Pallet fork lifting mechanism for AGV forklift and AGV forklift

Abstract

The utility model provides a pallet fork lifting mechanism for an AGV forklift and the AGV forklift. The pallet fork lifting mechanism comprises a fixed door frame, a fixed door frame and a lifting mechanism, the lifting portal frame is arranged on the fixed portal frame, and the lifting portal frame can move up and down along the fixed portal frame; the portal frame lifting driving system comprises a lifting driving component and a gear and rack transmission mechanism, the lifting driving component is fixed on the fixed portal frame, a gear of the gear and rack transmission mechanism is arranged on the fixed portal frame, and a rack of the gear and rack transmission mechanism is arranged on the lifting portal frame; the pallet fork assembly is arranged on the lifting portal frame, and the pallet fork assembly ascends and descends relative to the lifting portal frame while the pallet fork assembly ascends and descends synchronously with the lifting portal frame. According to the pallet fork lifting mechanism for the AGV forklift and the AGV forklift, the lifting height of the pallet fork assembly can be increased, and the carrying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent warehousing and logistics equipment, and in particular to a fork lifting mechanism for an AGV forklift and the AGV forklift. Background Art

[0002] With the rapid development of my country's manufacturing and logistics industries, storage in automated warehouses has become a basic need in all walks of life. With the widespread application of AGV products, AGV forklifts are gradually being used in the field of unmanned operations. AGV forklifts are used for the distribution of raw materials on production lines, the transportation of semi-finished products and finished products, and palletizing in factory warehouses. In industrial production, they can replace people to do certain monotonous, frequent, labor-intensive, repetitive and long-term operations or operations in dangerous and harsh environments.

[0003] The fork lifting mechanism of an existing AGV forklift generally includes a fixed mast, a fork assembly and a hydraulic system. The fork assembly can be raised and lowered along the fixed mast under the drive of the hydraulic system. Although the AGV forklift with this structure can realize the transportation of goods, the hydraulic system has the risk of hydraulic oil leakage after long-term operation, which will cause deviations in the lifting and lowering of the forklift. At this time, an additional pull-wire encoder is required to calibrate the positioning; in addition, since the hydraulic oil has a certain degree of compressibility, the hydraulic fork structure will produce different degrees of settlement during operation depending on the load. In particular, when the fork is carrying goods, it is impossible to ensure the smooth lifting and lowering of the goods, and it is also impossible to ensure the parking accuracy of the fork, thereby reducing the handling efficiency of the goods. Therefore, how to improve the handling efficiency of AGV forklifts is a technical problem that needs to be solved urgently. Utility Model Content

[0004] In view of this, the utility model provides a fork lifting mechanism for an AGV forklift and an AGV forklift to solve one or more technical problems existing in the prior art.

[0005] According to one aspect of the utility model, a fork lifting mechanism for an AGV forklift is disclosed, the fork lifting mechanism comprising:

[0006] Fixed door frame;

[0007] A lifting gantry is arranged on the fixed gantry, and the lifting gantry can move up and down along the fixed gantry;

[0008] The gantry lifting drive system comprises a lifting drive component and a gear rack transmission mechanism, wherein the lifting drive component is fixed to the fixed gantry, the gear of the gear rack transmission mechanism is arranged on the fixed gantry, and the rack of the gear rack transmission mechanism is arranged on the lifting gantry;

[0009] A fork assembly is arranged on the lifting gantry. The fork assembly performs lifting and lowering motion relative to the lifting gantry while being lifted and lowered synchronously with the lifting gantry.

[0010] In some embodiments of the present invention, a first U-shaped groove is provided on one side of the fixed gantry, and the lifting gantry is arranged in the first U-shaped groove of the fixed gantry.

[0011] In some embodiments of the present invention, a second U-shaped groove is provided on one side of the lifting gantry, and a side plate of the second U-shaped groove is parallel to a side plate of the first U-shaped groove.

[0012] In some embodiments of the present invention, the fork assembly includes a fork body and a fork fixing plate, the fork body is fixed on the fork fixing plate, and the fork fixing plate is arranged in the second U-shaped groove of the lifting mast.

