Lifting device with anti-tilt adjustment function

Abstract

The present invention belongs to the technical field of lifting and lifting, and specifically relates to a lifting device with an anti-tilt adjustment function, including a pair of fork units, an assembly base, a pair of screw drive units, a visual detection unit and a control unit. The fork unit includes a fork arm and a seat body. The upper end surface of the assembly base is formed with a groove rail structure that matches the seat body, and the front and rear ends are respectively formed with end arm parts, and a convex seat is formed at the center position of the upper end surface. The screw drive unit is arranged relatively front and back and matches the two seat bodies respectively. The visual detection unit is fixed on the convex seat, including a distance sensor for detecting the distance between the cargo and the right side surface of the assembly base, and a visual camera for identifying the outer contour of the cargo. The control unit can at least calculate the length of the cargo, and can control the action of the screw drive unit according to the calculation result. The present invention can adjust the position and relative spacing of the fork arm, and can adapt to the operation scene where the cargo is densely stacked and the length varies greatly.

Description

Technical Field

[0001] The invention relates to the technical field of lifting devices, and in particular to a lifting device with an anti-tilt adjustment function. Background Art

[0002] AGV forklifts are often used in logistics turnover scenarios for stacked palletized goods. They are composed of a hydraulic lifting system, a differential drive system, a PLC control system, a guidance system, a communication system, a warning system, an operating system and a power supply. They are intelligent flexible handling equipment that integrates hydraulic lifting and PLC control and programmable wireless scheduling. They are mainly used to transport and stack materials, which can reduce labor costs and improve handling efficiency.

[0003] In some places where there are restrictions on the width of goods, or where the length and width of goods vary, the existing AGV forklifts lack the function of detecting the length and width of goods, which results in the existing AGV forklifts being unable to be well used in operation scenarios where goods are densely stacked. The distance between the two fork arms cannot be adjusted adaptively according to the length and width of the goods, and multiple models of AGV forklifts need to be configured. In addition, when using the lifting device of the AGV forklift for loading, unloading, and transferring of goods, the goods are prone to frequent drops after the fork arm / fork is used to lift the goods because of the large deviation between the length of the goods and the width of the fork unit. Summary of the invention

[0004] The present invention provides a lifting device with an anti-tilt adjustment function, which can identify and calculate the length of the goods to be lifted based on a visual detection unit, and can quickly adjust the positions of two fork arms and the relative distance between the two according to the length of the goods, so that the fork unit of the lifting device is adapted to the position and length of the goods, and can adapt to operating scenarios where the goods are densely stacked and the length changes are frequent and large, which helps to suppress the occurrence of goods falling during loading, unloading, transshipment and other operations.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a lifting device with anti-tilt adjustment function, including a pair of fork units, an assembly base, a pair of screw transmission units, a visual detection unit and a control unit. Both the screw transmission units and the visual detection unit are connected to the control unit.

[0006] The fork units each include a fork arm and a seat body formed at the assembly end of the fork arm.

[0007] The assembly base is in the shape of a rectangular parallelepiped, and a convex rail body and a connecting arm portion matching the main body of the lifting device are formed on its left side; a groove rail structure matching the seat body of the fork unit is formed on its upper end surface, and the groove rail structure extends in the front and rear directions; end arms extending vertically upward are formed at the front and rear ends respectively, and a convex seat is formed in the center of the upper end surface.

[0008] The bodies of the two fork arms both extend outward relative to the right side of the assembly base.

[0009] The two screw drive units are arranged front and back oppositely, and the screw levers in the two screw drive units are matched with the seats on the two fork arms respectively. The motors are fixed on the two end arms respectively, and can drive the two fork units to move in the front and back directions respectively with the help of the two screw drive units. The free end of the screw lever is matched on the convex seat. A guide column corresponding to each seat body is also provided between the end arm and the convex seat.

[0010] The visual inspection unit is fixed on the convex seat, and comprises a distance measuring sensor for detecting the distance between the cargo and the right side surface of the assembly base, and a visual camera for identifying the outer contour of the cargo.

[0011] The control unit can calculate at least the length of the cargo according to the distance between the cargo and the right side of the assembly base and the outer contour of the cargo, and can control the two screw drive units to respond according to the calculation results to adjust the positions of the two fork arms in the front-to-back direction and the front-to-back spacing between the two fork arms.

[0012] Optionally, it further includes a cover unit fixed on the assembly base. The cover unit includes a pair of clamping arms formed on the cover body, and the two clamping arms are arranged alternately on the left and right. Preferably, a plurality of curved protrusions extending in the vertical direction are arranged on the opposite surfaces of the clamping arms, and the curved protrusions on each surface are distributed and extended in the front-back direction.

[0013] The fork unit also includes a convex strip formed on the upper part of the seat body, and a linear groove extending in the front-rear direction is formed on the upper end surface of the convex strip. A groove body 1 is formed at the root of the outer end surface of the arm on the side of the linear groove facing the fork arm, and a groove body 2 is formed at the root of the inner end surface, so that the arm becomes an elastic arm that can generate elastic deformation at its root.

[0014] A plurality of elastic ribs are arranged in the linear groove and near the upper end of the linear groove. One end of the elastic rib is connected to the upper part of the elastic arm, so that the elastic rib can exert elastic force in the left and right directions on the elastic arm. Specifically, the elastic rib is in a wave shape, an S shape, or a sine or cosine curve shape that fluctuates in the front-to-back direction or in the up-down direction.

