Lifting fork tooth mechanism for stacking forklift robot
By designing a lifting forklift mechanism in the stacking forklift robot, the coordination of trapezoid blocks and limiting frames can achieve stable lifting of the forklift plate and limiting and binding of objects, the shaking and drop problems caused by the center of gravity of the object are solved, and the stability of transportation and the protection effect of objects are improved.
Patent Information
- Application Number
- CN202422549758.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-10-22
AI Technical Summary
During the lifting process, the center of gravity of the object is offset by the object, causing the fork thighs to move and shake, the transportation is unstable, and the object is prone to slide or fall.
A lifting fork tine mechanism for stacking forklift robots is designed, and the trapezoidal block and the limiting frame are used to achieve stable lifting and lowering of the fork tine plate and limiting and binding of the object through the rotating plate and the line-receiving roller to avoid the object from being offset and falling from the front and back.
It reduces shaking during lifting and lowering, reduces the risk of objects falling, improves the stability of the device and the protection effect of objects.
Smart Images
Figure CN223033044U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of reach forklift robots, in particular to a lifting fork tooth mechanism for reach forklift robots. Background Technique
[0002] The lifting fork teeth of reach forklift robots are mainly used for picking up, transporting and stacking goods. Through precise mechanical design and control systems, they can achieve precise picking up and placing of goods, ensuring the safety and stability of goods during transportation.
[0003] At present, during the lifting process of reach forklift robots, if the center of gravity of the lifted object continuously shifts, it is easy to cause the fork teeth to shake during the movement, and there is an unstable situation during transportation. The lifting fork teeth are mostly straight for easy insertion into the bottom of the object. However, when lifting and transporting the object, the object may slide, and there is a risk of falling. Moreover, if the object is stacked too high, there is also a risk of falling during movement. Therefore, a lifting fork tooth mechanism for reach forklift robots is proposed. Summary of the Invention
[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art, and to propose a lifting fork tooth mechanism for reach forklift robots.
[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:
[0006] A lifting fork tooth mechanism for reach forklift robots, including a device body. A lidar rod is installed on the device body. A housing is arranged on one side of the device body. A toothed plate is installed in the housing. The outer side of the toothed plate is connected with a lifting chain. One end of the lifting chain is provided with a lifting plate. A fork tooth plate is fixedly installed on one side of the lifting plate. One end of the fork tooth plate is connected with a rotating piece. A wire winding roller is installed in the rotating piece. A limiting frame is also arranged in the housing.
[0007] Preferably, a controller is installed on the outer surface of the device body. The lidar rod is vertically installed on the top surface of the device body. An electric control wheel is arranged on the bottom surface of the device body. The electric control wheel and the lidar rod are electrically connected.
[0008] Preferably, the housing is fixedly installed on the inner side surface of the device body. Two support frames are symmetrically installed on the inner top surface of the housing. The toothed plate is rotatably connected to both support frames. Lifting motors are arranged on both sides of the housing. The output end of the lifting motor penetrates the housing and is connected to the corresponding toothed plate. The two lifting motors move synchronously.
[0009] Preferably, two lifting chains are provided. The two lifting chains are respectively engaged with two toothed plates. Two fixing blocks are welded and installed on the inner side surface of the lifting plate. The front end of the lifting chain is connected to the fixing block. A moving plate is fixedly installed on the rear ends of the two lifting chains. Both ends of the limiting frame are erected on the inner side surface of the housing. A vertical groove is left between the inner side surfaces of the housing and the limiting frame. The moving plate is movably connected in the vertical groove.
[0010] Preferably, a trapezoidal block is also fixedly installed on the inner side surface of the lifting plate. A trapezoidal groove is formed on the outer side surface of the limiting frame. The trapezoidal block is connected in the trapezoidal groove. Rolling grooves are formed on both sides of the trapezoidal groove. Two groups of balls are arranged on the trapezoidal block. The balls are movably connected in the rolling grooves.
[0011] Preferably, the fork tooth plate is installed on the outer side surface of the lifting plate. A rotating rod is arranged at the outer end of the fork tooth plate. The rotating piece is rotatably connected to the rotating rod. Tightening nuts are threadedly connected to both ends of the rotating rod. The tightening nuts are connected to the outer side of the rotating piece.
[0012] Preferably, a rotating shaft is arranged inside the wire winding roller. The rotating shaft is rotatably connected inside the rotating piece. Both ends of the rotating shaft penetrate to the outside of the rotating piece. External threads are formed on both ends of the rotating shaft. Tightening nuts are threadedly connected thereto. A steel wire is wound around the wire winding roller. Two semi-circular fixing rings are fixed on the top surface of the lifting plate. One ends of the two steel wires are connected to the fixing rings in an "X" shape.
[0013] The beneficial effects of the present utility model are as follows:
[0014] With the cooperation of the trapezoidal block and the limiting frame in this solution, the stable lifting of the fork tooth plate can be realized, and the shaking during the lifting process can be reduced. By rotating the rotating piece, the transported object can be limited to avoid the situation of forward and backward offset. Through the wire winding roller and the fixing ring, the transported object can be tied up to avoid the risk of the object falling due to being too high.
