A laterally adjustable AGV forklift fork arm device

Abstract

The utility model relates to the technical field of AGV forklift fork arm devices, and discloses a laterally adjustable AGV forklift fork arm device, including a fixed plate, the fixed plate is provided with a fastening outer shaft, a sliding inner shaft is provided inside the fastening outer shaft, fixed fork arms are provided at both ends of the sliding inner shaft, and the fixed plate is provided with a driving assembly for driving the sliding inner shaft to move. The utility model assists in the insertion and extraction of goods by actively adjusting the position of the fork arm according to needs, which can alleviate the great requirements for accuracy, so that both the travel accuracy and the accuracy of posture adjustment can be reduced, and the flexibility and more possibilities of forklifts to insert and extract goods are increased. In many practical applications of AGVs, errors often occur. When inaccurate positioning occurs, the insertion and extraction of goods can be completed by adjusting the fork arm or a lesser degree of posture adjustment, which significantly improves the adaptability and fault tolerance of AGV forklifts.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV forklift fork arm devices, in particular to an AGV forklift fork arm device which can be adjusted laterally. Background Art

[0002] With the further upgrading of industrial automation and the widespread use of logistics robots, AGV has its unique advantages in the current situation of rising labor costs due to its high efficiency, accuracy and safety. Among them, AGV forklifts have a large application scenario in the AGV market. In the operation logic of AGV forklifts, the forklift needs to automatically drive to the vicinity of the target goods through navigation and positioning by the navigator, and perform pallet identification and corresponding body posture adjustment through the corresponding sensors to complete the step of inserting and removing the goods. Among them, pallet identification is a major technical difficulty. The pallet opening to be inserted is scanned and identified by the corresponding sensor device, and then the body posture is adjusted according to the positional relationship between the body and the pallet opening, so as to ensure that the body can insert the pallet in a relatively accurate posture. In addition to the difficulty of pallet identification, there is also the difficulty of posture adjustment. On the one hand, it is necessary to calculate the value required for adjustment, and on the other hand, controlling the body to adjust the posture in a relatively narrow cargo channel (limited adjustment distance) increases the difficulty of the entire project.

[0003] The present application is an improvement on the prior art. In the prior art, the fork arm device of the existing AGV forklift mostly realizes the adjustment of the vehicle body posture based on the pallet recognition algorithm. However, due to the relatively narrow warehouse cargo aisles, the adjustable posture stroke of the vehicle body is short, which will increase the pressure and difficulty of the vehicle body in posture adjustment. In addition, in many actual applications of AGV, errors will often occur. When the positioning is inaccurate, the fork arm of the forklift is not easy to adjust, which will require high travel accuracy and posture adjustment accuracy of the forklift, and reduce the adaptability and fault tolerance of the AGV forklift. Summary of the invention

[0004] The purpose of the utility model is to provide an AGV forklift fork arm device which can be adjusted laterally, which solves the problem that the existing AGV forklift fork arm devices in the background technology mostly realize the adjustment of the vehicle body posture based on the pallet recognition algorithm, but due to the relatively narrow storage cargo aisles, the adjustable posture stroke of the vehicle body is short, which will increase the pressure and difficulty of the vehicle body in posture adjustment, and in the actual application of many AGVs, errors will often occur. When the positioning is inaccurate, the fork arm of the forklift is not easy to adjust, which will require higher travel accuracy and posture adjustment accuracy of the forklift, and will reduce the adaptability and fault tolerance of the AGV forklift.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] A laterally adjustable AGV forklift fork arm device comprises a fixed plate, wherein the fixed plate is provided with a fastening outer shaft, a sliding inner shaft is provided inside the fastening outer shaft, fork arms are fixed at both ends of the sliding inner shaft, and the fixed plate is also provided with a driving component for driving the sliding inner shaft to move.

[0007] Preferably, two groups of the fastening outer shafts are provided, and a sliding inner shaft is provided in each group of the fastening outer shafts, and the two sliding inner shafts are connected by connecting fasteners located at both ends.

[0008] Preferably, the driving assembly includes a servo motor, a screw rod, and a solenoid threadedly connected to the screw rod, the servo motor drives the screw rod to rotate via a gear set, and the solenoid rod is connected to the connecting fastener.

[0009] Preferably, the connection fastener comprises a first connection part and a second connection part respectively connected to the two sliding inner shafts, the first connection part and the second connection part are connected by a connecting rod, and the screw tube is connected to the connecting rod.

[0010] Preferably, the driving assembly further includes a clutch for transmitting power between the gear set and the screw, and a brake for braking the screw.

[0011] Preferably, a fixed connecting piece for connection and fixation and arranged at intervals is also provided between the two fastening outer shafts.

