Two-side fork-embracing type tray connection robot

Abstract

The utility model relates to the technical field of conveying line tray unit goods, and provides a two-side fork-embracing type tray connection robot which comprises a frame body, the frame body is provided with two vertically-arranged supporting columns, and a lifting beam frame is arranged between the two supporting columns. A side swing arm is installed on the lifting beam frame, and a pallet fork is fixedly arranged on the side swing arm. The lifting beam frame is further provided with a side swing transmission assembly used for driving the swing arms on the two sides to rotate. Wheel carrier plates extending downwards in the longitudinal direction are fixedly arranged on the two sides of the lifting beam frame; a plurality of guide rollers are mounted on the wheel carrier plate; a guide flange is arranged on the supporting column; and the guide rollers are propped against the guide flanges in a rolling manner. Therefore, according to the utility model, the guide roller is in rolling contact with the guide flange; the stress points of the supporting columns are reduced, the outward expansion torque borne by the supporting columns is obviously reduced, and the overall strength of the frame body is improved. Under the condition that the pallet fork is fully loaded, the two supporting columns do not deform due to splayed opening.

Description

Technical Field

[0001] The utility model belongs to the technical field of conveyor line pallet unit cargo, in particular to a two-side fork-holding pallet docking robot. Background Art

[0002] Chinese Patent 202321612440.3 discloses a fork-type pallet docking robot that enables loading and unloading of goods at the end of a conveyor line. It requires no rotation space and does not occupy lateral space on the conveyor line, making it suitable for scenarios where conveyor lines are compactly arranged.

[0003] The support columns on either side of the equipment are connected by a lifting beam. When the forks are raised to their highest point, the connection between the lifting beam and the support columns is at a considerable distance from the ground, subjecting the support columns to a significant external tension moment. When the forks are fully loaded, this external tension moment increases significantly, causing the two support columns to spread apart in a figure-eight shape. Long-term use can cause irreversible deformation of the figure-eight shape, and excessive deformation can affect the normal operation of the equipment.

[0004] In summary, the existing technology has obvious inconveniences and defects in actual use, so it is necessary to improve it. Utility Model Content

[0005] In response to the above-mentioned defects, the utility model mainly provides a double-sided fork-holding pallet docking robot to solve the technical problem that when the forks are raised to the highest point, the two support columns are deformed and spread out.

[0006] In order to solve the above problems, the utility model provides a double-sided fork-holding pallet docking robot, including a frame body, the frame body has two vertically arranged support columns, and a lifting beam frame is arranged between the two support columns; two groups of side swing arms symmetrically distributed on both sides of the center line of the lifting beam frame are installed on the lifting beam frame, and the side swing arms are fixed with cargo forks extending toward the center line direction of the lifting beam frame; the lifting beam frame is also provided with a side swing transmission assembly for driving the swing arms on both sides to rotate; walking wheels are installed at the bottom of the support columns; the walking wheels are also connected to the walking drive parts; the frame body is also provided with a lifting transmission assembly for driving the lifting beam frame to perform upward or downward movement in the vertical direction; wheel frame plates extending downward in the longitudinal direction are fixed on both sides of the lifting beam frame; a plurality of guide rollers are installed on the wheel frame plate; guide flanges are provided on the support columns; the guide rollers roll and abut against the guide flanges.

[0007] According to the double-sided fork-holding pallet docking robot of the present invention, a swing arm support plate is fixedly provided on the wheel frame plate; and a swing arm support wheel that is in rolling contact with the swing arm support plate is provided on the side swing arm.

[0008] According to the double-sided fork-holding pallet docking robot of the present invention, the number of the guide rollers on the wheel frame plate is not less than 3.

[0009] According to the double-sided fork-holding pallet docking robot of the present invention, the number of the guide rollers on the wheel frame plate is 7-10.

[0010] According to the double-sided fork-holding pallet docking robot of the present invention, a frame reinforcement plate is connected between the two support columns.

[0011] According to the double-sided fork-holding pallet docking robot of the present invention, the travel drive component is a travel motor.

[0012] According to the double-sided fork-holding pallet docking robot of the present invention, a crossbeam is connected between the two support columns; the lifting transmission assembly includes two vertically arranged lifting screws, each lifting screw is arranged on the side of the support column on the corresponding side; a screw seat is fixed on the support column; the two ends of the lifting screw are respectively rotatably arranged on the crossbeam and the screw seat; the two lifting screws are both threaded with a lifting nut; the two ends of the lifting beam are respectively fixed on the lifting nuts on the corresponding side; a lifting motor for driving the two lifting screws to rotate synchronously is fixed on the crossbeam.