[0015] After the cover body is fixed on the assembly base, the convex strip is clamped between the two clamping arms and the clamping arms can compress the elastic arm to deform toward the side away from the fork arm, forming an assembly prestress. When the fork arm supports goods, the assembly prestress can suppress / resist the adverse effects of the cantilever effect on the fork arm, and improve the stress conditions of the wire lever and the track on the seat body that matches the assembly base, which can effectively suppress the wire lever and the track from being significantly deformed when the fork arm supports heavy loads, which helps to improve the reliability and stability of the operation of the lifting device.

[0016] Optionally, it also includes a cover unit fixed on the assembly base, and a thrust unit matching the cover unit.

[0017] The cover unit includes a supporting plate formed on one side of the cover body, and a clamping arm portion extending in the vertical direction. A through groove matching the clamping arm portion is formed on the cover body, so that the upper and lower end surfaces of the clamping arm portion pass through the through groove and extend upward and downward relative to the upper and lower end surfaces of the cover body respectively. The middle part of the clamping arm portion is matched with the cover body through a groove rail structure along the left and right directions, so that the clamping arm portion can slide relative to the cover body in the left and right directions. A wedge-shaped body is formed on the outer side surface of the portion of the clamping arm portion extending upward relative to the cover body. A first wedge surface and a second wedge surface are formed on the outer side surface of the wedge-shaped body.

[0018] The thrust unit is fixed on the support plate, and includes two hydraulic cylinder assemblies, and push blocks respectively fixed on the ends of the cylinder rods of the two hydraulic cylinder assemblies. The two hydraulic cylinder assemblies are arranged front to back relative to each other, and the two push blocks are respectively matched with the first wedge surface and the second wedge surface. The push blocks are matched with the support plate through a track structure extending in the front-to-back direction. The side surfaces of the push blocks facing the first wedge surface and the second wedge surface are inclined surfaces, and after assembly, the inclined surfaces on the two push blocks are contacted and matched with the two wedge surfaces. It is preferred that a plurality of curved protrusions extending in the vertical direction are arranged on the inner side surface of the portion of the clamping arm portion extending downward relative to the cover plate body, and the curved protrusions are distributed and extended in the front-to-back direction.

[0019] The fork unit also includes a convex strip formed on the upper part of the seat body, and a linear groove extending in the front-to-back direction is formed on the upper end surface of the convex strip. A groove body 1 is formed at the root of the outer end surface of the arm facing the fork arm of the linear groove, and a groove body 2 is formed at the root of the inner end surface, so that the arm becomes an elastic arm that can generate elastic deformation at its root. A plurality of elastic ribs are distributed alternately in the front-to-back direction in the linear groove and near the upper end of the linear groove. One end of the elastic rib is correspondingly connected to the upper part of the elastic arm, so that the elastic rib can exert an elastic force in the left-right direction on the elastic arm.

[0020] After the cover body is fixed on the assembly base, the inner side of the portion of the clamp arm extending downward relative to the cover body is opposite to the side of the convex strip body close to the fork arm, that is, the outer side of the elastic arm. The control unit can make the two hydraulic cylinder assemblies drive the two push blocks to approach each other, and the two push blocks can drive the clamp arm to slide relative to the cover body, so that the inner side of the portion of the clamp arm extending downward relative to the cover body contacts the outer side of the elastic arm, and can apply a thrust on the convex strip body toward the side away from the fork arm.

[0021] Before the fork arm supports the goods, the two push blocks drive the part of the clamp arm part that extends downward relative to the cover plate body to apply a thrust on the outer side of the elastic arm, causing the elastic arm and the elastic rib plate to deform elastically, and applying a prestressed thrust on the convex strip body. The prestressed thrust can suppress / resist the adverse conditions of the fork arm due to the cantilever effect, improve the stress conditions of the wire lever and the track on the seat body that matches the assembly base during the lifting operation, and effectively suppress the wire lever and the track from being significantly deformed when the fork arm supports the goods, which helps to improve the reliability and stability of the operation of the lifting device involved in the present invention.

[0022] Optionally, an elastic arch plate is fixedly provided on the upper end surface of the cover plate body, and the protruding arch surface of the elastic arch plate is in tangential contact with the inner side surface of the portion of the clamping arm portion that extends upward relative to the cover plate body.

[0023] The push block drives the clamp arm to slide relative to the cover plate body, and when the clamp arm applies a thrust on the convex strip body in a direction away from the fork arm, the elastic arch plate can be elastically deformed, and a resistance force in the left and right directions acts on the clamp arm. After the thrust applied by the push block to the wedge body or the clamp arm is removed, the clamp arm can be reset by means of the elastic thrust of the elastic arch plate to return to the initial state. At this time, the protruding curved surface of the elastic arch plate is in tangential contact with the side surface of the clamp arm.

[0024] Optionally, a second strain sensor is provided on the concave surface of the elastic arch plate. The second strain sensor is connected to the control unit. The control unit can analyze and determine at least the amount of travel of the clamp arm portion moving toward the side away from the fork arm based on the strain signal fed back by the second strain sensor, and can serve as a control instruction for controlling the hydraulic cylinder assembly to drive the two push blocks to move closer to each other. When the cargo supported on the fork arm is unloaded, the control unit can send an action instruction to the hydraulic cylinder assembly, so that the hydraulic cylinder assembly drives its cylinder rod to retract, gradually unloading the pushing force of the push block on the clamp arm portion, and resetting the clamp arm portion under the action of the elastic arch plate.

[0025] Optionally, it also includes a first strain sensing part. The first strain sensing part includes a strain sensor body, an elastic body, a pull rod and a nut body. Correspondingly, a U-shaped body is formed on the outer side of the root of the front side and / or the rear side of the fork arm, and the opening of the U-shaped body is facing inward and downward, and a spherical protrusion is formed at the root of the front side and / or the rear side of the fork arm. The strain sensor body is fixed on the inner side of the root of the front side and / or the rear side of the fork arm. The U-shaped body and the corresponding spherical protrusion on each surface are respectively configured with a first strain sensing part. A first strain sensing part can be respectively provided on the end faces opposite to each other of the two forks; or a first strain sensing part can be provided only on the end face of one of the two forks.

