the load width or load length, so that the fork body 2 is suitable for carrying larger goods or cargo racks, thereby improving transportation stability.

[0044] See also Figure 7 In the x-axis direction, the first side extension platform 63 and the second side extension platform 64 are close to the front extension platform 7 and away from the machine body 1. When the front extension platform 7, the first side extension platform 63 and the second side extension platform 64 are all in the extended state, in the x-axis direction, the first side extension platform 63 and the second side extension platform 64 are roughly located in the middle of the fork body 2, and the first side extension platform 63 and the second side extension platform 64 can be supported in the central area of ​​the bottom of the cargo or cargo rack, so that the distribution of the support points is more reasonable, and the stability of the load is further improved.

[0045] See also Figure 8 and Fig. 9 The fork body 2 is liftably arranged on the machine body 1 through the lifting device 18, and the supporting device 4 arranged at the bottom of the fork body 2 includes a supporting wheel 44. When the fork body 2 rises or falls, the position of the supporting wheel 44 also needs to be adjusted to ensure that the supporting wheel 44 is effectively in contact with the ground, and the position adjustment of the supporting wheel 44 is achieved through the cooperation of the connecting rod mechanism 40 and the wedge-shaped piece 19 arranged in the machine body 1.

[0046] The link mechanism 40 includes a first link 41, a second link 42 and a bracket 43, the first extension end of the first link 41 is rotatably connected to the base platform 5 at the third axis 401, the first extension end of the bracket 43 is rotatably connected to the base platform 5 at the fourth axis 402, the first extension end of the second link 42 and the second extension end of the first link 41 are rotatably connected to the fifth axis 403, the second extension end of the second link 42 and the extended middle part of the bracket 43 are rotatably connected to the sixth axis 404, and the support wheel 44 is rotatably connected to the second extension end of the bracket 43, that is, the bottom of the bracket 43. The link mechanism 40 also includes a roller 45 rotatably arranged at the fifth axis 403.

[0047] The wedge 19 is fixedly arranged at the lower part of the body 1 along the height direction, and has a wedge surface 191 facing the link mechanism 40. The wedge surface 191 extends along the height direction and gradually tilts toward the positive direction of the x-axis, and the rolling surface of the roller 45 abuts against the wedge surface 191. When the fork body 2 rises, the roller 45 rises due to the fixed wedge 19. Under the guidance of the wedge surface 191, the first link 41 swings forward along the third axis 401, and at the same time, the bracket 43 swings forward along the fourth axis 404, thereby lowering the support wheel 44.

[0048] Also, see Figure 3 The fork body 2 further includes a cover plate 59, which covers the side extension drive mechanism, the first rotating disk 63 and the second rotating disk 64. The upper surface 590 of the cover plate 59 is a support surface. When the cover plate 59 is installed on the fork body 2, the upper surface 590 and the base bearing surface 501 are in the same horizontal plane. An escape notch 591 is provided on opposite sides of the cover plate 59. When the first side extension bearing platform 63 is in the first retracted position and the second side extension bearing platform 64 is in the second retracted position, the first bearing plate 65 and the second bearing plate 66 are respectively located in the two escape notches 591 on both sides.

[0049] In addition, in the present invention, the first side extension platform and / or the second side extension platform are telescopically arranged on opposite sides of the base platform along the width direction of the fork body, wherein "telescopically arranged along the width direction of the fork body" means that after the first side extension platform and the second side extension platform change from the storage state (the first contracted position and the second contracted position) to the extended state (the first extended position and the second extended position), the first side extension platform and the second side extension platform have a displacement in the width direction. Therefore, "the first side extension platform and / or the second side extension platform are telescopically arranged on opposite sides of the base platform along the width direction of the fork body" includes but not only includes the technical solution that the first side extension platform and the second side extension platform produce telescopic movement by linear movement in the width direction, and also includes the technical solution that the first side extension platform and the second side extension platform produce displacement in the width direction by rotation as in the present embodiment.

[0050] In other embodiments, the first side extension support platform or the second side extension support platform can be installed on the basic support platform via a telescopic roller guide rail, and the first side extension support platform or the second side extension support platform can telescopically move linearly along the width direction of the fork body through motor control.

[0051] In other embodiments, only the first side extension bearing platform is provided without the second side extension bearing platform.

