Movable fork type mechanical arm

Abstract

The utility model relates to a movable fork type mechanical arm which comprises a movable trolley, a stand column which is vertically installed on the movable trolley and can rotate, a height adjusting mechanism which is installed at the top end of the stand column and can swing in the vertical direction, and a front arm which is installed at the front end of the height adjusting mechanism and can rotate in the horizontal direction. A carrying mechanism for carrying goods is mounted at the front end of the front arm; the carrying mechanism comprises a fork frame capable of rotating in the horizontal direction and swinging in the vertical direction, a lifting frame capable of vertically sliding along the fork frame, a front fork hung on the lifting frame and a driving assembly for driving the lifting frame to move up and down. The goods carrying flexibility is high, operation is not difficult, the carrying mechanism can conveniently and rapidly transfer the goods to all needed directions, work such as carrying, loading, unloading and stacking of the goods can be rapidly completed, and the work efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of automated machinery, in particular to a mobile fork-type robotic arm. Background Art

[0002] At present, the loading, unloading and stacking operations of boxed goods are generally completed by forklifts. Although forklifts, as industrial handling vehicles, can save a large amount of manpower, they have the problem of inflexible movement and are very inconvenient to adjust the direction. Especially for workshops with relatively narrow moving spaces, the loading, unloading, stacking and other operations of goods still need to be combined with manual handling, resulting in high manual labor intensity and low work efficiency. Forklifts require operators to have rich experience and skills, which need to be mastered through certain training and practice. Professional staff are required to complete the handling of goods by forklifts. Therefore, in order to facilitate the smooth progress of operations such as the loading, unloading and stacking of boxed goods, there is an urgent need for a mobile fork-type robotic arm with high flexibility and no operation difficulty. Summary of the Utility Model

[0003] The utility model aims at the deficiencies of the prior art and provides a mobile fork-type robotic arm.

[0004] The utility model is realized by the following technical solutions. A mobile fork-type robotic arm is provided, which includes a mobile trolley, a column vertically installed on the mobile trolley and capable of rotating, and a height adjustment mechanism installed at the top of the column and capable of swinging in the vertical direction. A forearm capable of rotating in the horizontal direction is installed at the front end of the height adjustment mechanism, and a handling mechanism for handling goods is installed at the front end of the forearm; the handling mechanism includes a fork frame capable of rotating in the horizontal direction and swinging in the vertical direction, a lifting frame capable of sliding vertically along the fork frame, a front fork suspended on the lifting frame, and a driving component for driving the lifting frame to move up and down.

[0005] Preferably, the height adjustment mechanism includes a rear arm seat fixed to the top of the column, a main arm and an upper arm hinged to the rear arm seat and arranged in parallel. The front ends of the main arm and the upper arm are hinged to a forearm seat, and the forearm is rotatably connected to the forearm seat through a rotating shaft.

[0006] Preferably, a main cylinder capable of driving the main arm and the upper arm to swing in the vertical direction is connected between the main arm and the upper arm.

[0007] Preferably, the outer cylinder of the main cylinder is hinged to the rear part of the upper arm, and the piston rod of the main cylinder is hinged to the front part of the main arm. By the elongation and shortening of the piston rod of the main cylinder, the main arm and the upper arm swing up and down, thereby changing the height of the forearm seat and the forearm, and thus adjusting the height of the handling mechanism. When the main cylinder drives the main arm and the upper arm to rotate, the forearm always remains horizontal.

[0008] Preferably, an operation handle is installed at the rear end of the main arm, which is convenient for the staff to operate.

[0009] Preferably, a counterweight is installed below the operating handle to enhance the stability of the device through the counterweight.

[0010] Preferably, the fork frame includes two parallel and vertically arranged guide grooves, and a cross bar is connected between the two guide grooves. The cross bar includes an upper cross bar and a lower cross bar.

[0011] Preferably, a vertical shaft is rotatably connected to the front end of the forearm. The upper end of the vertical shaft is hinged to the upper cross bar, the lower end of the vertical shaft is fixedly connected with a connecting plate, and a swing cylinder is installed on the connecting plate. The piston rod of the swing cylinder is hinged to the lower cross bar. The rotation of the vertical shaft drives the entire fork frame to rotate horizontally through the upper cross bar and the lower cross bar, and the elongation and shortening of the piston rod of the swing cylinder cause the fork frame to swing in the vertical direction, changing the angle between the fork frame and the vertical direction, thereby changing the tilt angle of the front fork. When the front fork transports goods, the swing cylinder is controlled to make the bottom of the front fork tilt upward, enhancing the stability of the front fork when transporting goods and effectively avoiding the falling of goods.

