Pallet fork structure of E-type AGV forklift and E-type AGV forklift

Abstract

The E-type AGV forklift comprises an AGV frame and a pallet fork body, the AGV frame is in an E shape and forms two pallet fork containing grooves, the pallet fork body is arranged in the pallet fork containing grooves in a separable mode, propelling devices are arranged on the two sides of the AGV frame and the two sides of the containing grooves, and the propelling devices are arranged on the two sides of the AGV frame and the two sides of the containing grooves. The propelling device drives the pallet fork body to linearly move relative to the AGV frame in the length direction of the AGV frame through electromagnetic force, and the propelling device and the pallet fork body are designed to be separable. The pallet fork body is provided with a mounting cavity with an opening in the lower end, a lifting device is arranged in the mounting cavity, the lifting device is assembled in the mounting cavity in a telescopic mode, and the lifting device can be opened downwards through the opening in the lower end of the mounting cavity to support the pallet fork body to ascend or reset upwards to enable the pallet fork body to descend. The problem that a forking mechanism of an AGV forklift is not compatible with an insertion opening structure of the tray shaped like the Chinese character'tian 'is solved, and the tray shaped like the Chinese character'tian' can be forked and carried through the AGV forklift.

Description

Technical Field

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

[0002] The cross-shaped pallet is a single-sided plastic pallet, the bottom shape of which is similar to the Chinese character "cross", and it can be inserted from four sides, with a stable structure, suitable for use on various shelves and stacking of goods with each other. Therefore, in the storage and logistics processes of various pharmaceutical and food products, mechanical equipment, plastic chemicals, raw materials, etc., the cross-shaped pallet is often used. In the use of the cross-shaped pallet, currently, ordinary forklifts and other methods are used for transportation, and the forklift forks are inserted into the cross-shaped pallet sockets and lift the cross-shaped pallet. With the popularization of AGV (Automated Guided Vehicle) technology, more and more handling work can be completed by AGVs. Since the size of the cross-shaped pallet is fixed and the bottom is a cross-shaped structure, a lifting mechanism and a propulsion mechanism need to be assembled at the bottom of the AGV forks, which interferes with the cross-shaped socket structure, resulting in the fork-taking mechanism of the AGV forklift not being compatible with the structural design of the cross-shaped pallet. Currently, in the market, AGVs can only handle the channel-shaped pallet and cannot handle the cross-shaped pallet. Summary of the Invention

[0003] The first object of the present invention of the utility model is to solve the problems of existing AGVs and provide a fork structure of an E-type AGV forklift.

[0004] To achieve the above invention object, the present utility model adopts the following technical solutions:

[0005] The fork structure of an E-type AGV forklift, the E-type AGV forklift includes an AGV frame and a fork body. The AGV frame is in an E shape and forms two fork receiving grooves. The fork body is detachably arranged in the fork receiving grooves. Propulsion devices are arranged on both sides of the AGV frame and the receiving grooves. The propulsion devices drive the fork body to linearly displace relative to the AGV frame along its length direction through electromagnetic force, and the propulsion devices and the fork body are designed to be separable; the fork body has an installation cavity with an open lower end. A lifting device is arranged in the installation cavity. The lifting device is telescopically assembled in the installation cavity and can be撑开 downward through the lower end opening of the installation cavity to support the fork body to rise, or reset upward to make the fork body descend.

[0006] Compared with the prior art, the fork structure of the utility model has a propulsion device installed on the AGV frame and is detachable from the fork body, and the lifting device can be hidden in the installation cavity of the fork body. When the fork body is inserted into the field-shaped pallet, the propulsion device and the lifting device will not interfere with the socket structure of the field-shaped pallet, thereby solving the problem that the fork-picking mechanism of the AGV forklift is incompatible with the socket structure of the field-shaped pallet, so that the field-shaped pallet can be forked and transported by the AGV forklift. At the same time, the use scope of the AGV forklift is expanded and its flexibility and versatility are improved.