[0015] In this solution, the possibility of the fork teeth being unstable and shaking due to the center of gravity offset of the object during the lifting process is reduced. The possibility of the object falling during the movement due to being stacked too high is reduced. The effect of the stable lifting of the device is improved. The possibility of the fork teeth shaking during the lifting process can be reduced. Also, the protection effect of the device on the object is improved. It can be simply tied up to avoid the risk of falling during short-distance transportation. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic front view structure diagram of the lifting fork tooth mechanism for a reach forklift robot proposed by the present utility model;
[0017] Figure 2The front view structural schematic diagram of the lifting fork mechanism for a reach forklift robot proposed by the present utility model;
[0018] Figure 3 The side view structural schematic diagram of the lifting fork mechanism for a reach forklift robot proposed by the present utility model;
[0019] Figure 4 The structural schematic diagram of the rear side of the lifting fork mechanism for a reach forklift robot proposed by the present utility model
[0020] Figure 5 is Figure 4 The structural schematic diagram of part A in
[0021] In the figure: 1, device body; 2, lidar rod; 3, housing; 4, lifting plate; 5, fork plate; 6, rotating piece; 7, lifting chain; 8, fixing ring; 9, tooth piece; 10, support frame; 11, limit frame; 12, moving plate; 13, trapezoidal block; 14, lifting motor; 15, tightening nut; 16, wire winding roller; 17, tightening nut. Specific embodiments
[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.
[0023] Embodiment: Refer to Figures 1-5 , the lifting fork mechanism for a reach forklift robot includes a device body 1, a lidar rod 2 is installed on the device body 1, a housing 3 is arranged on one side of the device body 1, a tooth piece 9 is installed in the housing 3, a lifting chain 7 is connected to the outside of the tooth piece 9, one end of the lifting chain 7 is provided with a lifting plate 4, a fork plate 5 is fixedly installed on one side of the lifting plate 4, a rotating piece 6 is connected to one end of the fork plate 5, a wire winding roller 16 is installed in the rotating piece 6, a limit frame 11 is further arranged in the housing 3, a controller is installed on the outer surface of the device body 1 for convenient external signal connection, the lidar rod 2 is vertically installed on the top surface of the device body 1, and an electric control wheel is arranged on the bottom surface of the device body 1, and the electric control wheel and the lidar rod 2 are electrically connected for the device to move by itself.
[0024] Specifically, the housing 3 is fixedly installed on the inner side surface of the device body 1, two support frames 10 are symmetrically installed on the inner top surface of the housing 3 to suspend and install the tooth piece 9, a fixing rod is arranged at the bottom side of the support frame 10, the tooth piece 9 is rotatably connected to both support frames 10, lifting motors 14 are arranged on both sides of the housing 3, the output end of the lifting motor 14 penetrates the housing 3 and is connected to the corresponding tooth piece 9, and the two lifting motors 14 move synchronously to realize the synchronous lifting of the two lifting chains 7 and avoid the phenomenon of deviation.
[0025] Furthermore, two lifting chains 7 are provided. The two lifting chains 7 are respectively engaged with two toothed plates 9. Two fixing blocks are welded and installed on the inner side surface of the lifting plate 4. The front ends of the lifting chains 7 are connected to the fixing blocks to drive the lifting plate 4 to move up and down. A moving plate 12 is fixedly installed on the rear ends of the two lifting chains 7. The moving plate 12 has a certain weight. The two ends of the limiting frame 11 are erected on the inner side surface of the housing 3. A vertical groove is left between the inner side surfaces of the housing 3 and the limiting frame 11. The moving plate 12 is movably connected in the vertical groove to keep the lifting chain 7 in a vertical state.
[0026] In this embodiment, a trapezoidal block 13 is also fixedly installed on the inner side surface of the lifting plate 4. A trapezoidal groove is formed on the outer side surface of the limiting frame 11. The trapezoidal block 13 is connected in the trapezoidal groove to reduce the possibility of shaking during the lifting process. Rolling grooves are formed on both sides of the trapezoidal groove. Two groups of balls are arranged on the trapezoidal block 13. The balls are movably connected in the rolling grooves to make the movement smoother. The fork tooth plate 5 is installed on the outer side surface of the lifting plate 4. A rotating rod is arranged at the outer end of the fork tooth plate 5. The rotating piece 6 is rotatably connected to the rotating rod. Tightening nuts 17 are threadedly connected to both ends of the rotating rod to conveniently adjust the angle of the rotating piece 6. The tightening nuts 17 are connected to the outer side of the rotating piece 6 to clamp the rotating piece 6. A rotating shaft is arranged inside the wire winding roller 16. The rotating shaft is rotatably connected inside the rotating piece 6 to rotate the wire winding roller 16. The wire winding roller 16 can also be replaced by an electric device for more convenient operation. Both ends of the rotating shaft penetrate to the outer side of the rotating piece 6. External threads are formed on both ends of the rotating shaft, and tightening nuts 15 are threadedly connected thereto to position the wire winding roller 16. A steel wire is wound around the wire winding roller 16. Two semi-circular fixing rings 8 are fixed on the top surface of the lifting plate 4. One ends of the two steel wires are connected to the fixing rings 8 in an "X" shape to simply tie the object, or the steel wires can be tied in parallel.