[0013] According to the double-sided fork-holding pallet docking robot of the present invention, the lifting motor is fixed to the bottom of the crossbeam plate, and the lifting motor is connected to the lifting reducer; the end of the lifting screw passing through the crossbeam plate is sleeved with a screw wheel; the crossbeam plate is also provided with two sets of transition wheel groups; each transition wheel group has two coaxially connected transition wheels, and the two transition wheels are respectively located on the upper and lower sides of the crossbeam plate; the transition wheel of each transition wheel group located on the upper side of the crossbeam plate is transmission-connected to the screw wheel on the corresponding side, and the transition wheel located on the lower side of the crossbeam plate is transmission-connected to the lifting reducer;

[0014] Each transition wheel group also includes a transition shaft rotatably connected to the beam plate, and both transition wheels are rotatably sleeved on the transition shaft; an axle reinforcement plate is connected between the transition shafts of the two transition wheel groups.

[0015] According to the double-sided fork-holding pallet docking robot of the present invention, a reinforcement rod is connected between the wheel axle reinforcement plate and the crossbeam plate.

[0016] According to the double-sided fork-holding pallet docking robot of the present invention, a longitudinal leg is fixedly connected to the bottom of each of the two support columns; the two longitudinal legs are arranged in parallel, and an auxiliary roller is provided at one end of the longitudinal legs.

[0017] In summary, this utility model secures wheel carrier plates to both sides of the lifting beam, utilizes rolling contact between the guide rollers and the guide flanges, and lowers the stress point of the support columns, significantly reducing the external tension moment on the support columns and improving the overall strength of the frame. When the forks are fully loaded, the two support columns will not splay outward. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the utility model from the front and side perspectives;

[0019] Figure 2 yes Figure 1 Schematic diagram of the structure of area A;

[0020] Figure 3 It is a schematic structural diagram of the utility model from a dorsal perspective;

[0021] Figure 4 yes Figure 3 Schematic diagram of the structure of the local area;

[0022] In the figure: 1-support column, 11-longitudinal support leg, 12-guide flange, 13-lifting nut, 14-cross beam plate, 15-lifting screw; 16-frame reinforcement plate; 2-lifting beam frame, 21-wheel frame plate, 22-guide roller, 23-swing arm support plate, 24-lifting motor, 25-screw pulley, 251-transition pulley group; 26-lifting reducer; 27-wheel axle reinforcement plate, 271-reinforcement rod; 3-travel wheel, 31-travel motor; 4-side swing arm, 41-fork, 42-swing arm electric cylinder, 43-swing arm support wheel. DETAILED DESCRIPTION

[0023] See also Figure 1 The utility model provides a double-sided fork-holding pallet docking robot, comprising a frame body, the frame body having two vertically arranged support columns 1, a lifting beam 2 being arranged between the two support columns 1; two sets of side swing arms 4 symmetrically distributed on both sides of the center line of the lifting beam 2 are mounted on the lifting beam 2, and a fork 41 extending toward the center line of the lifting beam 2 is fixed on the side swing arm 4;

[0024] The lifting beam 2 is also provided with a side swing transmission assembly for driving the swing arms 4 on both sides to rotate;

[0025] The side swing transmission assembly of the present invention includes a swing arm electric cylinder 42 for driving the side swing arm 4 to swing sideways. Those skilled in the art can select a disclosed related structure to form a side swing transmission assembly, such as the structure disclosed in Chinese Patent No. 202321612440.3.

[0026] The bottom of the support column 1 is provided with a travel wheel 3; the travel wheel 3 is also connected to a travel drive member;

[0027] The frame body is also equipped with a lifting transmission assembly for driving the lifting beam 2 to move up or down in the vertical direction;

[0028] Combine Figure 2 , both sides of the lifting beam 2 are fixedly provided with a wheel frame plate 21 extending longitudinally downward; a plurality of guide rollers 22 are installed on the wheel frame plate 21; a guide flange 12 is provided on the support column 1; the guide rollers 22 roll and abut against the guide flange 12;

[0029] Through the coordination of the guide rollers 22 and the guide flanges 12, the contact area between the support column 1 and the lifting beam 2 extends downward, reducing the distance between them and the ground. This significantly lowers the stress point on the support column 1, significantly reducing the external tension moment acting on the support column and improving the overall strength of the frame. When the forks 41 are fully loaded, the two support columns will not splay outward.

