Linkage structure of three-section type telescopic pallet fork for intelligent stereoscopic warehouse

Abstract

The utility model relates to a linkage structure of a three-section type telescopic pallet fork for an intelligent vertical warehouse. The linkage structure comprises a linkage assembly, a fixed fork, a middle fork and an outer fork. The middle fork is axially and movably arranged on the fixed fork, and the outer fork is axially and movably arranged on the middle fork; the first end of the linkage assembly is arranged between the fixed fork and the middle fork, and the second end of the linkage assembly is arranged between the middle fork and the outer fork; when the middle fork moves relative to the fixed fork, the linkage assembly drives the outer fork to move in the same direction relative to the middle fork. The linkage structure provided by the technical scheme is used for synchronously linking the three sections of pallet fork main bodies of the telescopic pallet fork. Through the linkage structure, when the middle fork is driven to move, the outer fork can also be synchronously linked, so that the displacement distance of the outer fork is always kept to be two times of the displacement distance of the middle fork. The linkage structure is novel in design, synchronous stretching and retracting of the middle fork and the outer fork can be achieved only through one power structure, the space of equipment is greatly saved, and the stroke of the telescopic pallet fork is lengthened.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent warehousing logistics, in particular to a linkage structure of a three-section telescopic fork for an intelligent vertical warehouse. Background Technique

[0002] An automated warehousing system is an automated system composed of high-rise stereoscopic shelves, stacker cranes, various types of forklifts, inbound and outbound systems, automated guided vehicles, control systems, and peripheral equipment. The multi-shuttle car is an indispensable part of the automated warehousing logistics system, and it completes the transportation and storage of goods by shuttling back and forth on the tracks of the warehousing shelves.

[0003] At present, in the warehousing logistics industry, the multi-shuttle car intensive warehouse has won the favor of the market due to its large storage density and high space utilization rate. The telescopic fork of the multi-shuttle car is an important sub-component of the automated warehousing logistics system. However, the existing telescopic forks have complex structures and large sizes, which seriously affect the space utilization rate of the automated warehousing system and the working efficiency of handling goods. How to achieve efficient and space-saving linkage of the telescopic fork is an urgent problem to be solved at present. Summary of the Utility Model

[0004] Based on this, in view of the problem of low space utilization rate of the existing linkage structure of the telescopic fork of the multi-shuttle car, it is necessary to provide a linkage structure of a three-section telescopic fork for an intelligent vertical warehouse.

[0005] A linkage structure of a three-section telescopic fork for an intelligent vertical warehouse, the first end of the linkage component is arranged between the fixed fork and the middle fork, and the second end of the linkage component is arranged between the middle fork and the outer fork; when the middle fork moves relative to the fixed fork, the linkage component drives the outer fork to move in the same direction relative to the middle fork.

[0006] Further, the linkage component includes a linkage belt and two linkage wheels arranged at different positions on the middle fork; the linkage belt is wound around the two linkage wheels to form a ring in the axial direction of the middle fork; the first end of the linkage belt is connected to the fixed fork, and the second end of the linkage belt is connected to the outer fork; when the middle fork moves relative to the fixed fork, the linkage belt drives the outer fork to move in the same direction relative to the middle fork.

[0007] Further, a rack in the axial direction is provided on one side of the fixed fork facing the middle fork, and a rack in the axial direction is also provided on one side of the outer fork facing the middle fork; both ends of the linkage belt are meshed with the racks on the fixed fork and the outer fork respectively.

[0008] Further, through holes are respectively formed at both ends of the middle fork, and the two linkage wheels are rotatably arranged in the two through holes respectively; the linkage wheel on one through hole limits one end of the linkage belt so that it meshes with the rack on the fixed fork; the linkage wheel on the other through hole limits the other end of the linkage belt so that it meshes with the rack on the outer fork.