[0026] One end of the elastic body is connected to the strain sensor body, and the other end extends outward and upward and extends into the U-shaped body. The lower end surface of the elastic body is in tangential contact with the spherical protrusion. The strain body connected to the strain sensor body is fixed in the middle of the elastic body and corresponds to the upper part of the spherical protrusion. An end block is provided at one end of the elastic body extending into the U-shaped body, and the outer wall surface of the end block contacts the inner wall surface of the U-shaped body to form a surface-to-surface matching relationship.

[0027] One end of the pull rod is fixedly connected to the end block, and the other end passes through the through hole provided on the closed end of the U-shaped body and matches with the nut body through a thread structure. By adjusting the matching position of the nut body and the pull rod thread, the end block can be pulled to move toward the side close to the closed end of the U-shaped piece, thereby adjusting the initial stretching state of the elastic body or the strain body.

[0028] Optionally, a slot is formed at the free end of the end block, and the inner end of the slot is formed into an enlarged slot cavity. Correspondingly, an enlarged body is formed at one end of the pull rod. The enlarged body can be inserted into the enlarged slot cavity, so that one end of the pull rod and the end block are fixedly connected. The body of the pull rod can extend through the end of the slot, that is, the width of the slot port is greater than the outer diameter of the pull rod.

[0029] Optionally, the enlarged groove cavity is a cylindrical cavity, and the inner diameter of the cylindrical cavity is greater than the width of the slot port, and the axis of the cylindrical cavity is perpendicular to the axis of the pull rod. Correspondingly, the enlarged body is a column. Therefore, after assembly, the axial direction of the enlarged body is substantially consistent with the axial direction of the cylindrical cavity, and the axial direction of the enlarged body is perpendicular to the axial direction of the pull rod.

[0030] After the first strain sensing part is matched with the U-shaped body and the spherical protrusion, a lever structure can be formed. The elastic deformation at the root of the fork arm can be detected by means of the first strain sensing part, so as to evaluate and judge the weight of the goods supported by the fork arm and the cantilever effect state of the fork arm caused by the goods. On the one hand, it can be used for early warning to prevent the fork arm from being overloaded; on the other hand, it can also be associated with the thrust unit, and the control unit can adjust the magnitude of the thrust force applied by the push block on the convex strip body toward the side away from the fork arm according to the sensor signal fed back by the first strain sensing part.

[0031] The beneficial effects of the present invention are as follows: the lifting device with anti-tilt adjustment function involved in the present invention can obtain the outer contour of the goods to be loaded, unloaded and transferred through the visual detection unit, and can at least calculate the length of the goods toward one side of the two fork arms, and the control unit can quickly control the movement of the two fork arms according to the calculated length of the goods to adjust the position of the two fork arms and the front-to-back spacing to make them adapt to the position of the goods and the calculated length of the goods, and after the fork arms lift the goods, the deviation of the center of the spacing between the fork arms relative to the length center of the goods can be reduced, which helps to effectively prevent the lifted goods from falling during loading, unloading, transshipment and other operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the top structure of the present invention (without the cover plate unit installed).

[0033] Figure 2 for Figure 1 Schematic diagram of the local enlarged structure at point Ⅰ in the middle.

[0034] Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure at AA in the middle.

[0035] Figure 4 for Figure 3 Schematic diagram of the local enlarged structure at point II in the middle.

[0036] Figure 5 for Figure 1 Schematic diagram of the cross-sectional structure at BB in the middle.

[0037] Figure 6 for Figure 5 Schematic diagram of the local enlarged structure at point III in the middle.

[0038] Figure 7 It is a schematic diagram of the bottom structure of the cover plate unit embodiment 1.

[0039] Figure 8 It is a schematic diagram of the bottom structure of the second embodiment of the cover plate unit.

[0040] Fig. 9It is a schematic diagram of the top surface structure of the second embodiment of the cover plate unit.

[0041] Fig.10 It is a top view structural schematic diagram of the matching connection between the slot on the end block and the end of the pull rod.

[0042] In the figure: 10 fork unit, 11 fork arm, 111 U-shaped body, 12 seat body, 121 spherical protrusion, 13 convex strip body, 131 linear groove, 132 elastic rib plate, 133 groove body 1, 134 elastic arm, 135 pressure surface, 136 groove body 2; 20 assembly base, 21 convex rail body, 22 connecting arm part, 23 end arm part, 24 convex seat; 30 screw transmission unit, 31 motor, 32 wire lever; 40 visual inspection unit; 5 0 first strain sensing part, 51 strain sensor body, 511 strain body, 52 elastic body, 521 end block, 522 slot, 53 pull rod, 54 nut body; 60 cover unit, 61 clamp arm part, 611 wedge surface body, 612 first wedge surface, 613 second wedge surface, 62 curved protrusion body, 63 straight groove body, 64 supporting plate; 70 thrust unit, 71 hydraulic cylinder assembly, 72 push block; 80 elastic arch plate, 81 second strain sensing part. DETAILED DESCRIPTION

[0043] The structures, proportions, sizes, etc. illustrated in the drawings of the specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention. At the same time, the terms such as "upper", "lower", "front", "back", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical contents.