[0030] At the same time, the rolling cooperation between the guide roller 22 and the guide flange 12 has low resistance and does not hinder the lifting action of the lifting beam 2.

[0031] Furthermore, the number of the guide rollers 22 on the wheel frame plate 21 is not less than 3, and preferably 7-10 in the present invention, which increases the stress points of the longitudinal legs 11 and improves their load-bearing capacity.

[0032] As an embodiment, a swing arm support plate 23 is fixed on the wheel frame plate 21; a swing arm support wheel 43 is provided on the side swing arm 4 to roll against the swing arm support plate 23;

[0033] When the fork 41 of the present invention is extended and loaded, the side swing arm 4 is subjected to a significant downward bending moment due to the off-center load. Long-term use can damage the rotating shaft of the side swing arm 4 or cause it to deflect downward. This deflection may prevent the side swing arm 4 from swinging outward due to contact with the two side columns 1, preventing it from operating normally. The swing arm support plate 23 supports the swing arm support wheel 43, offsetting the downward bending moment caused by the off-center load and protecting the rotating part of the side swing arm 4. The swing arm support wheel 43 also rolls in conjunction with the swing arm support plate 23, providing minimal resistance and preventing the side swing arm 4 from swinging outward when unloaded.

[0034] As an embodiment, in order to improve the load-bearing stability of the entire frame body, a longitudinal leg 11 is fixed to the bottom of each of the two support columns 1; the two longitudinal legs 11 are arranged in parallel, and an auxiliary roller is provided at one end of the longitudinal leg 11.

[0035] As an embodiment, the travel drive component is a travel motor 31; compared with the prior art, the travel wheel 3 of the utility model is directly connected to the travel motor 31; the transmission structure is simplified, the number of transmission components is reduced, and the risk of failure shutdown is reduced.

[0036] See also Figure 3 As an embodiment, a frame reinforcement plate 16 is connected between the two support columns 1 to improve the load-bearing capacity and avoid the deformation problem of the eight-shaped opening.

[0037] As an embodiment, a crossbeam plate 14 is connected between the two support columns 1. The lifting transmission assembly of the utility model includes two vertically arranged lifting screws 15, each of which is arranged beside the support column 1 on one side. A screw seat is fixed on the support column 1. The two ends of the lifting screw 15 are respectively rotatably mounted on the crossbeam plate 14 and the screw seat. Both lifting screws 15 are threadedly connected to a lifting nut 13. The two ends of the lifting beam frame 2 are respectively fixed to the lifting nut 13 on the corresponding side.

[0038] See also Figure 4 The crossbeam plate 14 is fixed with a lifting motor 24 for driving the two lifting screws 15 to rotate synchronously; the two lifting screws 15 rotate synchronously to achieve the lifting beam frame 2 to be lifted and lowered smoothly in a horizontal posture, changing the height of the fork 41 of the side swing arm 4.

[0039] Combine Figure 4 As a preferred solution, based on the consideration of structural optimization, the lifting motor 24 is fixed to the bottom of the crossbeam plate 14, and the lifting motor 24 is connected to the lifting reducer 26; the end of the lifting screw 15 passing through the crossbeam plate 14 is sleeved with a screw wheel 25; the crossbeam plate 14 is also provided with two sets of transition wheel groups 251; each transition wheel group 251 has two coaxially connected transition wheels, and the two transition wheels are respectively located on the upper and lower sides of the crossbeam plate 14; the transition wheel of each transition wheel group 251 located on the upper side of the crossbeam plate 14 is transmission-connected to the screw wheel 25 on the corresponding side, and the transition wheel located on the lower side of the crossbeam plate 14 is transmission-connected to the lifting reducer 26;

[0040] Each transition wheel group also includes a transition shaft that is rotatably connected to the crossbeam plate 14, and both transition wheels are rotatably sleeved on the transition shaft; an axle reinforcement plate 27 is connected between the transition shafts of the two transition wheel groups;

[0041] The direction of the rotational torque generated by the transition wheels on the upper and lower sides of the transition shaft is the same. Long-term use will cause the transition shaft to deflect. The wheel axle reinforcement plate 27 connects and fixes the two transition shafts, improving their load-bearing capacity and offsetting the rotational torque they are subjected to.

