Fork arm lifting structure and E-shaped telescopic lifting AGV

Abstract

The utility model discloses a fork arm lifting structure and an E type telescopic lifting AGV, the fork arm lifting structure comprises a bottom frame, a lifting supporting plate and a lifting device, the lifting supporting plate and the lifting device are arranged on the bottom frame, the lifting device comprises a driving cylinder and two sets of connecting rod mechanisms arranged in a bilateral symmetry mode, and the connecting rod mechanisms are connected between the upper side of the bottom frame and the lower side of the lifting supporting plate. And the driving cylinder drives the connecting rod mechanism to swing back and forth, so that the lifting supporting plate synchronously swings up or down. In addition, the fork arm lifting structure is applied to the E-shaped telescopic lifting AGV provided by the utility model. The fork arm lifting structure is simple and direct in driving mode, stable in action and high in lifting speed. Due to the fact that the connecting rod mechanism is adopted, the whole structure has high rigidity and stability, can bear large loads, and is simple in structure and convenient to assemble and maintain.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, in particular to a fork arm lifting structure and an E-type telescopic lifting AGV. Background Art

[0002] The AGV forklift is mainly composed of a frame and a fork arm. The lifting method of the forklift is vertical lifting, that is, the fork arm is driven to rise and fall vertically along the frame by the lifting device. The horizontal distance of the forked objects in this lifting method is limited. In order to increase the forking distance of the forklift, the prior art designs an E-type forklift, whose fork arm is telescopically arranged on the frame. The fork arm of this forklift is generally driven by a scissor mechanism, which needs to be driven by a ball screw. Its driving structure is complex, inconvenient to assemble, and has high maintenance costs. Summary of the invention

[0003] The first invention purpose of the utility model is to solve the problem of complex fork arm lifting drive structure and high cost of the existing E-type forklift, and to provide a fork arm lifting structure with simple structure and direct driving method.

[0004] In order to achieve the above invention objectives, the utility model adopts the following technical solutions:

[0005] The fork arm lifting structure includes a base frame, a lifting pallet and a lifting device arranged on the base frame. The lifting device includes a driving cylinder and two groups of connecting rod mechanisms symmetrically arranged on the left and right. The connecting rod mechanism is connected between the upper side of the base frame and the lower side of the lifting pallet. The driving cylinder drives the connecting rod mechanism to swing back and forth, so that the lifting pallet swings up or down synchronously.

[0006] The fork arm lifting structure of the utility model drives the connecting rod mechanism to swing through the driving cylinder to achieve the purpose of controlling the height of the lifting support plate. Compared with the prior art, the fork arm lifting structure of the utility model has a simple and direct driving method, a smooth action, and a fast lifting speed. Due to the use of the connecting rod mechanism, the overall structure has high rigidity and stability, can withstand a large load, and has a simple structure, which is easy to assemble and maintain.

[0007] Furthermore, the link mechanism is connected between the upper side of the base frame and the lower side of the lifting plate, and includes a first link, a second link and a first swing link. The first link is mounted on the base frame so as to be movable forward and backward, the second link is fixedly arranged on the lower side of the lifting plate, the first swing link is hinged to the front and rear ends of the first link and the second link, and the drive cylinder drives the first link to move forward and backward, thereby driving the link mechanism to swing. This scheme is a specific structural scheme of the link mechanism. In this scheme, the drive cylinder drives the first link to move forward and backward, and causes the link mechanism to swing as a whole, thereby achieving the purpose of controlling the lifting plate.

[0008] Furthermore, the connecting rod mechanism also includes a second swing rod, one end of which is rotatably arranged on the base frame through a connecting seat, and the other end of which is rotatably connected to the middle part of the first swing rod to form an inverted Y-shaped structure with the first swing rod. Since the lower end of the first swing rod moves synchronously with the first swing rod when the first connecting rod moves forward and backward, in this solution, the second swing rod supports the first swing rod and limits the maximum displacement of the first swing rod, so that the connecting rod structure is more stable.