[0013] In some embodiments of the present utility model, a first guide mechanism is provided between the lifting gantry and the fixed gantry;

[0014] A second guiding mechanism is provided between the lifting gantry and the fork fixing plate.

[0015] In some embodiments of the present invention, both the first guide mechanism and the second guide mechanism are pulley and slot mechanisms.

[0016] In some embodiments of the present invention, the pulley of the first guide mechanism and the pulley of the second guide mechanism are respectively arranged on the side plate of the fixed gantry and the side plate of the fork fixed plate, and the slide groove of the first guide mechanism and the slide groove of the second guide mechanism are both arranged on the side plate of the lifting gantry.

[0017] In some embodiments of the utility model, the gantry lifting drive system also includes a transmission shaft, which is rotatably supported on the fixed gantry, a mechanical transmission mechanism is provided between the lifting drive component and the transmission shaft, and the gear of the rack and pinion transmission mechanism is fixed on the transmission shaft.

[0018] In some embodiments of the utility model, the fork lifting mechanism also includes a traction chain mechanism, one end of the chain of the traction chain mechanism is connected to the top of the fixed gantry through a first chain connector, the other end of the chain is connected to the top of the fork fixed plate through a second chain connector, and the top of the lifting gantry has a chain roller, and the chain is guided by the chain roller.

[0019] According to another aspect of the utility model, an AGV forklift is also disclosed, and the AGV forklift includes the fork lifting mechanism for the AGV forklift as described in any of the above embodiments.

[0020] The fork lifting mechanism for AGV forklift and the AGV forklift disclosed in the embodiment of the utility model include a fixed gantry and a lifting gantry, and the fork assembly is lifted and lowered synchronously with the lifting gantry while also performing relative lifting movement with the lifting gantry, that is, the fork lifting mechanism of this structure adopts a two-stage gantry, which increases the lifting height of the fork assembly, and is thus suitable for scenes with certain requirements for the lifting height of the goods. In addition, a gear rack lifting mechanism is adopted between the fixed gantry and the lifting gantry of the fork lifting mechanism, which can ensure the parking accuracy of the goods, improve the lifting stability of the goods, and improve the handling efficiency of the goods.

[0021] Additional advantages, purposes, and features of the present invention will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written description and its claims and the drawings.

[0022] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific description, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0024] Figure 1 The figure is a schematic structural diagram of a fork lifting mechanism according to an embodiment of the utility model.

[0025] Figure 2 The figure is a schematic structural diagram of a fixed mast of a fork lifting mechanism according to an embodiment of the utility model.

[0026] Figure 3 for Figure 2 A top view of the fixed gantry is shown.

[0027] Figure 4 The present invention is a schematic structural diagram of a lifting gantry of a fork lifting mechanism according to an embodiment of the present invention.

[0028] Figure 5 The figure is a schematic structural diagram of a fork assembly of a fork lifting mechanism according to an embodiment of the utility model.

[0029] Figure 6 It is a first structural schematic diagram of a lifting mast of a fork lifting mechanism according to an embodiment of the utility model being raised to the top of a fixed mast.

[0030] Figure 7 This is a second structural schematic diagram of a fork lift mechanism according to an embodiment of the utility model in which the lift mast is lifted to the top of the fixed mast.

[0031] Reference numerals:

[0032] Fixed mast 100 Lifting mast 200 Fork assembly 300 Lifting drive component 110 Gear 120 Rack 210 First U-shaped groove 130 Second U-shaped groove 230 Fork body 310 Fork fixing plate 320 First pulley 140 First slide groove 240 Second pulley 350 Second slide groove 250 Transmission shaft 150 Chain 410 First chain connector 160 Second chain connector 360 Chain roller 260 DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiment of the utility model more clear, the embodiment of the utility model is further described in detail below in conjunction with the accompanying drawings. Here, the illustrative embodiment of the utility model and its description are used to explain the utility model, but are not used as a limitation of the utility model.