[0012] Preferably, the lifting frame includes two parallel and horizontally arranged cross beams, and two moving rods are connected between the two cross beams. Each moving rod is equipped with a moving block, and the two moving blocks are respectively embedded in a guide groove and can slide up and down along the guide groove.

[0013] Preferably, the driving assembly includes a lifting cylinder and a connecting shaft perpendicularly fixed to the piston rod of the lifting cylinder. Both ends of the connecting shaft are respectively rotatably connected with a sprocket, a chain is installed on the sprocket, one end of the chain is fixed to the cross beam, and the other end of the chain is fixed to the cross bar.

[0014] Preferably, the outer cylinder of the lifting cylinder is fixed on the connecting rod, and both ends of the connecting rod are respectively fixed to the bottom of the guide groove.

[0015] Preferably, the cross beam includes an upper cross beam and a lower cross beam arranged up and down. There are two front forks, and a hook for leaning on the upper cross beam is arranged at the upper end of each front fork. Stopping blocks for limiting the front forks are arranged at both ends of the upper cross beam. The connection method between the front fork and the upper cross beam can adjust the distance between the two front forks at any time to facilitate the handling of boxed goods of different sizes.

[0016] Preferably, the lower end of the column is connected to the mobile trolley through a rotating shaft, and an insertion shaft is also rotatably connected to the upper end of the column. The rear arm seat is fixed on the insertion shaft, so that both the column and the insertion shaft can rotate and can be adjusted flexibly.

[0017] Preferably, lockable universal wheels are installed at the bottom of the mobile trolley. The lockable universal wheels facilitate the movement and position fixation of the mobile trolley.

[0018] Preferably, in order to further enhance the stability of the device, the bottom of the mobile trolley is rotatably connected to the support legs through a rotating shaft, and support feet are installed on the support legs. The support feet are installed on the support legs through screws, which facilitates the adjustment of the height of the support feet. The support legs are rotatably connected to the mobile trolley, which can facilitate the adjustment of the position of the support feet.

[0019] Preferably, in order to facilitate the operation of the staff on the handling mechanism, a first handle is fixed on the fork, and a second handle is connected between the two cross beams.

[0020] The beneficial effects of the present utility model are as follows:

[0021] 1. Through the present utility model, the flexibility of handling goods is high, the operation is not difficult, the handling mechanism can be conveniently and quickly transferred to various required directions, and the work of handling, loading and unloading, and stacking of goods can be quickly completed. The work efficiency is high, and there is no need to cooperate with manual handling, which greatly reduces the labor intensity of the staff.

[0022] 2. The present utility model is simple and easy to learn, does not require the staff to have rich experience and skills, and any staff member can operate it. It can be widely used in the handling of goods in various industries, which is convenient for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic side view structure diagram of the present utility model;

[0024] Figure 2 is a schematic front view structure diagram of the handling mechanism of the present utility model;

[0025] As shown in the figure:

[0026] 1. Mobile trolley, 2. Column, 3. Forearm, 4. Rear arm seat, 5. Main arm, 6. Upper arm, 7. Forearm seat, 8. Main cylinder, 9. Operating handle, 10. Counterweight, 11. Guide groove, 12. Upper cross bar, 13. Lower cross bar, 14. Vertical shaft, 15. Connecting plate, 16. Swing cylinder, 17. Upper cross beam, 18. Moving rod, 19. Lifting cylinder, 20. Connecting shaft, 21. Sprocket, 22. Chain, 23. Connecting rod, 24. Lower cross beam, 25. Front fork, 26. Stopper, 27. Insertion shaft, 28. Hook, 29. Lockable universal wheel, 30. Support leg, 31. Support foot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] In order to clearly illustrate the technical features of the present solution, the present solution will be described below through specific embodiments.

[0028] Such as Figure 1 、 2As shown in the figure, the utility model includes a mobile trolley 1, a vertical column 2 vertically installed on the mobile trolley 1 and capable of rotating, and a height adjustment mechanism installed at the top of the vertical column 2 and capable of swinging in the vertical direction. A front arm 3 capable of rotating in the horizontal direction is installed at the front end of the height adjustment mechanism, and a handling mechanism for handling goods is installed at the front end of the front arm 3.