[0009] This technical solution proposes a linkage structure to synchronously link the three-section fork body of the telescopic fork. Through this linkage structure, when the middle fork is driven to move, the outer fork can also be linked synchronously, so that the displacement distance of the outer fork always remains twice that of the middle fork. The linkage structure is novel in design. Only one set of power structure is needed to realize the synchronous expansion and contraction of the middle fork and the outer fork, which greatly saves the space of the equipment and lengthens the stroke of the telescopic fork. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The overall schematic diagram of the fork in the unfolded state according to an embodiment of the present invention;

[0011] Figure 2 is Figure 1 the exploded view of a part of

[0012] Figure 3 The overall schematic diagram of the fork in the contracted state according to an embodiment of the present invention;

[0013] Figure 4 is Figure 3 the front view of

[0014] Figure 5 is Figure 2 the structural schematic diagram of the fixed fork and the drive assembly in

[0015] Figure 6 is Figure 2 the structural schematic diagram of the outer fork part in

[0016] Figure 7 is Figure 2 the structural schematic diagram of the middle fork part in

[0017] Figure 8 is Figure 2 the structural schematic diagram of the linkage assembly part in

[0018] Figure 9 is Figure 2 the structural schematic diagram of the cable and the rotating wheel part in

[0019] Figure 10 The state schematic diagram of the linkage assembly when the fork expands and contracts in the forward and reverse directions;

[0020] Figure 11It is a schematic diagram of the state of the cable when the forklift forks extend and retract in the forward and reverse directions.

[0021] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0022] 1. Linkage assembly; 11. Linkage belt; 12. Linkage wheel; 13. Rack; 2. Fixed fork; 21. First slide rail; 3. Middle fork; 31. Through hole groove; 32. First sliding block; 33. Second slide rail; 4. Outer fork; 41. Second sliding block; 5. Drive assembly; 51. Motor; 52. Transmission shaft; 53. Synchronous belt; 54. Synchronous belt pulley; 55. Belt pressing wheel; 61. Rotating wheel; 62. Cable. Detailed implementation manners

[0023] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following describes the detailed implementation manners of the present utility model clearly and completely with reference to the attached drawings. Obviously, the specific details described below are only a part of the embodiments of the present utility model, and the present utility model can also be implemented in many other embodiments different from those described herein. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the description of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model.

[0026] In one embodiment, please refer to the attached drawings Figure 1 to the attached Figure 11As shown in the figure, a linkage structure for a three-section telescopic forklift for an intelligent automated storage and retrieval system includes a linkage assembly 1, a fixed fork 2, a middle fork 3, and an outer fork 4. The middle fork 3 is axially movably disposed on the fixed fork 2, and the outer fork 4 is axially movably disposed on the middle fork 3. The first end of the linkage assembly 1 is disposed between the fixed fork 2 and the middle fork 3, and the second end of the linkage assembly 1 is disposed between the middle fork 3 and the outer fork 4. When the driving assembly 5 drives the middle fork 3 to move relative to the fixed fork 2, the outer fork 4 is driven by the linkage assembly 1 to move in the same direction relative to the middle fork 3. At this time, the distance that the outer fork 4 moves relative to the fixed fork 2 is twice the distance that the middle fork 3 moves.

[0027] This technical solution proposes a linkage structure to synchronously link the three-section forklift body of the telescopic forklift. Through this linkage structure, when the middle fork 3 is driven to move, the outer fork 4 can also be synchronously linked, so that the displacement distance of the outer fork 4 always remains twice the displacement distance of the middle fork 3. This linkage structure is novel in design. Only one set of power structures is required to achieve the synchronous telescoping of the middle fork 3 and the outer fork 4, greatly saving the space of the equipment and lengthening the stroke of the telescopic forklift.

[0028] By setting a telescopic middle fork 3 on the fixed fork 2 and a telescopic outer fork 4 on the middle fork 3, the telescoping of the three-layer forklift is realized, greatly lengthening the stroke of the forklift. Through reasonable structural optimization, this solution effectively increases the telescopic stroke of the forklift, reduces the proportion of the vehicle body width dimension, and thus improves the space utilization rate of the warehousing system.

[0029] In this embodiment, the linkage assembly 1 includes a linkage belt 11 and two linkage wheels 12 disposed at different positions on the middle fork 3. The linkage belt 11 is wound around the two linkage wheels 12 to form a loop in the axial direction of the middle fork 3. The first end of the linkage belt 11 is connected to the fixed fork 2, and the second end of the linkage belt 11 is connected to the outer fork 4. When the middle fork 3 moves relative to the fixed fork 2, the linkage belt 11 drives the outer fork 4 to move in the same direction relative to the middle fork 3.

[0030] Of course, the form of the linkage assembly 1 can also be other component structures, such as a structure with a chain and rollers, and the form is not limited to that described in this embodiment.