[0034] It should be noted here that in order to avoid obscuring the present invention due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0035] It should be emphasized that the terms “include / comprises / has” when used herein refer to the presence of features, elements, steps or components, but do not exclude the presence or addition of one or more other features, elements, steps or components.

[0036] It should also be noted that the directional nouns in this specification are relative to the position directions shown in the drawings; if there is no special explanation, the term "connection" in this article can refer to not only direct connection, but also indirect connection with an intermediate. Direct connection means that two parts are connected without the help of an intermediate part, and indirect connection means that two parts are connected with the help of other parts.

[0037] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components.

[0038] Figure 1 A fork lifting mechanism for an AGV forklift according to an embodiment of the utility model is as follows: Figure 1As shown, the fork lifting mechanism includes a fixed gantry 100, a lifting gantry 200, a gantry lifting drive system and a fork assembly 300. The lifting gantry 200 is arranged on the fixed gantry 100, and the lifting gantry 200 can move up and down along the fixed gantry 100; the gantry lifting drive system includes a lifting drive component 110 and a gear rack transmission mechanism, the lifting drive component 110 is fixed on the fixed gantry 100, the gear 120 of the gear rack transmission mechanism is arranged on the fixed gantry 100, and the rack 210 of the gear rack transmission mechanism is arranged on the lifting gantry 200; the fork assembly 300 is arranged on the lifting gantry 200, and the fork assembly 300 moves up and down relative to the lifting gantry 200 while being lifted and lowered synchronously with the lifting gantry 200.

[0039] In this embodiment, the gear 120 of the rack and pinion transmission mechanism rotates under the driving action of the lifting drive component 110, and the rack 210 meshing with the gear 120 performs lifting and lowering motion as the gear 120 rotates. At this time, the lifting gantry 200 and the rack 210 are lifted and lowered synchronously. In addition, since the fork assembly 300 is arranged on the lifting gantry 200, the fork assembly 300 and the lifting gantry 200 are lifted and lowered synchronously at this time. In addition, the fork assembly 300 performs relative lifting and lowering motion relative to the lifting gantry 200 as the lifting and lowering motion of the lifting gantry 200, that is, at this time, the fork assembly 300 performs relative lifting and lowering motion with the lifting gantry 200 while performing synchronous lifting and lowering with the lifting gantry 200. It can be seen from this that the fork lifting mechanism of this structure adopts a two-stage lifting mechanism, with the fixed gantry 100 as the first-stage gantry and the lifting gantry 200 as the second-stage gantry, which effectively increases the lifting and lowering stroke of the fork assembly 300.

[0040] In order to realize the relative movement between the fork assembly 300 and the lifting gantry 200, the further fork lifting mechanism may also include a traction chain mechanism, which is arranged between the fork assembly 300 and the fixed gantry 100, that is, one end of the chain 410 of the traction chain mechanism is connected to the top of the fixed gantry 100 through the first chain connector 160, and the other end of the chain 410 of the traction chain mechanism is connected to the top of the fork fixing plate 320 of the fork assembly 300 through the second chain connector 360; in addition, the top of the lifting gantry 200 has a chain roller 260, and the chain 410 is guided by the chain roller 260. The two ends of the chain 410 in this structure are fixedly connected to the top of the fixed gantry 100 and the fork assembly 300 respectively, and the chain 410 is also guided by the chain roller 260 on the lifting door plate. When the lifting gantry 200 rises, the length of the chain 410 between the lifting gantry 200 and the fixed gantry 100 increases, while the length between the lifting gantry 200 and the fork fixing plate 320 shortens, so that the fork assembly 300 moves upward relative to the lifting gantry 200.