[0052] In other embodiments, in the extension direction of the fork body, the first side extension bearing platform and / or the second side extension bearing platform are located in the extended middle part of the basic bearing platform.

[0053] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An extendable material transport forklift robot, comprising a body, a fork body and a walking device, wherein the walking device is arranged at the bottom of the body, the fork body comprises a basic bearing platform, and the basic bearing platform is liftably arranged at the front side of the body; Features: The fork body also includes a first side extension bearing platform and a front extension bearing platform; The forward extension platform is telescopically arranged at the front end of the basic platform along the extension direction of the fork body; The first side extension platform is telescopically arranged on the side of the base platform along the width direction of the fork body, and the width direction is perpendicular to the extension direction; The fork body further comprises a side extension driving mechanism, the side extension driving mechanism comprises a first rotation driving unit and a first gear, and the first rotation driving unit can drive the first gear to rotate; The first side extension bearing platform comprises a first rotating disk, the first rotating disk can rotate along a first axis, and the outer periphery of the first rotating disk has a first gear portion and a first bearing portion; The first gear tooth portion is meshed with the first gear. Driven by the first gear, the first turntable can rotate and the first bearing portion can move between a first retracted position and a first extended position. In the width direction, the first retracted position is closer to the basic bearing platform than the first extended position. The fork body comprises a second side-extending bearing platform, the second side-extending bearing platform comprises a second rotating disk, the second rotating disk can rotate along a second axis, and the outer periphery of the second rotating disk has a second gear portion and a second bearing portion; The second gear tooth portion is meshed with the first gear tooth portion. Driven by the first turntable, the second turntable can rotate and the second bearing portion can move between a second retracted position and a second extended position. In the width direction, the second retracted position is closer to the basic bearing platform than the second extended position.

2. The extendable material transport forklift robot according to claim 1, characterized in that: When the first bearing portion is in the first retracted position, the second bearing portion is in the second retracted position; When the first carrying portion is in the first extended position, the second carrying portion is in the second extended position.

3. The extendable material transport forklift robot according to claim 2, characterized in that: The fork body further comprises a first position detection device, a second position detection device, a first detection member and a second detection member; The first position detection device and the second position detection device are fixedly arranged on the basic bearing platform; The first detection member is arranged on the first rotating disk, and the second detection member is arranged on the second rotating disk; When the first bearing part is located at the first extended position, the first detection member is located within the detection range of the first position detection device; when the second bearing part is located at the second retracted position, the second detection member is located within the detection range of the second position detection device. or, When the first bearing part is located at the first retracted position, the first detecting member is located within the detection range of the first position detecting device, and when the second bearing part is located at the second extended position, the second detecting member is located within the detection range of the second position detecting device.

4. The extendable material transport forklift robot according to any one of claims 1 to 3, characterized in that: The first carrying portion located at the first retracted position is received within the side portion of the basic carrying platform.

5. The extendable material transport forklift robot according to any one of claims 1 to 3, characterized in that: The basic bearing platform has a basic bearing surface; The first side extension bearing platform has a first side extension bearing surface; The forward-extending bearing platform has a forward-extending bearing surface; The base bearing surface, the first side overhang bearing surface and the front overhang bearing surface are located on the same horizontal plane.

6. The extendable material transport forklift robot according to any one of claims 1 to 3, characterized in that: In the extending direction, the first side extension platform is close to the front extension platform and away from the machine body.

7. The extendable material transport forklift robot according to any one of claims 1 to 3, characterized in that: The fork body comprises a first guide rail and a second guide rail, the first guide rail and the second guide rail are both arranged along the extension direction, the first guide rail is fixed to the base bearing platform, and the second guide rail is fixedly connected to the forward bearing platform; One of the first guide rail and the second guide rail is provided with a track, the other of the first guide rail and the second guide rail is provided with a pulley block, the track cooperates with the pulley block, and the first guide rail and the second guide rail can move relatively in the extension direction.

8. The extendable material transport forklift robot according to claim 7, characterized in that: The fork body further comprises a forward extension driving mechanism, the forward extension driving mechanism comprises a second rotation driving unit, a second gear and a rack, and the second rotation driving unit can drive the second gear to rotate; The rack is fixedly connected to the second guide rail, the rack is arranged along the extending direction, and the second gear is meshed with the rack.

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