[0031] It can be understood that through the above linkage assembly 1, when the middle fork 3 moves forward, the linkage belt 11 drives the outer fork 4 to move forward the same distance relative to the middle fork 3. At this time, the distance that the outer fork 4 moves relative to the fixed fork 2 is twice the distance that the middle fork 3 moves. When the middle fork 3 is controlled to move backward, the linkage belt 11 drives the outer fork 4 to move backward the same distance relative to the middle fork 3. At this time, the distance that the outer fork 4 moves relative to the fixed fork 2 is still twice the distance that the middle fork 3 moves.

[0032] Based on this embodiment, an axial rack 13 is provided on the side of the fixed fork 2 facing the middle fork 3, and an axial rack 13 is also provided on the side of the outer fork 4 facing the middle fork 3; the two ends of the linkage belt 11 are respectively engaged with the racks 13 on the fixed fork 2 and the outer fork 4.

[0033] The meshing structure of the rack 13 has the advantages of being stable, non-slip and low cost. Of course, the linkage mode between the linkage belt 11 and the fixed fork 2 and the outer fork 4 can also be other, such as using a contact surface material with greater friction, as long as the contact surface between the linkage belt 11 and the fixed fork 2 and the outer fork 4 has sufficient friction to avoid slipping, and it is not limited to the description in this embodiment; similarly, the setting position of the rack 13 can also be other.

[0034] On this basis, in order to save space, prevent the linkage wheel 12 from being interfered with and stuck by other components, and ensure the stability of the linkage structure, through-hole grooves 31 are respectively opened at both ends of the middle fork 3 of this embodiment, and the two linkage wheels 12 can be rotatably arranged in the two through-hole grooves 31 respectively; the linkage wheel 12 on one through-hole groove 31 limits one end of the linkage belt 11 so that it meshes with the rack 13 on the fixed fork 2; the linkage wheel 12 on the other through-hole groove 31 limits the other end of the linkage belt 11 so that it meshes with the rack 13 on the outer fork 4.

[0035] This embodiment saves space and avoids interference through the hollow embedded structure. Of course, the arrangement of the linkage wheel 12 can also be other, and is not limited to the description in this embodiment.

[0036] It is understandable that a belt-pressing wheel 55 may be provided in the linkage belt 11 according to the spatial layout, which may change the direction of the linkage belt 11 on the one hand, and further squeeze and limit it to avoid slipping on the other hand.

[0037] During the telescopic process, the linkage belt 11 and the rack 13 are meshed, and the synchronous belt and the rack 13 are relatively static. During the positive and negative fork extension process, the contact points between the synchronous belt and the rack 13 at two locations are relatively static. At the same time, it can be seen that the telescopic speed and stroke of the outer fork 4 are twice that of the middle fork 3. This embodiment realizes the synchronous linkage of the middle fork 3 and the outer fork 4 of the three-section telescopic fork through the structure of the linkage assembly 1, which has the advantages of small size, simple structure and high reliability.

[0038] In this embodiment, in order to drive the movement of the telescopic fork, it also includes a driving assembly 5; the driving assembly 5 is respectively connected to the middle fork 3 and the outer fork 4 through the transmission assembly to drive the middle fork 3 and the outer fork 4 to move in the same direction.

[0039] On the basis of this embodiment, further, the fixed fork 2 and the middle fork 3, and the middle fork 3 and the outer fork 4 are connected by slide rails. Of course, the fixed fork 2 and the middle fork 3, and the middle fork 3 and the outer fork 4 can also be connected in other forms of movement, such as by setting rollers and track structures between each other to achieve the functions of relative displacement, guidance, and positioning, which is not limited to the description in this embodiment.

[0040] On this basis, further, the fixed fork 2 is provided with an axially extending first slide rail 21, the first surface of the middle fork 3 is fixed with a first sliding block 32, and the first sliding block 32 is slidably set on the first slide rail 21; the second surface of the middle fork 3 is provided with a second sliding block 33 extending in the same direction as the first slide rail 21, and the second surface is opposite to the first surface, and the outer fork 4 is provided with a second sliding block 41, and the second sliding block 41 is slidably set on the second sliding block 33. Of course, the setting positions of the above slide rail sliders can also be other, as long as the two sliding blocks can achieve displacement in the same direction, and are not limited to the description in this embodiment.

[0041] It should be noted that the "axial direction" described in this embodiment refers to the direction in which the three-section fork is extended and retracted, which can be forward extension and retracted in the opposite direction. This is also the case in the subsequent description and will not be repeated here.