[0007] Furthermore, the cross-section of the fork body is T-shaped, and the propulsion device is arranged symmetrically at the concave position of the T-shape. The propulsion device includes a linear motor stator guide rail, a linear motor rotor block and a support guide rod. The support guide rod is arranged at the concave position of the T-shape. The linear motor rotor block and the support guide rod are both slidably arranged on the linear motor stator guide rail, and the linear motor rotor block is fixedly connected to the support guide rod. The linear motor rotor block can be linearly displaced under the drive of electromagnetic force, so that the support guide rod supports the fork body to be pushed out or reset horizontally. In this scheme, when unloading, the propulsion device first pushes out the fork body. After it is in place, the lifting device lifts the fork body to separate it from the support guide rod. At this time, the propulsion device is reset, and the fork body can be freely raised and lowered to lift the goods. After completing the unloading, the lifting device is lowered to be flush with the support guide rod, and the propulsion device pushes out the support guide rod again to support the fork body, and then the lifting device is reset and stored in the installation cavity. Finally, the propulsion device moves the fork body back to the fork accommodating slot.

[0008] Furthermore, it also includes an elastic support wheel module, which is arranged at the front and rear ends of the fork body. The elastic support wheel module of this solution is elastically supported at the front and rear parts of the lower end of the fork body, so that the front and rear ends of the fork body are always balanced, and it is prevented that when the support guide rod supports the fork body to be pushed outward, it will be separated from the linear guide rail and cause the bottom to be unsupported, and the fork body cannot be fully balanced, or the fork body loses support after the support guide rod is separated from the fork body.

[0009] Preferably, the lifting device includes a scissor lift mechanism and a scissor drive mechanism, and the scissor lift mechanism can be deployed downward or reset upward under the drive of the scissor drive mechanism. In this solution, the scissor lift mechanism provides a more stable support for the fork body with its unique cross-support structure, effectively preventing the fork from shaking or tilting during the lifting process, thereby improving the safety and reliability of the entire fork structure; at the same time, the scissor lift mechanism has good adaptability and can adjust the lifting height and speed according to different work requirements, and its use and maintenance costs are low.

[0010] Furthermore, the scissors-fork lifting mechanism includes an upper fixed plate, a lower fixed plate and a scissors-fork body. The upper and lower ends of the scissors-fork body are respectively connected to the upper fixed plate and the lower fixed plate. The upper fixed plate is fixed to the top of the mounting cavity. When the scissors-fork body is folded, the edge of the lower fixed plate abuts against the bottom outer side of the fork body. When the scissors-fork body is unfolded, the lower fixed plate abuts against the ground to support the scissors-fork body.

[0011] Furthermore, the scissor-type driving mechanism is a driving cylinder, and both ends of the driving cylinder are respectively fixed on two fork plates of the scissor-type body, and the two fork plates are parallel.

[0012] Preferably, the lifting device includes a rigid chain mechanism and a rigid chain driving mechanism. Driven by the rigid chain driving mechanism, the rigid chain mechanism vertically extends outward from the lower end opening of the installation cavity, thereby supporting the fork body to rise, or curls inward from the lower end opening of the installation cavity, thereby lowering the fork body to reset. In this solution, the rigid chain lifting mechanism has the characteristics of strong self-locking performance when stopped, stable operation and strong bearing capacity.

[0013] Another invention object of the utility model is to provide an E-type AGV forklift, which is provided with the fork structure of the above-mentioned solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a top view of the E-type AGV forklift;

[0015] Figure 2 This is a side view of the E-type AGV forklift;

[0016] Figure 3 The principle of the fork body Figure 1 ;

[0017] Figure 4 The principle of the fork body Figure 2 ;

[0018] Figure 5 It is a side view of the fork body;

[0019] Figure 6 The principle of the fork body Figure 3 ;

[0020] Figure 7 The principle of the fork body Figure 4 ;

[0021] Figure 8 It is the overall schematic diagram of the E-type AGV forklift.