[0042] Better yet, a reinforcement rod 271 is connected between the axle reinforcement plate 27 and the crossbeam plate 14 to further improve the load-bearing capacity.

[0043] In summary, this utility model provides a double-sided fork-holding pallet docking robot. By securing wheel carrier plates to both sides of the lifting beam and utilizing rolling contact between guide rollers and guide flanges, the force bearing point of the support columns is lowered, significantly reducing the external tension moment acting on the support columns and improving the overall strength of the frame. When the forks are fully loaded, the two support columns will not splay outwards.

[0044] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A two-side fork-holding pallet docking robot, comprising a frame body, said frame body having two vertically arranged support columns, a lifting beam frame being arranged between the two support columns; two sets of side swing arms symmetrically distributed on both sides of the center line of the lifting beam frame are installed on the lifting beam frame, and cargo forks extending toward the center line direction of the lifting beam frame are fixed on the side swing arms; the lifting beam frame is also provided with a side swing transmission assembly for driving the swing arms on both sides to rotate; walking wheels are installed at the bottom of the support columns; the walking wheels are also connected to the walking drive parts; the frame body is also equipped with a lifting transmission assembly for driving the lifting beam frame to perform upward or downward movement in the vertical direction; it is characterized in that Wheel frame plates extending longitudinally downward are fixedly provided on both sides of the lifting beam frame; a plurality of guide rollers are mounted on the wheel frame plates; a guide flange is provided on the support column; and the guide rollers roll and abut against the guide flange.

2. The double-sided fork-holding pallet docking robot according to claim 1, characterized in that: A swing arm support plate is fixedly arranged on the wheel frame plate; and a swing arm support wheel is provided on the side swing arm and is in rolling contact with the swing arm support plate.

3. The double-sided fork-holding pallet docking robot according to claim 1, characterized in that: The number of guide rollers on the wheel frame plate is no less than 3.

4. The double-sided fork-holding pallet docking robot according to claim 3, characterized in that: The number of guide rollers on the wheel frame plate is 7-10.

5. The double-sided fork-holding pallet docking robot according to claim 1, characterized in that: A frame reinforcement plate is connected between the two support columns.

6. The double-sided fork-holding pallet docking robot according to claim 1, characterized in that: The travel drive component is a travel motor.

7. The double-sided fork-holding pallet docking robot according to any one of claims 1 to 6, characterized in that: A crossbeam plate is connected between the two support columns; the lifting transmission assembly includes two vertically arranged lifting screws, each lifting screw is arranged on the side of the support column on the corresponding side; a screw seat is fixed on the support column; the two ends of the lifting screw are respectively rotatably arranged on the crossbeam plate and the screw seat; the two lifting screws are both threaded with a lifting nut; the two ends of the lifting beam frame are respectively fixed to the lifting nut on the corresponding side; a lifting motor for driving the two lifting screws to rotate synchronously is fixed on the crossbeam plate.

8. The double-sided fork-holding pallet docking robot according to claim 7, characterized in that: The lifting motor is fixed to the bottom of the crossbeam plate, and the lifting motor is connected to the lifting reducer; the lifting screw passes through the crossbeam plate at one end thereof and is sleeved with a screw wheel; the crossbeam plate is also provided with two sets of transition wheel groups; each transition wheel group has two coaxially connected transition wheels, and the two transition wheels are respectively located on the upper and lower sides of the crossbeam plate; the transition wheel of each transition wheel group located on the upper side of the crossbeam plate is transmission-connected to the screw wheel on the corresponding side, and the transition wheels located on the lower side of the crossbeam plate are both transmission-connected to the lifting reducer; Each transition wheel group also includes a transition shaft rotatably connected to the beam plate, and both transition wheels are rotatably sleeved on the transition shaft; an axle reinforcement plate is connected between the transition shafts of the two transition wheel groups.

9. The double-sided fork-holding pallet docking robot according to claim 8, characterized in that: A reinforcement rod is connected between the wheel axle reinforcement plate and the cross beam plate.

10. The double-sided fork-holding pallet docking robot according to claim 7, characterized in that: The bottoms of the two support columns are fixedly connected to a longitudinal leg; the two longitudinal legs are arranged in parallel, and one end of the longitudinal leg is provided with an auxiliary roller.

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