[0044] like Figures 1 to 7 The lifting device with anti-tilt adjustment function shown in the figure includes a pair of fork units 10, an assembly base 20, a pair of screw transmission units 30, a visual detection unit 40, a first strain sensor 50, a cover unit 60 and a control unit (not shown in the figure). The two screw transmission units 30, the visual detection unit 40, the first strain sensor 50, etc. are all connected to the control unit.

[0045] The fork units 10 each include a fork arm 11, a seat body 12 formed at an assembly end (left end in the figure) of the fork arm 11, and a convex strip body 13 formed at an upper end of the seat body 12, and a linear groove 131 extending in the front-rear direction is formed on the upper end surface of the convex strip body 13.

[0046] The assembly base 20 is in the shape of a rectangular parallelepiped, and its long sides extend in the front-to-back direction. A convex rail body 21 and a connecting arm portion 22 matching the main body of the lifting device are formed on the left side of the assembly base 20. A groove rail structure matching the seat body 12 of the fork unit 10 is formed on the upper end surface of the assembly base 20, so that the groove rail structure extends in the front-to-back direction. End arm portions 23 extending vertically upward are formed at the front and rear ends of the assembly base 20, respectively. A convex seat 24 is formed at the center of the upper end surface of the assembly base 20. The bodies of the two fork arms 11 both extend outward (to the right) relative to the right side of the assembly base 20.

[0047] The two screw transmission units 30 are arranged front and back oppositely, and the screw levers 32 in the two screw transmission units 30 are matched with the base bodies 12 on the two fork units 10 respectively. The motors 31 are fixed on the two end arms 23 respectively, and can drive the two fork units 10 to move forward and backward along the direction of the speed V by means of the two screw transmission units 30. The free end of the screw lever 32 is matched with the convex seat 24. A guide column corresponding to each base body 12 is also provided between the end arm 23 and the convex seat 24.

[0048] The visual inspection unit 40 is fixed on the convex seat 24, and includes a distance sensor for detecting the relative distance between the goods and the right side of the assembly base 20 and a visual camera for identifying the outer contour of the goods. The distance sensor and the visual camera are both within the scope of the prior art and are not the main innovation of the present invention, so they are not described in detail.

[0049] The control unit can calculate at least the length of the cargo (the dimension along the front-to-back direction) and determine the front-to-back deviation position of the cargo relative to the protrusion 24 based on the distance between the cargo and the right side of the assembly base 20 and the outer contour of the cargo detected by the visual detection unit 40, and can control the two screw transmission units 30 to take action according to the calculation results and the determination results, so as to adjust the positions of the two fork arms 11 in the front-to-back direction and the front-to-back spacing between the two fork arms 11.

[0050] Referring to the prior art, the convex rail body 21 on the assembly base 20 is matched with the vertical groove provided on the lifting device body, and the connecting arm part 22 on the assembly base 20 is matched with the multiple hydraulic cylinder units provided on the lifting device body, so as to achieve the purpose of driving the assembly base 20 to carry the two fork units 10 to move up and down in the vertical direction with the cylinder rod of the hydraulic cylinder unit. Since the cooperation between the assembly base 20 and the lifting device body belongs to the scope of the prior art, the detailed matching structure between the assembly base 20 and the lifting device body is not described in detail.

[0051] like Figure 5 , Figure 6 As shown, the first strain sensing part 50 includes a strain sensor body 51, an elastic body 52, a pull rod 53 and a nut body 54. A U-shaped body 111 is formed on the outside of the root of the front side of the fork arm 11, and the opening of the U-shaped body 111 faces inward and downward (lower left in the figure). Correspondingly, a spherical protrusion 121 is formed at the root of the front side of the fork arm 11.

[0052] The strain sensor body 51 is fixed to the inner side of the root of the front side of the fork arm 11. One end of the elastic body 52 is connected to the strain sensor body 51, and the other end extends obliquely outward and upward (upper right in the figure) and extends into the U-shaped body 111. The lower end surface of the elastic body 52 is in tangential contact with the spherical protrusion 121.

[0053] The strain body 511 connected to the strain sensor body 51 is fixed in the middle of the elastic body 52 and corresponds to the top of the spherical protrusion 121. An end block 521 is provided at one end of the elastic body 52 extending into the U-shaped body 111, and the outer wall surface of the end block 521 is in contact with the inner wall surface of the U-shaped body 111, forming a surface-to-surface matching relationship. The structure can be as shown in the figure, that is, the two surfaces of the end block 521 facing the inner wall of the U-shaped body 111 are formed into arched curved surfaces, and the top of the arched curved surface is formed into a plane, which is convenient for assembly. The plane parts of the two arched curved surfaces are in contact with the two inner wall surfaces of the U-shaped body 111 respectively. Such a structure can ensure that the fork arm 11 undergoes elastic deformation, and when the position of the U-shaped body 111 is shifted, a downward pressure (lever pressure) can be applied to the end of the elastic body 52, which can better promote the elastic deformation of the elastic body 52 or the strain body 511.

[0054] One end of the pull rod 53 is fixedly connected to the end block 521, and the other end passes through the through hole provided on the closed end of the U-shaped body 111, and matches with the nut body 54 through a thread structure (that is, at least an external thread section is formed on the outer wall of the free end side of the pull rod 53). By adjusting the thread matching position between the nut body 54 and the pull rod 53, the end block 521 can be pulled to move toward the side close to the closed end of the U-shaped member 111, and the initial tension state of the elastic body 52 or the strain body 511 can be adjusted.