[0009] Furthermore, the connecting rod mechanism includes a second rotating shaft, the upper end of the second swing rod is located between the two first swing rods, and the first swing rod and the second swing rod are provided with connecting holes adapted to the second rotating shaft, so that the two second swing rods and the first swing rod are connected in series through the second rotating shaft. In order to simplify the structure and improve the synchronization of the connecting rod mechanisms on both sides, the second swing rods of the two sets of connecting rod mechanisms are set as an integrated structure, and a connecting rib is provided between the two second swing rods. Furthermore, the two second swing rods opposite to each other on the left and right are an integrated structure, and a connecting rib is provided between the two second swing rods.

[0010] Furthermore, a limiting convex portion is provided at the upper end of the second rocker arm, and the limiting convex portion is provided with a first limiting surface and a second limiting surface; when the connecting rod mechanism swings up to a position, the first rocker arm abuts against the first limiting surface; when the connecting rod mechanism swings down to a position, the first rocker arm abuts against the second limiting surface.

[0011] Furthermore, the base frame is provided with a mounting groove with an opening at the upper end, the lifting device is arranged on the mounting groove, and the mounting groove is provided with sliding grooves on opposite sides along its length direction, and the first connecting rod is slidably arranged in the sliding groove.

[0012] Furthermore, the connecting rod mechanism includes a first rotating shaft, the rear end of the driving cylinder is connected to the second rocker arm on the rear side, and the front end is connected to the second rocker arm on the front side, the first connecting rod and the first rocker arm are adapted to the first rotating shaft and are provided with connecting through holes, the telescopic rod of the driving cylinder is fixedly connected to the middle part of the first rotating shaft, and the two ends are connected to the first rocker arm and the first connecting rod in sequence through connecting through holes.

[0013] Furthermore, a roller is disposed on the second rotating shaft. The roller of this solution enables the first connecting rod to slide more smoothly.

[0014] Furthermore, caster mechanisms are installed at the front and rear ends of the base frame.

[0015] Furthermore, guide rail structures are provided on the left and right sides of the base along the length direction thereof, so that the fork arm can extend and retract relative to the AGV body.

[0016] Another invention object of the utility model is to provide an E-type telescopic lifting AGV, wherein the E-type telescopic lifting AGV is equipped with the fork arm lifting structure of the above scheme. Compared with the prior art, the AGV of the utility model has all the advantages of the above scheme because it applies the fork arm lifting structure scheme. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the fork arm lifting structure. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the fork arm lifting structure. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the structure of the connecting rod mechanism. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of the structure of the connecting rod mechanism. Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the fork arm lifting structure. Figure 3 ;

[0022] Figure 6 This is the assembly diagram after the first swing rod and the second swing rod are swung into place;

[0023] Figure 7 It is an assembly diagram after the first swing rod and the second swing rod are lowered into place;

[0024] Figure 8 This is the structural diagram of AGV Figure 2 ;

[0025] Fig. 9 This is the structural diagram of AGV Figure 3 .

[0026] Description of labels:

[0027] Fork arm lifting structure 1, base frame 2, mounting groove 21, slide groove 22, lifting pallet 3, lifting device 4, driving cylinder 41, connecting rod mechanism 42, first connecting rod 421, second connecting rod 422, first swing rod 423, second swing rod 424, limiting protrusion 4241, first limiting surface 4242, second limiting surface 4243, second rotating shaft 425, first rotating shaft 426, roller 427, caster mechanism 5, guide rail structure 6, AGV7. DETAILED DESCRIPTION

[0028] The technical solution of the utility model is further described below according to the accompanying drawings:

[0029] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “horizontal”, “inside”, “outside”, etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0030] See also Figure 1-9 As shown, the utility model discloses a fork arm lifting structure 1, including a base frame 2, a lifting plate 3 and a lifting device 4 arranged on the base frame 2, the lifting device 4 includes a driving cylinder 41 and two groups of connecting rod mechanisms 42 symmetrically arranged on the left and right, the connecting rod mechanisms 42 are connected between the upper side of the base frame 2 and the lower side of the lifting plate 3, the driving cylinder 41 drives the connecting rod mechanism 42 to swing back and forth, so that the lifting plate 3 is synchronously swung up or down.