[0012] Compared with the prior art, the beneficial effect achieved by the utility model is that by actively adjusting the position of the fork arm according to the needs to assist in the insertion of goods, the great requirements for accuracy can be alleviated, so that both the travel accuracy and the accuracy of posture adjustment can be reduced, and the flexibility and more possibilities of forklifts to insert goods are increased. In many practical applications of AGVs, errors often occur. When positioning is inaccurate, the insertion of goods can be completed by adjusting the fork arm or a lesser degree of posture adjustment, which greatly improves the adaptability and fault tolerance of AGV forklifts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG1 is a partial schematic diagram of the main view of the utility model;

[0014] FIG2 is a schematic diagram of a three-dimensional partial structure of the overall structure of the utility model;

[0015] FIG3 is a schematic diagram of a partial structure of the utility model from a side view.

[0016] Among them: 1. power transmission line; 2. encoder; 3. servo motor; 4. gear set; 5. fixed connector; 6. joint; 7. fork arm; 8. sliding inner shaft; 9. fastening outer shaft; 10. clutch; 11. brake; 12. screw; 13. solenoid; 14. connecting fastener; 15. fixing plate; 16. forklift door frame. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Please refer to Figures 1-3, a laterally adjustable AGV forklift fork arm device includes a fixed plate 15, the fixed plate 15 is provided with a fastening outer shaft 9, a sliding inner shaft 8 is provided inside the fastening outer shaft 9, fork arms 7 are also fixed to both ends of the sliding inner shaft 8, two groups of fastening outer shafts 9 are provided, each group of fastening outer shafts 9 is respectively provided with a sliding inner shaft 8, and the two sliding inner shafts 8 are connected by connecting fasteners 14 located at both ends.

[0019] Specifically, as shown in Figures 1, 2 and Figure 3 As shown, the fork arm 7 is used to insert and take out goods, and is welded and fixed with the upper and lower sliding inner shafts 8. The sliding inner shaft 8 is the movable part of the whole device, which is tightly embedded in the fastening outer shaft 9 and welded to the two fork arms 7. The upper and lower forks are connected and fixed via the left and right connecting fasteners 14. The right connecting fastener 14 is connected to the joint 6 to complete the force transmission. When the electric push rod device is working, as the joint 6 moves forward and backward, the two sliding inner shafts 8 are pushed to move laterally under the action of force, thereby driving the two forks 7 on the sliding inner shaft 8 to move laterally. The fastening outer shaft 9 is made of steel, is outer-mounted on the sliding inner shaft 8 and is welded to the fixing plate 15. First, multiple related parts are installed on the fixing plate 15, and then the fixing plate 15 is blocked with the forklift door frame 16, thereby completing the assembly of the forklift.

[0020] The fixed plate 15 is provided with a driving assembly for driving the sliding inner shaft 8 to move, and the driving assembly includes a servo motor 3, a screw 12, and a solenoid 13 threadedly connected to the screw 12. The servo motor 3 drives the screw 12 to rotate through the gear set 4. The solenoid 13 is fixedly connected to the connecting fastener 14. The connecting fastener 14 is respectively connected to the first connecting part and the second connecting part of the two sliding inner shafts 8. The first connecting part and the second connecting part are connected by a connecting rod, and the solenoid 13 is connected to the connecting rod. The driving assembly also includes a clutch 10 for power transmission between the gear set 4 and the screw 12, and a brake 11 for braking the screw 12. A fixed connecting member 5 for connecting and fixing and arranged at intervals is also provided between the two fastening outer shafts 9.

[0021] Specifically, Figure 1 , Figure 2 and Figure 3 As shown, when in use, the gear set 4 is provided with four gears, the upper one is sleeved on the output end of the servo motor 3, and the lower one is sleeved on the outer wall of the screw 12, and two matching gears are arranged in the middle to complete the power transmission. The multi-gear transmission is a stable and reliable transmission mode. There will be no impact, vibration and noise during static transmission during the transmission process. The stability of the transmission system can be maintained, which is conducive to improving the operation efficiency and stability of mechanical equipment. The clutch 10 is mainly used to control the power transmission of the electric telescopic rod. In the electric telescopic rod, the clutch 10 is usually located between the motor and the transmission mechanism. Its main functions include: separation and combination. The clutch 10 can realize the rapid separation or combination of the motor and the transmission mechanism according to the control signal. When the electric telescopic rod needs to move, the clutch 10 is combined, and the motor power is transmitted to the transmission mechanism , drive the telescopic rod to move. When the telescopic rod needs to be stopped or adjusted, the clutch 10 is disengaged to disconnect the motor from the transmission mechanism. The brake 11 is mainly used to control the stopping and maintaining position of the electric telescopic rod. In the electric telescopic rod, the brake 11 is usually located at the end of the transmission mechanism or the joint of the telescopic rod. Its main functions include: stopping movement. When the electric telescopic rod moves to the specified position or receives a stop signal, the brake 11 can quickly and reliably lock the transmission mechanism or the telescopic rod to stop it from moving. Maintaining position: The brake 11 can ensure that the telescopic rod maintains its current position after stopping to prevent position deviation caused by external force or other factors. This is particularly important for applications that require precise control and positioning. Safety protection: In emergency situations, such as motor loss of control or power failure, the brake 11 can respond quickly and lock the telescopic rod to prevent it from unexpected movement or injury to personnel and equipment.