[0022] Description of labels:

[0023] Fork body 1, installation cavity 10, chain storage box 14, lifting device 2, scissors lift mechanism 21, scissors drive mechanism 22, lower fixed plate 23, fork plate 25, upper fixed plate 26, rigid chain mechanism 4, rigid chain drive mechanism 41, coupling 42, support plate 43, chain buckle 44, support block 45, sprocket 46, motor fixing seat 47, chain drive motor 48, rigid chain 49, propulsion device 3, linear motor rotor block 31, guide rod 32, linear motor stator guide rail 33, AGV frame 5, fork accommodating groove 51, free wheel 53, omnidirectional drive steering wheel 54, elastic support wheel group 6, installation shell 61, guide sleeve 62, sliding sleeve 63, support shaft 64, elastic member 65, support wheel 66. DETAILED DESCRIPTION

[0024] The technical solution of the utility model is further described below according to the accompanying drawings:

[0025] 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.

[0026] Embodiment 1:

[0027] See also Figure 1-5 8. The present embodiment discloses a fork structure of an E-type AGV forklift, which includes an AGV frame 5 and a fork body 1. The AGV frame 5 is E-shaped and forms two fork accommodating grooves 51. The fork body 1 is detachably arranged in the fork accommodating groove 51. The AGV frame 5 and the two sides of the fork accommodating groove are provided with a propulsion device 3. The propulsion device 3 drives the fork body to linearly move relative to the AGV frame 5 along its length direction through electromagnetic force, and the propulsion device 3 and the fork body 1 are detachably designed; the fork body 1 has an installation cavity 10 with an opening at the lower end, and a lifting device 2 is arranged in the installation cavity 10. The lifting device 2 can be telescopically assembled in the installation cavity 10, and can be stretched downward through the lower end opening of the installation cavity 10 to support the fork body 1 to rise, or reset upward to make the fork body 1 fall.

[0028] The cross-section of the fork body 1 is T-shaped, and the propulsion device 3 is arranged symmetrically at the T-shaped recess. The propulsion device 3 includes a linear motor stator guide rail 33, a linear motor rotor block 31 and a support guide rod 32. The support guide rod 32 is arranged at the T-shaped recess. The linear motor rotor block 31 and the support guide rod 32 are both slidably arranged on the linear motor stator guide rail 33, and the linear motor rotor block 31 is fixedly connected to the support guide rod 32. The linear motor rotor block 31 can be linearly displaced under the drive of electromagnetic force, so that the support guide rod 32 supports the fork body 1 to be pushed out or reset horizontally.

[0029] Working principle: When the E-type AGV forklift needs to unload goods, the propulsion device 3 first pushes the fork body 1 out in a straight line. After it is pushed into place, the lifting device 2 supports the fork body 1 to lift a small distance, so that the fork body 1 is separated from the support guide rod 32. At this time, the linear motor rotor block 31 is reset under the action of electromagnetic force and drives the guide rod 32 to reset. At this time, the lifting action of the fork body 1 is not interfered by the propulsion device 3 and can be freely raised and lowered to lift the goods to the required height. After unloading is completed, the lifting device 2 is lowered to a height flush with the support guide rod 32, and the linear motor rotor block 31 drives the support guide rod 32 to be pushed out horizontally to support the lower part of both sides of the fork body 1. At this time, the lifting device 2 can be completely reset to be stored in the installation cavity 10, and the linear motor rotor block 31 drives the support guide rod 32 to move into the fork accommodating cavity.

[0030] Furthermore, it also includes an elastic support wheel module, which is arranged at the front and rear ends of the fork body 1. The elastic support wheel module of this solution is elastically supported at the front and rear parts of the lower end of the fork body 1, so that the front and rear ends of the fork body 1 are always balanced, and it is prevented that when the support guide rod 32 supports the fork body 1 to be pushed outward, it will be separated from the linear guide rail and cause the bottom to be unsupported, and the fork body 1 cannot be fully balanced, or the fork body 1 loses support after the support guide rod 32 is separated from the fork body 1.