[0031] The above-mentioned connecting rod mechanism 42 includes a first connecting rod 421, a second connecting rod 422 and a first rocker arm 423. The first connecting rod 421 is assembled on the base frame 2 so as to be movable forward and backward. The second connecting rod 422 is fixed on the lower side of the lifting plate 3. The first rocker arm 423 is hinged at the front and rear ends of the first connecting rod 421 and the second connecting rod 422. The driving cylinder 41 drives the first connecting rod 421 to move forward and backward, thereby driving the connecting rod mechanism 42 to swing, so that the lifting plate 3 is synchronously swung up or down.

[0032] The connecting rod mechanism 42 further includes a second swing rod 424, one end of which is rotatably disposed on the base frame 2 via a connecting seat, and the other end of which is rotatably connected to the middle of the first swing rod 423 to form an inverted Y-shaped structure with the first swing rod 423. Since the lower end of the first swing rod 423 moves synchronously with the first swing rod 421 when the first connecting rod 421 moves forward and backward, in this solution, the second swing rod 424 supports the first swing rod 423 and limits the maximum displacement of the first swing rod 423, making the connecting rod structure more stable.

[0033] Furthermore, a limiting protrusion 4241 is provided at the upper end of the second rocker arm 424, and the limiting protrusion 4241 is provided with a first limiting surface 4242 and a second limiting surface 4243; when the connecting rod mechanism 42 is swung up into position, the first rocker arm 423 abuts against the first limiting surface 4242; when the connecting rod mechanism 42 is swung down into position, the first rocker arm 423 abuts against the second limiting surface 4243.

[0034] The above-mentioned connecting rod mechanism 42 includes a second rotating shaft 425, the upper end of the second swing rod 424 is located between the two first swing rods 423, and the first swing rod 423 and the second swing rod 424 are provided with connecting holes adapted to the second rotating shaft 425, so that the two second swing rods 424 and the first swing rod 423 are connected in series through the second rotating shaft 425. In order to simplify the structure and improve the synchronization of the connecting rod mechanisms on both sides, the second swing rods 424 of the two sets of connecting rod mechanisms are set as an integrated structure, and a connecting rib is provided between the two second swing rods 424. Furthermore, the two second swing rods 424 opposite to each other on the left and right are an integrated structure, and a connecting rib is provided between the two second swing rods.

[0035] The two second swing rods 424 opposite to each other on the left and right are an integral structure, and a connecting rib 426 is provided between the two swing rods.

[0036] The base frame 2 is provided with a mounting groove 21 with an opening at the upper end, the lifting device 4 is provided on the mounting groove 21 , and the mounting groove 21 is provided with sliding grooves 22 along its length direction on opposite sides, and the first connecting rod 421 is slidably provided in the sliding groove 22 .

[0037] The above-mentioned connecting rod mechanism 42 includes a first rotating shaft 426, the rear end of the driving cylinder 41 is connected to the second rocker arm 424 on the rear side, and the front end is connected to the second rocker arm 424 on the front side, the first connecting rod 421 and the first rocker arm 423 are adapted to the first rotating shaft 426 and are provided with connecting through holes, the telescopic rod of the driving cylinder 41 is fixedly connected to the middle part of the first rotating shaft 426, and the two ends are connected to the first rocker arm 423 and the first connecting rod 421 in sequence through connecting through holes.

[0038] Caster mechanisms 5 are mounted on the front and rear ends of the base frame 2 .

[0039] A roller 427 is disposed on the second rotating shaft 425 .

[0040] The left and right sides of the base are provided with guide rail structures 6 along the length direction thereof.

[0041] The fork arm lifting structure 1 of the utility model drives the first connecting rod 421 to move forward and backward through the driving cylinder 41, so that the connecting rod mechanism 42 swings as a whole, thereby achieving the purpose of controlling the lifting of the supporting plate 3. Compared with the prior art, the fork arm lifting structure 1 of the utility model has a simple and direct driving method, a smooth action, and a fast lifting speed. Due to the use of the connecting rod mechanism 42, the overall structure has high rigidity and stability, can withstand a large load, and has a simple structure, which is easy to assemble and maintain.