[0029] The height adjustment mechanism includes a rear arm seat 4 fixed to the top of the vertical column 2, a main arm 5 and an upper arm 6 hinged to the rear arm seat 4 and arranged in parallel. The front ends of the main arm 5 and the upper arm 6 are hinged to a front arm seat 7, and the front arm 3 is rotatably connected to the front arm seat 7 through a rotating shaft. A main cylinder 8 capable of driving the main arm 5 and the upper arm 6 to swing in the vertical direction is connected between the main arm 5 and the upper arm 6. The outer cylinder of the main cylinder 8 is hinged to the rear part of the upper arm 6, and the piston rod of the main cylinder 8 is hinged to the front part of the main arm 5. By the extension and shortening of the piston rod of the main cylinder 8, the main arm 5 and the upper arm 6 swing up and down, thereby changing the height of the front arm seat 7 and the front arm 3, and thus adjusting the height of the handling mechanism. When the main cylinder 8 drives the main arm 5 and the upper arm 6 to rotate, the front arm 3 always remains horizontal.

[0030] An operation handle 9 is installed at the rear end of the main arm 5 for the convenience of the staff to operate. A counterweight 10 is installed below the operation handle 9 to enhance the stability of the device through the counterweight 10.

[0031] The handling mechanism includes a fork frame capable of rotating in the horizontal direction and swinging in the vertical direction, a lifting frame capable of sliding vertically along the fork frame, a front fork 25 suspended on the lifting frame, and a driving component for driving the lifting frame to move up and down. The fork frame includes two parallel and vertically arranged guide grooves 11, and a cross bar is connected between the two guide grooves 11. The cross bar includes an upper cross bar 12 and a lower cross bar 13. A vertical shaft 14 is rotatably connected to the front end of the front arm 3. The upper end of the vertical shaft 14 is hinged to the upper cross bar 12, and the lower end of the vertical shaft 14 is fixed with a connecting plate 15. A swing cylinder 16 is installed on the connecting plate 15, and the piston rod of the swing cylinder 16 is hinged to the lower cross bar 13. The rotation of the vertical shaft 14 drives the entire fork frame to rotate in the horizontal direction through the upper cross bar 12 and the lower cross bar 13. By the extension and shortening of the piston rod of the swing cylinder 16, the fork frame swings in the vertical direction, changing the angle between the fork frame and the vertical direction, and thus changing the inclination angle of the front fork 25. When the front fork 25 is handling goods, the swing cylinder 16 is controlled to make the bottom of the front fork 25 tilt upward, enhancing the stability of the front fork 25 when handling goods and effectively avoiding the falling of goods.

[0032] The lifting frame includes two parallel and horizontally arranged cross beams 17, and two moving rods 18 are connected between the two cross beams. Each moving rod 18 is provided with a moving block, and the two moving blocks are respectively embedded in one of the guide grooves 11 and can slide up and down along the guide grooves 11.

[0033] The driving assembly includes a lifting cylinder 19 and a connecting shaft 20 perpendicularly fixed to the piston rod of the lifting cylinder 19. A sprocket 21 is rotatably connected to each end of the connecting shaft 20. A chain 22 is mounted on the sprocket 21. One end of the chain 22 is fixed to the cross beam, and the other end of the chain 22 is fixed to the cross bar. The outer cylinder of the lifting cylinder 19 is fixed to the connecting rod 23, and both ends of the connecting rod 23 are respectively fixed to the bottom of the guide groove 11.

[0034] The cross beam 17 includes an upper cross beam 17 and a lower cross beam 24 arranged up and down. There are two front forks 25. A hook 28 for leaning on the upper cross beam 17 is provided at the upper end of each front fork 25. A stop block 26 for limiting the front fork 25 is provided at both ends of the upper cross beam 17. The connection mode between the front fork 25 and the upper cross beam 17 can adjust the distance between the two front forks 25 at any time to facilitate the handling of boxed goods of different sizes.

[0035] In this embodiment, the lower end of the column 2 is connected to the mobile trolley 1 through a rotating shaft, and an insertion shaft 27 is also rotatably connected to the upper end of the column 2. The rear arm seat 4 is fixed to the insertion shaft 27. In this way, both the column 2 and the insertion shaft 27 can rotate and can be flexibly adjusted.

[0036] Lockable universal wheels 29 are installed at the bottom of the mobile trolley 1. The lockable universal wheels 29 are prior art and will not be elaborated here, which facilitates the movement and position fixation of the mobile trolley 1.

[0037] In this embodiment, in order to further enhance the stability of the device, the bottom of the mobile trolley 1 is rotatably connected to a support leg 30 through a rotating shaft. A support foot 31 is installed on the support leg 30. The support foot 31 is installed on the support leg 30 through a screw, which facilitates the adjustment of the height of the support foot 31 to avoid the support foot 31 interfering with the movement during movement. The support leg 30 is rotatably connected to the mobile trolley 1, which can facilitate the adjustment of the position of the support foot 31.