[0042] On the basis of this embodiment, a limiting member is provided on the first slide rail 21 and / or the second slide block 33 to limit the middle fork 3 and / or the outer fork 4 in the axial direction. It can be a limiting block or other structure at the end of the slide rail, as long as it can limit the middle fork 3 and the outer fork 4 and prevent the slider from sliding out of the slide rail, and is not limited to the description in this embodiment.

[0043] In this design, in order to save space and prevent the driving component 5 from being hit or bumped, the driving component 5 is arranged at the bottom position of the fixing fork 2 to provide driving force.

[0044] Specifically, the driving assembly 5 includes a motor 51, a transmission shaft 52, a synchronous belt and a synchronous pulley 54; the motor 51 drives the transmission shaft 52 to rotate, and the synchronous pulley 54 is sleeved on the transmission shaft 52; the synchronous pulley 54 is connected to the middle fork 3 and the outer fork 4 through the synchronous belt. Of course, the driving assembly 5 can also be other structures, such as driven by a linear motor 51, a cylinder, etc.

[0045] On this basis, further, the synchronous belt is a toothed belt meshed with the synchronous belt pulley 54; the middle fork 3 and / or the outer fork 4 are provided with teeth meshed with the synchronous belt. The driving assembly 5 also includes at least two belt-pressing rollers 55, the synchronous belt meshes with two teeth on the middle fork 3, and the meshing position of the synchronous belt is limited by the belt-pressing rollers 55.

[0046] It is understandable that the structure of the toothed belt and the pressure belt wheel 55 is used to change the running direction of the synchronous belt, and the mutual slipping between the synchronous belt and the middle fork 3 is avoided. Of course, the synchronous belt can also be other structures such as a chain structure,

[0047] In this embodiment, in order to avoid slipping and increase the driving force of the middle fork 3, two contact points are provided between the synchronous belt and the middle fork 3 to drive the forward and reverse displacements of the middle fork 3 relative to the fixed fork 2.

[0048] In this embodiment, in order to supply power and transmit signals to the load, the device further includes a rotating wheel 61 and a cable 62; the middle fork 3 is axially movably arranged on the fixed fork 2, and the outer fork 4 is axially movably arranged on the middle fork 3; the cable 62 supplies power and / or transmits electrical signals to the load; the rotating wheel 61 is rotatably arranged on the middle fork 3, and the first end of the cable 62 is fixed to the fixed fork 2; the middle part of the cable 62 is wound around the rotating wheel 61 and changes the extending direction through the rotating wheel 61; the second end of the cable 62 is fixed to the outer fork 4.

[0049] It should be noted that in this embodiment, the load is arranged on the outer fork 4, and the load includes a motor 51 and / or a photoelectric sensor.

[0050] Through the layout structure of the cable 62, a new load power supply and signal transmission system for a three-section telescopic fork is realized, which can be hidden in the middle of the fork with a very small size. For multi-section telescopic forks, the cable 62 of this structure is not stressed during the telescopic operation of the fork, which can ensure the stable state of the cable 62 and will not cause the phenomena of twisting and cutting of the cable 62, and well ensure the stability of load power supply and signal transmission, saving the space of the telescopic fork.

[0051] In this embodiment, in order to facilitate bending and routing and avoid breaking of the cable 62, the cable 62 is a flexible cable 62. And in order to facilitate winding around the rotating wheel 61, increase the friction force and avoid slipping, the cable 62 is flat.

[0052] In this embodiment, the cable 62 extends in the opposite direction after passing around the rotating wheel 61. Of course, it can also have a certain included angle in its running direction, which is not limited by the description in this embodiment.

[0053] On this basis, in order to avoid the cable 62 falling off the rolling wheel due to the excessive telescoping of the middle fork 3 and the outer fork 4, limit members are provided on the fixed fork 2, the middle fork 3 and / or the outer fork 4 to limit the middle fork 3 and / or the outer fork 4 in the axial direction, so that the fixed points of the cable 62 with the fixed fork 2 and the outer fork 4 are on the same side of the rotating wheel 61 to ensure its stability.

[0054] During operation, the part of cable 62 connected to the fixed fork 2 at one end is fixed together without relative friction; a roller with a bearing is installed at the part where cable 62 contacts the middle fork 3. Cable 62 is semi-wound around the roller. Because it has a bearing and can rotate freely, the contact point between cable 62 and the roller is relatively stationary and frictionless during the contact process; for the connection part of cable 62 and the outer fork 4: cable 62 and the outer fork 4 are relatively fixed without relative friction.