[0055] A slot 522 is formed at the free end of the end block 521, and the inner end of the slot 522 is formed into an enlarged slot cavity. Correspondingly, an enlarged body is formed at one end of the pull rod 53. The enlarged body can be inserted into the enlarged slot cavity and allow the body of the pull rod 53 to pass through the port of the slot 522 (that is, the width of the port of the slot 522 is greater than the outer diameter of the pull rod 53). The enlarged slot cavity can be a cylindrical cavity, the inner diameter of which is greater than the width of the port of the slot 522, and the axis of which is perpendicular to the axis of the pull rod 53. Correspondingly, the enlarged body is a column. Such a structure can suppress / significantly reduce the adverse effects on the degree of deformation of the elastic body 52 or the strain body 511 caused by the interference of the matching structure between the pull rod 53 and the end block 521, and help to ensure the detection accuracy of the first strain sensing part 50 for the elastic deformation at the root of the fork arm 11.

[0056] After the first strain sensing part 50 is matched with the U-shaped body 111 and the spherical protrusion 121, a lever structure can be formed, and the elastic deformation at the root of the fork arm 11 can be detected by means of the first strain sensing part 50, so as to evaluate and judge the weight of the goods supported by the fork arm 11 and the cantilever effect caused by the goods on the fork arm 11. On the one hand, it can be used for early warning to prevent the fork arm 11 from being overloaded; on the other hand, it can be associated with the thrust unit 70 (mentioned below), and the control unit can adjust the magnitude of the thrust force applied by the push block 72 on the convex strip body 13 toward the side away from the fork arm 11 according to the sensor signal fed back by the first strain sensing part 50.

[0057] The cover body of the cover unit 60 is fixed to the upper end of the assembly base 20 , and the lower end surface of the cover body corresponds to the upper end surfaces of the two end arms 23 and the upper end surface of the boss 24 , and are fixedly connected by bolts.

[0058] Embodiment 1 of the cover unit 60: Figure 7 As shown, the cover unit 60 includes a pair of clamping arms 61 formed on the cover body, and the two clamping arms 61 are arranged alternately on the left and right. On the opposite surfaces of the clamping arms 61, a plurality of curved protrusions 62 extending in the vertical direction are arranged respectively, and the curved protrusions 62 on the two surfaces are distributed and extended in the front-to-back direction (see the situation shown in the figure). The thickness of the two clamping arms 61 shown in the figure (the dimension along the left-right direction in the figure) is basically the same.

[0059] A groove body 133 is formed at the root of the outer end surface of the arm (i.e., the right arm) of the linear groove 131 facing the fork arm 11, and a groove body 136 is formed at the root of the inner end surface, so that the right arm becomes an elastic arm 134 that can generate elastic deformation at its root. The upper outer surface of the elastic arm 134 is a pressure surface 135.

[0060] A plurality of elastic ribs 132 are arranged in the linear groove 131 and near the upper end of the linear groove 131. The right end of the elastic rib 132 is connected to the upper part of the inner side surface of the elastic arm 134, and the left end of the elastic rib 132 is connected to the upper part of the inner side surface of the left arm of the linear groove 131, so that the elastic rib 132 (after elastic deformation) can exert elastic support stress on the elastic arm 134 along the left and right directions.

[0061] The elastic rib plate 132 is in the form of a wave, S-shape, sine, cosine, etc., which fluctuates in the front-back direction, or in the form of an extended curve. Figure 2 The elastic rib plate 132 may also be in a wave shape, an S shape, a sine shape, a cosine shape, or the like that fluctuates in the up and down direction.

[0062] After the cover plate body is fixed on the assembly base 20, the convex strip body 13 is clamped between the two clamping arm parts 61, and the clamping arm part 61 can apply a thrust toward the side away from the fork arm 11 (towards the left direction) on the pressure surface 135 of the elastic arm 134, and the thrust can compress the elastic arm 134 to deform toward the side away from the fork arm 11, and then the elastic rib plate 132 also produces elastic deformation, and an assembly prestress is formed on the convex strip body 13. When the fork arm 11 supports goods, the assembly prestress acting on the convex strip body 13 can suppress / resist the adverse conditions of the fork arm 11 due to the cantilever effect, and can improve the stress conditions of the wire lever 32 and the track on the seat body 12 that matches the assembly base 20, and can effectively suppress the wire lever 32 and the track from being significantly deformed when the fork arm 11 supports heavy loads / heavy goods, which helps to improve the reliability and stability of the operation of the lifting device.

[0063] Curved protrusions 62 are provided on the opposite surfaces of the two clamping arms 61, and after assembly, the curved protrusions 62 are in tangential contact with the outer wall surfaces on both sides of the convex strip body 13. On the one hand, the friction resistance when the seat body 12 slides relative to the assembly base 20 along the front-to-back direction can be reduced, thereby reducing wear; on the other hand, the distribution of the pressure applied by the clamping arm 61 on the convex strip body 13 can be optimized, so that the force is evenly distributed, thereby improving the uniformity of deformation of each elastic rib plate 132.

[0064] Embodiment 2 of the cover unit 60: Figure 8 , Fig. 9 The cover plate unit 60 shown in the figure only has one clamping arm portion 61, and the cover plate unit 60 is also matched with a thrust unit 70. The cover plate body of the cover plate unit 60 is also fixed on the assembly base 20, which will not be described in detail.

[0065] The cover unit 60 also includes a supporting plate 64 formed on one side of the cover body and its clamping arm portion 61 extends in the vertical direction, and the upper and lower end surfaces of the clamping arm portion 61 pass through a through groove provided on the cover body, so that the upper and lower end surfaces of the clamping arm portion 61 extend upward and downward respectively relative to the upper and lower end surfaces of the cover body.

[0066] The clamp arm 61 and the cover body are matched by a groove track structure (including the straight groove body 63 shown in the figure) along the left-right direction, so that the clamp arm 61 can slide along the left-right direction relative to the cover body. A wedge body 611 is formed on the outer side of the portion of the clamp arm 61 that extends upward relative to the cover body. A first wedge surface 612 and a second wedge surface 613 are formed on the outer side of the wedge body 611.