[0031] The elastic support wheel group 6 comprises a mounting housing 61, a guide sleeve 62, a sliding sleeve 63, a support shaft 64, an elastic member 65 and a support wheel 66. The lower end of the mounting housing 61 is provided with an opening, the guide sleeve 62 is longitudinally fixed in the mounting housing 61, the support wheel 66 is fixed to the lower end of the support shaft 64 through a wheel axle, the upper end of the support shaft 64 is located in the guide sleeve 62, the sliding sleeve 63 is covered on the outer side of the support shaft 64, and is connected to the socket of the guide sleeve 62 in a sliding manner, and the elastic member 65 is sleeved on the support shaft 64. When the height of the fork body 1 decreases, the elastic member 65 is compressed, and when the height of the fork body increases, the elastic member 65 is reset, so that the support wheel 66 and the elastic support wheel 66 group 6 are always supported at the lower end of the fork body 1.

[0032] Preferably, the lifting device 2 includes a scissor lift mechanism 21 and a scissor drive mechanism 22, and the scissor lift mechanism 21 can be deployed downward or reset upward under the drive of the scissor drive mechanism 22. In this solution, the scissor lift mechanism 21 provides a more stable support for the fork body 1 with its unique cross-support structure, effectively preventing the fork from shaking or tilting during the lifting process, thereby improving the safety and reliability of the entire fork structure; at the same time, the scissor lift mechanism 21 has good adaptability, and can adjust the lifting height and speed according to different work requirements, and its use and maintenance costs are low.

[0033] Furthermore, the scissors-fork lifting mechanism 21 includes an upper fixed plate 26, a lower fixed plate 23 and a scissors-fork body. The upper and lower ends of the scissors-fork body are respectively connected to the upper fixed plate 26 and the lower fixed plate 23. The upper fixed plate 26 is fixed to the top of the mounting cavity 10. When the scissors-fork body is folded, the edge of the lower fixed plate 23 abuts against the bottom outer side of the fork body 1. When the scissors-fork body is unfolded, the lower fixed plate 23 abuts against the ground to support the scissors-fork body.

[0034] Furthermore, the scissor-type driving mechanism 22 is a driving cylinder, and both ends of the driving cylinder are respectively fixed on two fork plates 25 of the scissor-type body, and the two fork plates 25 are parallel to each other.

[0035] The fork structure of this embodiment has a propulsion device 3 installed on the AGV frame 5 and is detachable from the fork body 1, and the lifting device 2 can be hidden in the installation cavity 10 of the fork body 1. When the fork body 1 is inserted into the field-shaped pallet, the propulsion device 3 and the lifting device 2 will not interfere with the socket structure of the field-shaped pallet, thereby solving the problem that the forking mechanism of the AGV forklift is incompatible with the socket structure of the field-shaped pallet, so that the field-shaped pallet can be forked and transported by the AGV forklift. At the same time, the use scope of the AGV forklift is expanded and its flexibility and versatility are improved.

[0036] Embodiment 2:

[0037] See also Figure 6-7 As shown, the difference between this embodiment and the above embodiment is that the lifting device 2 includes a rigid chain mechanism 4 and a rigid chain driving mechanism 41. Driven by the rigid chain driving mechanism 41, the rigid chain mechanism 4 vertically extends outward from the lower end opening of the installation cavity 10 to support the fork body 1 to rise, or curls inward from the lower end opening of the installation cavity 10 to make the fork body 1 descend and reset. In this solution, the rigid chain lifting mechanism has the characteristics of strong self-locking performance when stopped, stable operation and strong bearing capacity.

[0038] Specifically, the rigid chain mechanism 4 includes a support plate 43, a chain buckle 44 and a support block 45. The rigid chain drive mechanism 41 includes a chain drive motor 48 and a sprocket 46. The chain drive motor 48 is a double-shaft motor and is assembled on the installation cavity 10 through a motor fixing seat 47. Two sprockets 46 are arranged front and back and are fixedly connected to one of the shafts of the chain drive motor 48. The chain buckle 44 is divided into two groups to form two rigid chains 49. A chain storage box 14 is provided between the two sprockets 46 at the upper part of the installation cavity 10. The storage box has front and rear openings for storing the rigid chain 49. One end of the rigid chain 49 extends downward through the sprocket 46 and protrudes from the bottom of the installation cavity 10. The support plate 43 is located outside the bottom of the installation cavity 10 and is fixedly connected to the chain buckle 44 at the bottom of the rigid chain.