[0027] Working principle: When the device works, according to the recognition of the lidar rod 2, the device body 1 can be controlled to move. After moving to the designated position, the fork tooth plate 5 will align with the bottom end of the object and insert. After insertion, the lifting plate 4 will be turned upwards, and then the angle of the lifting plate 4 will be positioned by using the tightening nut 17. Then the tightening nut 15 is loosened, one end of the steel wire is pulled, bypassed around the object and connected to the fixing rings 8 on different sides, and then the same operation is performed on the other side of the lifting plate 4. After completion, the lifting motor 14 can be controlled to rotate, and the toothed plate 9 will drive the lifting chain 7 to move. One side of the lifting plate 4 and the fork tooth plate 5 will be lifted, and the moving plate 12 on the other side of the lifting chain 7 will move downwards. The lifting chain 7 can always maintain a vertical state. When unloading is required, the above operations can be performed in reverse.
[0028] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.
[0029] The standard parts used in the present utility model can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the attached drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here.
[0030] The above is only a preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent replacements or changes, and should all be covered within the protection scope of the present utility model.
Claims
1. A lifting fork mechanism for a forklift robot, characterized in that: include: A device body (1) is provided, wherein a laser radar pole (2) is installed on the device body (1), a shell (3) is provided on one side of the device body (1), a tooth plate (9) is installed in the shell (3), a lifting chain (7) is connected to the outer side of the tooth plate (9), a lifting plate (4) is provided at one end of the lifting chain (7), a fork tooth plate (5) is fixedly installed on one side of the lifting plate (4), a rotating plate (6) is connected to one end of the fork tooth plate (5), a wire take-up roller (16) is installed in the rotating plate (6), and a limit frame (11) is also provided in the shell (3).
2. The lifting fork mechanism for a forklift robot according to claim 1, characterized in that: A controller is mounted on the outer surface of the device body (1); the laser radar rod (2) is vertically mounted on the top surface of the device body (1); an electric control wheel is arranged on the bottom surface of the device body (1); and the electric control wheel and the laser radar rod (2) are electrically connected.
3. The lifting fork mechanism for a forklift robot according to claim 2, characterized in that: The shell (3) is fixedly mounted on the inner side surface of the device body (1); two support frames (10) are symmetrically mounted on the inner top surface of the shell (3); gear pieces (9) are rotatably connected to the two support frames (10); lifting motors (14) are arranged on both sides of the shell (3); the output ends of the lifting motors (14) pass through the shell (3) and are connected to corresponding gear pieces (9); and the two lifting motors (14) move synchronously.
4. The lifting fork tine mechanism for a stacker forklift robot according to claim 3, characterized in that: Two lifting chains (7) are provided, and the two lifting chains (7) are respectively meshed with two tooth plates (9). Two fixed blocks are welded and installed on the inner side surface of the lifting plate (4). The front ends of the lifting chains (7) are connected to the fixed blocks. A movable plate (12) is fixedly installed on the rear ends of the two lifting chains (7). Both ends of the limit frame (11) are mounted on the inner side surface of the shell (3). A vertical groove is left between the inner side surfaces of the shell (3) and the limit frame (11), and the movable plate (12) is movably connected in the vertical groove.
5. The lifting fork tine mechanism for a stacker forklift robot according to claim 4, characterized in that: A trapezoidal block (13) is fixedly mounted on the inner side of the lifting plate (4), a trapezoidal groove is provided on the outer side of the limiting frame (11), the trapezoidal block (13) is connected in the trapezoidal groove, rolling grooves are provided on both sides of the trapezoidal groove, two groups of balls are provided on the trapezoidal block (13), and the balls are connected in the rolling grooves for movement.
6. The lifting fork tine mechanism for a stacker forklift robot according to claim 5, characterized in that: The fork tooth plate (5) is mounted on the outer side of the lifting plate (4); a rotating rod is provided on the outer side end of the fork tooth plate (5); the rotating piece (6) is rotatably connected to the rotating rod; tightening nuts (17) are threadedly connected to both ends of the rotating rod; and the tightening nuts (17) are connected to the outer side of the rotating piece (6).
7. The lifting fork tine mechanism for a stacker forklift robot according to claim 6, characterized in that: A rotating shaft is arranged inside the wire take-up roller (16), and the rotating shaft is rotatably connected to the rotating plate (6). Both ends of the rotating shaft extend through the outside of the rotating plate (6). External threads are provided on both ends of the rotating shaft, and tightening nuts (15) are threadedly connected thereto. A steel wire is wound around the wire take-up roller (16). Two semi-annular fixing rings (8) are fixed on the top surface of the lifting plate (4), and one end of the two steel wires is connected to the fixing ring (8) in an "X" shape.