[0067] The thrust unit 70 is fixed on the support plate 64, and includes two hydraulic cylinder assemblies 71, and push blocks 72 respectively fixed to the ends of the cylinder rods of the two hydraulic cylinder assemblies 71. The two hydraulic cylinder assemblies 71 are arranged opposite to each other front and back, and the two push blocks 72 are respectively matched with the first wedge surface 612 and the second wedge surface 613. The push blocks 72 are matched with the track structure extending in the front and back directions between the support plate 64. The side surfaces of the push blocks 72 facing the first wedge surface 612 and the second wedge surface 613 are both inclined surfaces. After assembly (i.e., in the initial state), the inclined surfaces on the two push blocks 72 are respectively contacted and matched with the free end sides of the two wedge surfaces close to (the wedge surfaces), see Fig. 9 A plurality of curved protrusions 62 extending in the vertical direction are arranged on the inner side surface of the portion of the clamping arm portion 61 extending downward relative to the cover plate body, so that the curved protrusions 62 are distributed and extended in the front-to-back direction, see Figure 8 shown.

[0068] After the cover body is fixed on the assembly base 20, the inner side surface of the portion of the clamp arm portion 61 that extends downward relative to the cover body is opposite to the side surface of the convex strip body 13 that is close to the fork arm 11 (i.e., the pressure-bearing surface 135 on the elastic arm 134). In the initial state, the two opposite side surfaces can be kept in contact, and the curved protrusion 62 is in tangential contact with the outer side surface of the elastic arm 134 (i.e., the pressure-bearing surface 135); in the initial state, the two opposite side surfaces can also be kept in a state where there is a left-right spacing.

[0069] The control unit can make the two hydraulic cylinder assemblies 71 drive the two push blocks 72 to move towards each other at the same time, and the two push blocks 72 can drive the clamping arm portion 61 to slide relative to the cover body in the direction of speed V1, so that the inner side surface of the portion of the clamping arm portion 61 that extends downward relative to the cover body contacts the outer side surface of the elastic arm 134, and can gradually apply a thrust on the convex strip body 13 toward the side away from the fork arm 11.

[0070] Before the fork arm 11 supports the cargo, the two push blocks 72 drive the portion of the clamp arm portion 61 that extends downward relative to the cover plate body to apply a thrust on the outer surface of the elastic arm 134, causing the elastic arm 134 and the elastic rib plate 132 to undergo elastic deformation, and applying a pre-stress (toward the side away from the fork arm 11) on the convex strip body 13. The pre-stress can suppress / resist the adverse conditions of the fork arm 11 due to the cantilever effect, improve the stress conditions of the wire lever 32 and the track on the seat body 12 that matches the assembly base 20 during the lifting operation, and effectively suppress the wire lever 32 and the track from being significantly deformed when the fork arm 11 supports the cargo, which helps to improve the reliability and stability of the operation of the lifting device and extend its service life.

[0071] like Fig. 9 As shown, an elastic arch plate 80 is fixedly provided on the upper end surface of the cover body, and the protruding arch surface of the elastic arch plate 80 is in tangential contact with the inner side surface of the portion of the clamp arm portion 61 that extends upward relative to the cover body. The push block 72 drives the clamp arm portion 61 to slide relative to the cover body, and when the clamp arm portion 61 applies a thrust in the direction away from the fork arm 11 (to the left) on the convex strip body 13, the elastic arch plate 80 can be gradually caused to slowly elastically deform, and a resistance force in the left-right direction acts on the clamp arm portion 61. After the thrust applied by the push block 72 to the wedge surface 611 or the clamp arm portion 61 is removed, the clamp arm portion 61 can be driven to reset by the resistance thrust of the elastic arch plate 80 to its initial state, and the protruding curved surface of the elastic arch plate 80 and the side surface of the clamp arm portion 61 are kept in a tangential contact state.

[0072] A clearance groove is formed on the cover body, and the clearance groove corresponds to the convex seat 24. After the cover body is fixedly mounted on the assembly base 20, the clearance groove can correspond to the convex seat 24, so as to achieve the purpose of clearance and avoid assembly interference. At the same time, if the visual inspection unit 40 is mounted on the top surface of the convex seat 24, the set clearance groove should also be able to avoid assembly interference with the visual inspection unit 40, and the structural form of the clearance groove needs to be appropriately adjusted. When the clamp arm 61 is provided, or the position where the clamp arm 61 is matched and connected with the cover body is spaced from the visual inspection unit 40, it can prevent the clamp arm 61 from interfering with the visual inspection unit 40 when it moves relative to the cover body; or a clearance groove is formed on the side wall of the clamp arm 61 facing the visual inspection unit 40, so that when the clamp arm 61 moves, the visual inspection unit 40 can move into the clearance groove, thereby preventing the clamp arm 61 from interfering with the visual inspection unit 40 when it moves relative to the cover body. Because the amount of movement of the clamp arm 61 relative to the cover body is small, those skilled in the art can adopt the above method or other methods, flexibly optimize the relevant structure through different means to achieve the purpose of preventing the installation position of the visual inspection unit 40 from interfering with the movement of the clamp arm 61. The visual inspection unit 40 can also be fixedly installed on the side wall surface of the boss 24, and the position is lower than the top surface of the boss 24.