[0039] When the chain drive motor 48 drives the sprocket 46 to rotate, it drives the rigid chain to extend downward until the support plate 43 contacts the ground. A support block 45 is mounted on each chain link 44. When the rigid chain moves downward relative to the fork body 1 until the support block 45 contacts the inner top wall of the mounting cavity 10, as the rigid chain further extends vertically, it supports the fork body 1 to rise.

[0040] The chain drive motor 48 and the sprocket 46 are connected via a coupling 42 .

[0041] Compared with the above-mentioned embodiment, the present embodiment applies a rigid chain lifting mechanism, which has the advantages of strong self-locking property when shut down, stable operation and strong bearing capacity.

[0042] Embodiment three:

[0043] See also Figure 1 , 8 As shown, this embodiment discloses an E-type AGV forklift, which is provided with the fork structure of the above-mentioned solution.

[0044] A set of omnidirectional driving steering wheels 54 and a set of free wheels 53 are diagonally arranged at the bottom of the AGV frame 5 .

[0045] The height of the fork body is designed to be less than or equal to the height of the AGV frame.

[0046] 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 structure of an E-type AGV forklift, characterized in that: The E-type AGV forklift includes an AGV frame and a fork body. The AGV frame is E-shaped and forms two fork receiving slots. The fork body is detachably arranged in the fork receiving slot. The AGV frame and both sides of the receiving slot are provided with a propulsion device. The propulsion device drives the fork body to linearly move relative to the AGV frame along its length direction through electromagnetic force. The propulsion device and the fork body are detachably designed. The fork body has an installation cavity with an opening at the lower end, and a lifting device is arranged in the installation cavity. The lifting device can be telescopically assembled in the installation cavity, and can be stretched downward through the lower end opening of the installation cavity to support the fork body to rise, or reset upward to make the fork body descend.

2. The fork structure according to claim 1, characterized in that: The propulsion device includes a linear motor stator guide rail, a linear motor rotor block and a support guide rod. The linear motor rotor block and the support guide rod are both slidably arranged on the linear motor stator guide rail. The linear motor rotor block is fixedly connected to the support guide rod. The support guide rod is supported on opposite sides of the fork body. The linear motor rotor block can be linearly displaced under the drive of electromagnetic force, so that the support guide rod supports the fork body to be horizontally pushed out or reset.

3. The fork structure according to claim 2, characterized in that: The cross section of the fork body is T-shaped, and the support guide rod is arranged at the concave position of the T-shape.

4. The fork structure according to claim 2, characterized in that: It also includes an elastic support wheel module, which is arranged at the front and rear ends of the fork body.

5. The fork structure according to any one of claims 1 to 4, characterized in that: The lifting device comprises a scissor lift mechanism and a scissor drive mechanism. The scissor lift mechanism can be deployed downward or reset upward under the drive of the scissor drive mechanism.

6. The fork structure according to claim 5, characterized in that: The scissor lift mechanism comprises an upper fixed plate, a lower fixed plate and a scissor body, wherein the upper end and the lower end of the scissor body are respectively connected to the upper fixed plate and the lower fixed plate, and the upper fixed plate is fixed to the top of the mounting cavity. When the scissor body is folded, the edge of the lower fixed plate abuts against the outer bottom side of the fork body. When the scissor body is unfolded, the lower fixed plate abuts against the ground to support the scissor body.

7. The fork structure according to claim 6, characterized in that: The scissor-type driving mechanism is a driving cylinder, and the two ends of the driving cylinder are respectively fixed on the two fork plates of the scissor-type body, and the two fork plates are parallel.

8. The fork structure according to any one of claims 1 to 4, characterized in that: The lifting device includes a rigid chain mechanism and a rigid chain driving mechanism. Driven by the rigid chain driving mechanism, the rigid chain mechanism vertically extends outward from the lower end opening of the installation cavity to support the fork body to rise, or curls and contracts inward from the lower end opening of the installation cavity to lower and reset the fork body.

9. The fork structure according to claim 1, characterized in that: The lifting device is provided with two groups, which are respectively arranged at the front and rear of the installation cavity.

10. E-type AGV forklift, characterized by: The E-type AGV forklift comprises a fork structure according to any one of claims 1-9.

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