[0042] The utility model further discloses an E-type telescopic lifting AGV 7, wherein the E-type telescopic lifting AGV 7 is equipped with the fork arm lifting structure 1 of the above embodiment.

[0043] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. According to the disclosure and teaching of the above specification, technicians in the field to which the utility model belongs can also change and modify the above implementation. Therefore, the utility model is not limited to the specific implementation methods disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the utility model.

Claims

1. A fork arm lifting structure, characterized in that: It includes a base frame, a lifting pallet and a lifting device arranged on the base frame. The lifting device includes a driving cylinder and two groups of connecting rod mechanisms symmetrically arranged on the left and right. The connecting rod mechanism is connected between the upper side of the base frame and the lower side of the lifting pallet. The driving cylinder drives the connecting rod mechanism to swing back and forth, so that the lifting pallet swings up or down synchronously.

2. The fork arm lifting structure according to claim 1, characterized in that: The connecting rod mechanism is connected between the upper side of the base frame and the lower side of the lifting plate, and includes a first connecting rod, a second connecting rod and a first rocker arm. The first connecting rod is movably mounted on the base frame, the second connecting rod is fixedly arranged on the lower side of the lifting plate, the first rocker arm is connected between the front and rear ends of the first connecting rod and the second connecting rod, and the driving cylinder drives the first connecting rod to move forward and backward, thereby driving the connecting rod mechanism to swing.

3. The fork arm lifting structure according to claim 2, characterized in that: The connecting rod mechanism also includes a second swing rod, the lower end of which is rotatably disposed on the base frame via a connecting seat, and the upper end of which is rotatably connected to the middle part of the first swing rod to form an inverted Y-shaped structure.

4. The fork arm lifting structure according to claim 3, characterized in that: The connecting rod mechanism includes a second rotating shaft, the upper end of the second swing rod is located between the two first swing rods, and the first swing rod and the second swing rod are provided with connecting through holes adapted to the second rotating shaft, so that the first swing rod and the second swing rod of the two sets of connecting rod mechanisms are connected in series through the second rotating shaft; and / or, the second swing rods of the two sets of connecting rod mechanisms are an integrated structure, and a connecting rib is provided between the two second swing rods.

5. The fork arm lifting structure according to claim 3, characterized in that: The upper end of the second swing rod is provided with a limiting convex portion, and the limiting convex portion is provided with a first limiting surface and a second limiting surface. When the connecting rod mechanism swings up to a position, the first swing rod abuts against the first limiting surface. When the connecting rod mechanism swings down to a position, the first swing rod abuts against the second limiting surface.

6. The fork arm lifting structure according to claim 3, characterized in that: The base frame is provided with a mounting groove with an upper opening, the lifting device is arranged on the mounting groove, and sliding grooves are arranged on opposite sides of the mounting groove along its length direction, and the first connecting rod is slidably arranged in the sliding grooves.

7. The fork arm lifting structure according to claim 3, characterized in that: The connecting rod mechanism includes a first rotating shaft, the rear end of the driving cylinder is connected to the second rocker arm on the rear side, and the front end is connected to the second rocker arm on the front side, the first connecting rod and the first rocker arm are adapted to the first rotating shaft and are provided with connecting through holes, the telescopic rod of the driving cylinder is fixedly connected to the middle part of the first rotating shaft, and the two ends are connected to the first rocker arm and the first connecting rod in sequence through connecting through holes.

8. The fork arm lifting structure according to claim 4, characterized in that: A roller is arranged on the second rotating shaft.

9. The fork arm lifting structure according to claim 1, characterized in that: The front and rear ends of the base frame are equipped with caster mechanisms.

10. E-type telescopic lifting AGV, characterized by: The E-type telescopic lifting AGV is equipped with a fork arm lifting structure according to any one of claims 1-9.

Images