[0073] A second strain sensor 81 is provided on the concave surface of the elastic arch plate 80. The second strain sensor 81 is connected to a control unit. The control unit can analyze and determine at least the amount of travel of the clamp arm portion 61 moving toward the side away from the fork arm 11 (toward the left side) based on the strain signal fed back by the second strain sensor 81, and the magnitude of the pushing force of the clamp arm portion 61 on the convex strip body 13 can be indirectly evaluated and determined or directly converted by the travel amount. The strain signal fed back by the second strain sensor 81 can also be used as a termination instruction for controlling the hydraulic cylinder assembly 71 to drive the two push blocks 72 to move closer to each other, that is, after the strain signal fed back by the second strain sensor 81 is analyzed and processed by the control unit, when it is considered that the pushing force of the clamp arm portion 61 on the convex strip body 13 has reached a preset warning threshold, the control unit will issue an action instruction to the hydraulic cylinder assembly 71 to stop the cylinder rod of the hydraulic cylinder assembly 71 from continuing to extend. When the cargo supported on the fork arm 11 is unloaded, the control unit can send an action command to the hydraulic cylinder assembly 71, so that the hydraulic cylinder assembly 71 drives its cylinder rod to retract, thereby gradually removing the pushing force of the push block 72 on the clamp arm portion 61.

[0074] like Fig.10As shown, the inner end of the slot 522 of the end block 521 is formed into an enlarged slot cavity, and the enlarged slot cavity is a cylindrical hole cavity extending in a direction perpendicular to the drawing. The inner diameter of the enlarged slot cavity is larger than the slot width of the proximal end section slot body on the slot 522. Correspondingly, an enlarged body is formed at one end of the pull rod 53, and the enlarged body is a column extending in a direction perpendicular to the drawing. The outer diameter of the enlarged body is larger than the slot width of the proximal end section slot body on the slot 522. During assembly, the enlarged body is inserted into the enlarged slot cavity in a direction perpendicular to the drawing, and the end of the slot 522 can prevent the enlarged body at the end of the pull rod 53 from moving out of the slot 522, and a connection relationship is established between the pull rod 53 and the end block 521.

[0075] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. The present invention can be improved in many aspects without violating the overall concept, and those familiar with the technology can modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A lifting device with an anti-tilt adjustment function, comprising a pair of fork units (10) and an assembly base (20); the fork unit (10) comprises a fork arm (11), and a seat body (12) formed at the assembly end of the fork arm (11) and matching with the assembly base (20); a convex rail body (21) and a connecting arm part (22) matching with the main body of the lifting device are formed on the left side of the assembly base (20), so that the assembly base (20) can move up and down relative to the main body of the lifting device; characterized in that: It also includes a pair of screw transmission units (30), a visual detection unit (40) and a control unit; the two screw transmission units (30) and the visual detection unit (40) are both connected to the control unit; The upper end surface of the assembly base (20) is formed with a groove rail structure matching the base body (12) and extending in the front-rear direction, and the fork arm (11) extends outward relative to the right side of the assembly base (20); the front and rear ends of the assembly base (20) are respectively formed with end arm portions (23) extending vertically upward; and a convex seat (24) is formed at the center of the upper end surface of the assembly base (20); The two screw transmission units (30) are arranged front and back oppositely and the screw levers (32) in the two screw transmission units (30) are matched with the two base bodies (12) respectively, and the motors (31) are fixed on the two end arm parts (23) respectively; the free ends of the screw levers (32) are matched on the convex seats (24); The visual detection unit (40) is fixed on the convex seat (24), and includes a distance sensor for detecting the distance between the cargo and the right side surface of the assembly base (20), and a visual camera for identifying the outer contour of the cargo; The control unit can calculate the length of the cargo according to the distance between the cargo and the right side of the assembly base (20) and the outline of the cargo, and can control the two lead screw transmission units (30) to respond according to the calculation results; It also includes a first strain sensing part (50); the first strain sensing part (50) includes a strain sensor body (51), an elastic body (52), a pull rod (53) and a nut body (54); a U-shaped body (111) is formed on the outside of the root of the front side and / or rear side of the fork arm (11), and the opening of the U-shaped body (111) is directed toward the inner side and downward; correspondingly, a spherical protrusion (121) is formed at the root of the front side and / or rear side of the fork arm (11); The strain sensor body (51) is fixed to the inner side of the root of the front side and / or the rear side of the fork arm (11); One end of the elastic body (52) is connected to the strain sensor body (51), and the other end extends outward and upward at an angle and extends into the U-shaped body (111); the lower end surface of the elastic body (52) is in tangential contact with the spherical protrusion (121); the strain body (511) connected to the strain sensor body (51) is fixed at the middle of the elastic body (52) and corresponds to the upper part of the spherical protrusion (121); the end of the elastic body (52) extending into the U-shaped body (111) is provided with an end block (521), and the outer wall surface of the end block (521) is in contact with the inner wall surface of the U-shaped body (111), forming a surface-to-surface matching relationship; One end of the pull rod (53) is fixedly connected to the end block (521), and the other end passes through a through hole provided on the closed end of the U-shaped body (111) and matches with the nut body (54) through a threaded structure.

2. The lifting device with anti-tilt adjustment function according to claim 1, characterized in that: It also includes a cover unit (60) fixed on the assembly base (20); the cover unit (60) includes a pair of clamping arms (61) formed on the cover body, and the two clamping arms (61) are arranged alternately on the left and right; The fork unit (10) further comprises a convex strip (13) formed on the upper part of the seat body (12), and an extended linear groove (131) is formed on the upper end surface of the convex strip (13) in the front-to-back direction; a groove body 1 (133) is formed at the root of the outer end surface of the arm of the linear groove (131) close to the fork arm (11), and a groove body 2 (136) is formed at the root of the inner end surface, so that the arm becomes an elastic arm (134) capable of generating elastic deformation at its root; a plurality of elastic ribs (132) are distributed alternately in the front-to-back direction in the linear groove (131) and close to the upper end; one end of the elastic rib (132) is correspondingly connected to the upper part of the elastic arm (134), so that the elastic rib (132) can exert an elastic force in the left-right direction on the elastic arm (134); After the cover plate body is fixed on the assembly base (20), the convex strip body (13) is clamped between the two clamp arm portions (61), and the clamp arm portions (61) can exert a thrust on the elastic arm (134) toward the side away from the fork arm (11).