[0041] Figure 2 This is a schematic structural diagram of a fixed mast of a fork lift mechanism according to an embodiment of the utility model. Figure 3 for Figure 2 The top view of the fixed gantry is shown from Figure 2 and Figure 3 It can be seen that the lifting drive component 110 is arranged on the fixed gantry 100, and the lifting drive component 110 is specifically located at the top position of the fixed gantry 100. Exemplarily, the lifting drive component 110 is a motor, and the motor is fixed to one side of the top of the fixed gantry 100 through a motor bracket. Exemplarily, one side of the fixed gantry 100 has a first U-shaped groove 130, and the lifting gantry 200 is used to be arranged in the first U-shaped groove of the fixed gantry 100. Figure 2 The top of the fixed gantry 100 has a motor mounting plate, and at this time, the first U-shaped groove 130 is located on the left side of the motor mounting plate, and the motor is specifically located on the right side of the motor mounting plate.

[0042] In addition, since the gear 120 is arranged on the fixed gantry 100, the rack 210 is arranged on the lifting gantry 200, and the lifting gantry 200 is located on the left side of the motor mounting plate as a whole, in order to achieve effective engagement between the gear 120 and the rack 210, the gear 120 for engaging with the rack 210 is also arranged on the left side of the motor mounting plate. In one embodiment, the gantry lifting drive system further includes a transmission shaft 150, the transmission shaft 150 is rotatably supported on the fixed gantry 100, a mechanical transmission mechanism is arranged between the lifting drive component 110 and the transmission shaft 150, and the gear 120 of the gear rack transmission mechanism is fixed on the transmission shaft 150. Reference Figure 3, the transmission shaft 150 is arranged on the left side of the motor mounting plate, that is, the transmission shaft 150 is located on one side of the first U-shaped groove 130 of the fixed gantry 100, and the two ends of the transmission shaft 150 are respectively supported on the two side plates of the first U-shaped groove 130. In order to make the lifting drive component 110 drive the transmission shaft 150 to rotate, a mechanical transmission mechanism is arranged between the lifting drive component 110 and the transmission shaft 150. The mechanical transmission mechanism is a gear mechanism. At this time, the driving gear of the gear mechanism is fixed on the output shaft of the lifting drive component 110, and the driven gear of the gear mechanism is fixed on the transmission shaft 150. Under the action of the gear mechanism, the transmission shaft 150 will rotate under the drive of the lifting drive component 110. The gear 120 used to mesh with the rack 210 is also fixed on the transmission shaft 150 at this time.

[0043] from Figure 3 It can be seen that a gear 120 is provided at each end of the transmission shaft 150. It can be understood that, corresponding to the two gears 120, the number of racks 210 on the lifting gantry 200 is also two, and the two racks 210 are parallel to each other, and each rack 210 is vertically arranged. In addition, the spacing between the two racks 210 on the lifting gantry 200 is determined based on the spacing between the two gears 120 on the transmission shaft 150.

[0044] In some embodiments of the present invention, a second U-shaped groove 230 is provided on one side of the lifting gantry 200, and a side plate of the second U-shaped groove 230 is parallel to a side plate of the first U-shaped groove 130. Figure 4 The second U-shaped groove 230 is specifically located at the left end of the lifting gantry 200, and the two racks 210 are specifically located at the right end of the lifting gantry 200. The second U-shaped groove 230 runs through the height direction of the lifting gantry 200. The second U-shaped groove 230 is used to set the fork assembly 300.

[0045] Furthermore, the fork assembly 300 includes a fork body 310 and a fork fixing plate 320, the fork body 310 is fixed on the fork fixing plate 320, and the fork fixing plate 320 is disposed in the second U-shaped groove 230 of the lifting mast 200. Figure 5 FIG. 1 is a structural schematic diagram of a fork assembly 300 of a fork lifting mechanism according to an embodiment of the present invention. Figure 5 As shown, there are two fork bodies 310 , which are fixed at the bottom of the fork fixing plate 320 , and at this time, the end of the chain 410 of the traction chain mechanism is fixed at a side of the fork fixing plate 320 away from the fork body 310 .

[0046] In order to ensure the lifting stability of the lifting gantry 200 and the fork assembly 300, a first guide mechanism is provided between the lifting gantry 200 and the fixed gantry 100, and a second guide mechanism is provided between the lifting gantry 200 and the fork fixing plate 320. The first guide mechanism guides the lifting movement of the lifting gantry 200, and the second guide mechanism guides the lifting movement of the fork assembly 300.