[0038] To facilitate the operation of the handling mechanism by the staff, a first handle is fixed on the fork frame, and a second handle is connected between the two cross beams 17.

[0039] During specific operation, the present utility model is moved to the position where goods need to be handled. The position of the handling mechanism in the horizontal direction and the orientation of the front fork 25 are adjusted by rotating the column 2, the front arm 3, and the vertical shaft 14. The height of the front fork 25 is adjusted by controlling the main cylinder 8 and the lifting cylinder 19.

[0040] With the utility model, the flexibility of handling goods is high and the operation is easy. The handling mechanism can be conveniently and quickly transferred to various required directions, and can quickly complete tasks such as handling, loading and unloading, and stacking of goods. The work efficiency is high, and there is no need to cooperate with manual handling, which greatly reduces the labor intensity of the staff. The utility model is simple and easy to learn, does not require the staff to have rich experience and skills, and any staff member can operate it. It can be widely used in the handling of goods in various industries, which is convenient for popularization and use.

[0041] Of course, the above description is not limited to the above examples. The technical features not described in the utility model can be realized by or adopted the existing technology, which will not be elaborated here. The above embodiments and drawings are only used to illustrate the technical solutions of the utility model and are not limitations to the utility model. The utility model has been described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that any changes, modifications, additions or substitutions made by those of ordinary skill in the art within the scope of the essence of the utility model do not depart from the purpose of the utility model and should also belong to the protection scope of the claims of the utility model.

Claims

1. Mobile fork type mechanical arm, characterized by: It includes a moving trolley, a column vertically installed on the moving trolley and capable of rotating, and a height adjustment mechanism installed on the top of the column and capable of swinging in the vertical direction. A forearm capable of rotating in the horizontal direction is installed at the front end of the height adjustment mechanism, and a transporting mechanism for transporting goods is installed at the front end of the forearm; the transporting mechanism includes a fork frame capable of rotating in the horizontal direction and swinging in the vertical direction, a lifting frame capable of vertically sliding along the fork frame, a front fork suspended on the lifting frame, and a driving component for driving the lifting frame to move up and down.

2. The mobile fork type mechanical arm according to claim 1, characterized in that: The height adjustment mechanism comprises a rear arm seat fixed to the top of the column, and a main arm and an upper arm hinged to the rear arm seat and arranged in parallel. The front ends of the main arm and the upper arm are hinged to the forearm seat, and the forearm is rotatably connected to the forearm seat through a rotating shaft.

3. The mobile fork type mechanical arm according to claim 2, characterized in that: A main cylinder is connected between the main arm and the upper arm, which can drive the main arm and the upper arm to swing in the vertical direction.

4. The mobile fork type mechanical arm according to claim 1, characterized in that: The fork frame comprises two parallel and vertically arranged guide grooves, a cross bar is connected between the two guide grooves, and the cross bar comprises an upper cross bar and a lower cross bar.

5. The mobile fork type mechanical arm according to claim 4, characterized in that: A vertical shaft is rotatably connected to the front end of the forearm, the upper end of the vertical shaft is hinged to the upper cross bar, a connecting plate is fixed to the lower end of the vertical shaft, a swing cylinder is installed on the connecting plate, and a piston rod of the swing cylinder is hinged to the lower cross bar.

6. The mobile fork type mechanical arm according to claim 1, characterized in that: The lifting frame comprises two parallel and horizontally arranged cross beams, two moving rods are connected between the two cross beams, each moving rod is installed with a moving block, and the two moving blocks are respectively embedded in a guide groove and can slide up and down along the guide groove.

7. The mobile fork type mechanical arm according to claim 6, characterized in that: The driving assembly includes a lifting cylinder and a connecting shaft vertically fixed to the lifting cylinder piston rod. Both ends of the connecting shaft are rotatably connected to a sprocket, and a chain is installed on the sprocket. One end of the chain is fixed to the crossbeam, and the other end of the chain is fixed to the crossbar.

8. The mobile fork type mechanical arm according to claim 7, characterized in that: The outer cylinder of the lifting cylinder is fixed on the connecting rod, and the two ends of the connecting rod are respectively fixed to the bottom of the guide groove.

9. The mobile fork type mechanical arm according to claim 6, characterized in that: The crossbeam comprises an upper crossbeam and a lower crossbeam which are arranged up and down. There are two front forks, and a hook for leaning against the upper crossbeam is arranged at the upper end of each front fork. Stoppers for limiting the front fork are arranged at both ends of the upper crossbeam.

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