3. The lifting device with anti-tilt adjustment function according to claim 1, characterized in that: It also includes a cover unit (60) fixed on the assembly base (20), and a thrust unit (70) matched with the cover unit (60); The cover plate unit (60) comprises a supporting plate (64) formed on one side of the cover plate body, and a clamping arm portion (61) extending in the vertical direction; a through slot matching the clamping arm portion (61) is provided on the cover plate body, and the upper and lower end surfaces of the clamping arm portion (61) both pass through the through slot; the clamping arm portion (61) and the cover plate body are matched via a groove rail structure arranged in the left and right directions; a wedge surface body (611) is formed on the outer side surface of the portion of the clamping arm portion (61) extending upward relative to the cover plate body; a first wedge surface (612) and a second wedge surface (613) are formed on the outer side surface of the wedge surface body (611); The thrust unit (70) is fixed on the support plate (64), and comprises two hydraulic cylinder assemblies (71), and push blocks (72) respectively fixed on the ends of the cylinder rods of the two hydraulic cylinder assemblies (71); the two hydraulic cylinder assemblies (71) are arranged opposite to each other in the front and rear directions, and the two push blocks (72) are respectively matched with the first wedge surface (612) and the second wedge surface (613); the push blocks (72) and the support plate (64) are matched through a track structure extending in the front and rear directions; the side surface of the push block (72) facing the first wedge surface (612) or the second wedge surface (613) is an inclined surface, so that the inclined surface of the push block (72) is respectively in contact with and matched with the two wedge surfaces; The fork unit (10) further comprises a convex strip (13) formed on the upper part of the seat body (12), and a linear groove (131) extending in the front-to-back direction is formed on the upper end surface of the convex strip (13); a first groove body (133) is formed at the root of the outer end surface of the arm on the side of the linear groove (131) facing the fork arm (11), and a second groove body (136) is formed at the root of the inner end surface, so that the arm becomes an elastic arm (134) capable of generating elastic deformation at its root; a plurality of elastic ribs (132) are distributed alternately in the front-to-back direction in the linear groove (131) and close to the upper end; one end of the elastic rib (132) is correspondingly connected to the upper part of the elastic arm (134), so that the elastic rib (132) can exert an elastic force in the left-right direction on the elastic arm (134); After the cover plate body is fixed on the assembly base (20), the inner side surface of the portion of the clamp arm portion (61) extending downward relative to the cover plate body is opposite to the side surface of the convex strip body (13) close to the fork arm (11) on the left and right; the two hydraulic cylinder assemblies (71) can drive the two push blocks (72) to approach each other, so that the clamp arm portion (61) slides relative to the cover plate body, and the clamp arm portion (61) can exert a thrust on the convex strip body (13) toward the side away from the fork arm (11).

4. The lifting device with anti-tilt adjustment function according to claim 3, characterized in that: An elastic arch plate (80) is fixedly provided on the upper end surface of the cover plate body, and the protruding arch surface of the elastic arch plate (80) is in tangential contact with the inner side surface of the portion of the clamping arm portion (61) that extends upward relative to the cover plate body; When the push block (72) drives the clamp arm portion (61) to exert a thrust on the convex strip body (13) in a direction away from the fork arm (11), the elastic arch plate (80) can be elastically deformed.

5. The lifting device with anti-tilt adjustment function according to claim 4, characterized in that: A second strain sensing portion (81) is provided on the inner concave curved surface of the elastic arch plate (80); the second strain sensing portion (81) is connected to the control unit; The control unit can analyze and determine the amount of travel of the clamp arm portion (61) moving toward the side away from the fork arm (11) based on the strain signal fed back by the second strain sensing portion (81).

6. The lifting device with anti-tilt adjustment function according to any one of claims 3 to 5, characterized in that: A plurality of curved protrusions (62) extending in the vertical direction are arranged on the surface of the clamping arm portion (61) opposite to the side surface of the convex strip body (13), and the curved protrusions (62) are distributed and extended in the front-rear direction; After the cover plate body is fixed on the assembly base (20), the curved protrusion (62) is in tangential contact with the side surface of the convex strip body (13).

7. The lifting device with anti-tilt adjustment function according to any one of claims 2 to 5, characterized in that: The elastic rib plate (132) is in a wave shape that fluctuates in the front-to-back direction or in the up-down direction.

8. The lifting device with anti-tilt adjustment function according to claim 1, characterized in that: A slot (522) is formed at the free end of the end block (521), and the inner end of the slot (522) is formed into an enlarged groove cavity; correspondingly, an enlarged body is formed at one end of the pull rod (53); the enlarged body can be inserted into the enlarged groove cavity, so that one end of the pull rod (53) is connected to the end block (521); the width of the slot (522) port is greater than the outer diameter of the pull rod (53).

9. The lifting device with anti-tilt adjustment function according to claim 8, characterized in that: The enlarged groove cavity is a cylindrical hole cavity, and the inner diameter of the cylindrical hole cavity is greater than the width of the slot (522) port, and the axis of the cylindrical hole cavity is perpendicular to the axis of the pull rod (53); correspondingly, the enlarged body is a column.

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