[0047] Exemplarily, the first guide mechanism and the second guide mechanism may both be pulley slot mechanisms. It is understandable that in this embodiment, setting the first guide mechanism and the second guide mechanism as pulley slot mechanisms is only a preferred example. In other embodiments, the first guide mechanism and the second guide mechanism may also be other mechanisms besides the pulley slot mechanisms.

[0048] When the first guide mechanism and the second guide mechanism are both pulley sliding groove mechanisms, specifically, the first pulley 140 of the first guide mechanism is located on the side plate of the fixed door frame 100, such as Figure 2 As shown, the first pulley 140 is specifically located on the side wall of the first U-shaped groove 130. At this time, the first slide groove 240 matched with the first pulley 140 is arranged on the side plate of the lifting door frame 200. Figure 4 , the two first slide grooves 240 are located on the outer side of the side plate of the second U-shaped groove 230. Similarly, the second pulley 350 of the second guide mechanism is located on the side plate of the fork fixing plate 320, and the second slide groove 250 of the second guide mechanism is located on the side plate of the lifting mast 200; Figure 4 As shown, the second slide groove 250 and the first slide groove 240 are respectively located on both sides of the side plate of the second U-shaped groove 230; Figure 5 As shown, two side plates are provided on the side of the fork fixing plate 320 opposite to the fork body 310, and two second pulleys 350 are provided on each side plate, and the two second pulleys 350 on each side are arranged at intervals. In the assembled state of the fork assembly 300, the lifting gantry 200 and the fixed gantry 100, the first pulley 140 on the fixed gantry 100 is located in the first slide groove 240 on the lifting gantry 200, and the second pulley 350 on the fork assembly 300 is located in the second slide groove 250 on the lifting gantry 200, and as the lifting gantry 200 moves, the first pulley 140 moves in the first slide groove 240, and the second pulley 350 moves in the second slide groove 250.

[0049] In the above embodiment, the fork assembly 300 is a steel structure welded from carbon steel plates, which is mainly used for forking and carrying goods, and the second pulley 350 is used to ensure that the fork assembly 300 moves up and down along the lifting gantry 200. The fixed gantry 100 is a steel structure welded from carbon steel plates and profiles, which is used to install the lifting drive component, the transmission shaft 150, and the first pulley 140. The lifting drive component 110 includes a motor and a reducer, which is used to provide driving force for the lifting and lowering of the lifting gantry 200 assembly and the fork assembly 300. A bearing is provided on the transmission shaft 150, which is used to transmit the driving wheel force output by the motor to the rack 210 of the secondary lifting gantry 200, so that the secondary lifting gantry 200 can move up and down along the fixed gantry 100; the first pulley 140 is used to ensure that the lifting gantry 200 moves up and down along the fixed gantry 100. The lifting gantry 200 is a steel structure welded from carbon steel plates and profiles, and is used to set the first slide 240, the second slide 250, the rack 210, and the chain roller 260. The rack 210 is used to engage with the gear 120 on the fixed gantry 100, and the gear 120 rotates to drive the rack 210 and the entire lifting gantry 200 to perform lifting motion; the chain roller 260 is used to assist the chain 410 in transmission and change the transmission direction of the chain 410 so that the fork assembly can perform lifting motion relative to the lifting gantry.

[0050] In summary, the fork lifting mechanism of the utility model for AGV forklift adopts a fork lifting system combining a two-stage lifting and a gear rack mechanism, that is, a fixed gantry, a lifting gantry, a fork assembly, a first guide mechanism, a second guide mechanism and a traction chain mechanism are combined into a two-stage lifting mechanism, which effectively increases the height of the forked goods (reference Figure 6 and Figure 7 ), at the same time, it also makes maintenance easier and greatly improves transmission accuracy.

[0051] Corresponding to the fork lifting mechanism for the AGV forklift of the present application, the utility model also discloses an AGV forklift, and the AGV forklift includes the fork lifting mechanism for the AGV forklift as described in any of the above embodiments.