[0055] In the forklift linkage structure, the fixed fork 2 remains stationary, the middle fork 3 expands and contracts with the power output, and the outer fork 4 will expand and contract due to the expansion and contraction of the middle fork 3. At the same time, the expansion and contraction stroke and speed of the outer fork 4 are twice that of the middle fork 3. It can be obtained that the length of cable 62 between the two fixed points in the forklift system always remains the same during the process of expanding and contracting the forks. Because the connection part with the middle fork 3 is a roller with a bearing and the roller can rotate freely, the entire cable 62 is not stressed and can be regarded as a stable state, which can provide stable power input and signal transmission for the terminal load. Through the above results, a reasonable layout of cable 62 is achieved, the space is utilized reasonably, and there is no folding or interference of cable 62 throughout the process, ensuring the stable operation of the equipment.

[0056] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0057] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations, substitutions, and improvements can still be made, and these should all be covered within the protection scope of the present invention. Therefore, the protection scope of the utility model patent shall be subject to the claims.

Claims

1. A linkage structure for a three-section telescopic forklift in an intelligent automated storage and retrieval system, characterized in that, include: A linkage assembly, a fixed fork, a middle fork and an outer fork; the middle fork is axially movably arranged on the fixed fork, and the outer fork is axially movably arranged on the middle fork; The first end of the linkage component is arranged between the fixed fork and the middle fork, and the second end of the linkage component is arranged between the middle fork and the outer fork; when the middle fork moves relative to the fixed fork, the linkage component drives the outer fork to move in the same direction relative to the middle fork.

2. The linkage structure of the three - section telescopic fork for an intelligent automated storage and retrieval system according to claim 1, wherein, The linkage assembly includes a linkage belt and two linkage wheels arranged at different positions on the middle fork; the linkage belt is wound around the two linkage wheels to form a ring in the axial direction of the middle fork; the first end of the linkage belt is connected to the fixed fork, and the second end of the linkage belt is connected to the outer fork; when the middle fork moves relative to the fixed fork, the linkage belt drives the outer fork to move in the same direction relative to the middle fork.

3. The linkage structure of the three-section telescopic forklift for the intelligent automated storage and retrieval system according to claim 2, characterized in that, The fixed fork is provided with an axial rack on the side facing the middle fork, and the outer fork is also provided with an axial rack on the side facing the middle fork; the two ends of the linkage belt are respectively meshed with the racks on the fixed fork and the outer fork.

4. The linkage structure of the three-section telescopic forklift for an intelligent automated storage and retrieval system according to claim 3, characterized in that, Through-hole grooves are respectively provided at both ends of the middle fork, and the two linkage wheels are rotatably arranged in the two through-hole grooves respectively; the linkage wheel on one through-hole groove limits one end of the linkage belt so that it meshes with the rack on the fixed fork; the linkage wheel on the other through-hole groove limits the other end of the linkage belt so that it meshes with the rack on the outer fork.

5. The linkage structure of the three-section telescopic forklift for the intelligent automated storage and retrieval system according to claim 1, characterized in that, It also includes a driving assembly, which is respectively connected to the middle fork through a transmission assembly to drive the middle fork to move in an axial direction.

6. The linkage structure of the three-section telescopic fork for an intelligent automated storage and retrieval system according to claim 5, wherein, The driving assembly includes a motor, a transmission shaft, a synchronous belt and a synchronous pulley; the motor drives the transmission shaft to rotate, and the synchronous pulley is sleeved on the transmission shaft; the synchronous pulley is connected to the middle fork transmission through the synchronous belt.

7. The linkage structure of the three-section telescopic forklift for the intelligent automated storage and retrieval system according to claim 6, characterized in that The synchronous belt is a toothed belt meshed with the synchronous belt wheel; the middle fork is provided with tooth patterns meshed with the synchronous belt.

8. The linkage structure of the three-section telescopic fork for an intelligent automated storage and retrieval system according to claim 1, characterized in that, The fixed fork and the middle fork, and the middle fork and the outer fork are all connected via sliding rails.

9. The linkage structure of the three-section telescopic forklift for the intelligent automated storage and retrieval system according to claim 8, characterized in that, The slide rail is provided with a limiting member to limit the middle fork and the outer fork in the axial direction.

10. The linkage structure of the three-section telescopic fork for the intelligent automated storage and retrieval system according to claim 1, characterized in that, It also includes a cable for supplying power to a load and / or transmitting an electrical signal; the load is arranged on the outer fork, and the load includes a motor and / or a photoelectric sensor.

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