[0022] Among them: the power transmission line 1 and the encoder 2 are arranged in conjunction with the servo motor 3, and the gear set 4, the joint 6, the clutch 10, the brake 11, the screw 12, the solenoid 13 and other components are the internal structural components of the entire electric push rod, which together constitute the electric push rod device, thereby providing kinetic energy for the entire device. The servo motor 3 drives the screw 12 to rotate through the gear set 4, and the screw 12 drives the solenoid 13 to make a linear motion during the rotation process, and finally completes the left and right movement control of the fork arm 7. The power transmission line 1 is the power line and communication harness of the encoder 2 and the servo motor 3, providing power supply and communication for the encoder 2 and the servo motor 3. The encoder 2 is used The rotation data of the servo motor 3 is read to obtain the precise rotation angle of the servo motor 3, so as to calculate and use it to obtain the value of the lateral adjustment of the entire device. The servo motor 3 is the power source of the entire device. Through the operation of the servo motor 3, the kinetic energy is transmitted to complete the lateral movement of the device, and the fork arm 7 is controlled to move left and right. Through the setting of the fixed connecting member 5, the fixed connecting member 5 is made of steel. The upper and lower steel fastening outer shafts 9 and the entire electric push rod device are connected and fixed by welding to ensure the stability and connection of the entire device assembly. The joint 6 is located at the end connection device of the electric push rod. Through this device, the thrust is transmitted to the connected connection fastener 14, thereby completing the thrust transmission. The specific structures of the power transmission line 1, encoder 2, servo motor 3, clutch 10, and brake 11 involved in this application can refer to the prior art. This can be easily implemented by those skilled in the art, and no excessive description is made in this application.

[0023] Working principle: In the present application, by actively adjusting the position of the fork arm 7 as needed to assist in the insertion of goods, the great requirements for accuracy can be alleviated so that both the travel accuracy and the accuracy of posture adjustment can be reduced, and the flexibility and more possibilities of forklifts in inserting goods are increased. At the same time, in many actual applications of AGVs, errors will often occur. When inaccurate positioning occurs, the insertion of goods can be completed by adjusting the fork arm 7 or a lesser degree of posture adjustment, which significantly improves the adaptability and fault tolerance of AGV forklifts.

[0024] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit thereof, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lateral adjustable AGV forklift fork arm device, comprising a fixing plate (15), characterized in that: The fixing plate (15) is provided with a fastening outer shaft (9), a sliding inner shaft (8) is provided inside the fastening outer shaft (9), fork arms (7) are fixed at both ends of the sliding inner shaft (8), and the fixing plate (15) is also provided with a driving component for driving the sliding inner shaft (8) to move.

2. The AGV forklift fork arm device capable of being adjusted laterally according to claim 1, characterized in that: Two groups of the fastening outer shafts (9) are provided, and a sliding inner shaft (8) is provided in each group of the fastening outer shafts (9), and the two sliding inner shafts (8) are connected via connecting fasteners (14) located at both ends.

3. The AGV forklift fork arm device capable of being adjusted laterally according to claim 2, characterized in that: The driving assembly comprises a servo motor (3), a screw rod (12), and a solenoid tube (13) threadedly connected to the screw rod (12); the servo motor (3) drives the screw rod (12) to rotate via a gear set (4); and the solenoid tube (13) is connected to the connection fastener (14).

4. The AGV forklift fork arm device capable of being adjusted laterally according to claim 3, characterized in that: The connecting fastener (14) comprises a first connecting portion and a second connecting portion respectively connected to the two sliding inner shafts (8), the first connecting portion and the second connecting portion being connected via a connecting rod, and the spiral tube (13) being connected to the connecting rod.

5. The AGV forklift fork arm device capable of being adjusted laterally according to claim 3, characterized in that: The drive assembly further comprises a clutch (10) for transmitting power between the gear set (4) and the screw (12), and a brake (11) for braking the screw (12).

6. The AGV forklift fork arm device capable of being adjusted laterally according to claim 2, characterized in that: A fixed connection piece (5) for connection and fixation and arranged at intervals is also provided between the two fastening outer shafts (9).

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