[0052] Through the above embodiments, it can be found that the fork lifting mechanism for the AGV forklift includes a fixed gantry and a lifting gantry, and the fork assembly is lifted and lowered synchronously with the lifting gantry while also performing relative lifting motion with the lifting gantry. The fork lifting mechanism of this structure adopts a two-stage gantry, which increases the lifting height of the fork assembly, and is thus suitable for scenes with certain requirements for the lifting height of the goods. In addition, a gear rack lifting mechanism is adopted between the fixed gantry and the lifting gantry of the fork lifting mechanism, which can ensure the parking accuracy of the goods, improve the lifting stability of the goods, and improve the handling efficiency of the goods.

[0053] In the present invention, features described and / or illustrated for one embodiment may be used in the same manner or in a similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0054] The above-listed embodiments show and describe the basic principles and main features of the utility model, but the utility model is not limited to the above-mentioned embodiments. Any modifications, equivalent changes and modifications made to the utility model by those skilled in the art without making any creative work should fall within the scope of protection of the technical solution of the utility model.

Claims

1. A fork lifting mechanism for an AGV forklift, characterized in that: The fork lifting mechanism comprises: Fixed door frame; A lifting gantry is arranged on the fixed gantry, and the lifting gantry can move up and down along the fixed gantry; The gantry lifting drive system comprises a lifting drive component and a gear rack transmission mechanism, wherein the lifting drive component is fixed to the fixed gantry, the gear of the gear rack transmission mechanism is arranged on the fixed gantry, and the rack of the gear rack transmission mechanism is arranged on the lifting gantry; A fork assembly is arranged on the lifting gantry. The fork assembly performs lifting and lowering motion relative to the lifting gantry while being lifted and lowered synchronously with the lifting gantry.

2. The fork lifting mechanism for AGV forklift according to claim 1, characterized in that: One side of the fixed gantry is provided with a first U-shaped groove, and the lifting gantry is arranged in the first U-shaped groove of the fixed gantry.

3. The fork lifting mechanism for AGV forklift according to claim 2, characterized in that: A second U-shaped groove is provided on one side of the lifting gantry, and a side plate of the second U-shaped groove is parallel to a side plate of the first U-shaped groove.

4. The fork lifting mechanism for AGV forklift according to claim 3, characterized in that: The fork assembly comprises a fork body and a fork fixing plate, the fork body is fixed on the fork fixing plate, and the fork fixing plate is arranged in the second U-shaped groove of the lifting mast.

5. The fork lifting mechanism for AGV forklift according to claim 4, characterized in that: A first guiding mechanism is provided between the lifting gantry and the fixed gantry; A second guiding mechanism is provided between the lifting gantry and the fork fixing plate.

6. The fork lifting mechanism for AGV forklift according to claim 5, characterized in that: The first guide mechanism and the second guide mechanism are both pulley and slot mechanisms.

7. The fork lifting mechanism for AGV forklift according to claim 6, characterized in that: The pulley of the first guide mechanism and the pulley of the second guide mechanism are respectively arranged on the side plate of the fixed gantry and the side plate of the fork fixed plate, and the slide groove of the first guide mechanism and the slide groove of the second guide mechanism are both arranged on the side plate of the lifting gantry.

8. The fork lifting mechanism for AGV forklift according to claim 1, characterized in that: The gantry lifting drive system also includes a transmission shaft, which is rotatably supported on the fixed gantry. A mechanical transmission mechanism is provided between the lifting drive component and the transmission shaft, and the gear of the rack and pinion transmission mechanism is fixed on the transmission shaft.

9. The fork lifting mechanism for AGV forklift according to claim 4, characterized in that: The fork lifting mechanism also includes a traction chain mechanism, one end of the chain of the traction chain mechanism is connected to the top of the fixed gantry through a first chain connector, the other end of the chain is connected to the top of the fork fixed plate through a second chain connector, and the top of the lifting gantry is provided with a chain roller, and the chain is guided by the chain roller.

10. An AGV forklift, characterized in that: The AGV forklift comprises the fork lifting mechanism for the AGV forklift according to any one of claims 1 to 9.

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