Scissor fork type pallet fork assembly and forklift

Abstract

The utility model provides a scissor fork type pallet fork assembly and a forklift. The pallet fork assembly comprises a mounting frame, a translation mechanism, a scissor fork assembly and a pallet fork. And the translation mechanism is an electric translation mechanism, is arranged on the mounting frame in the height direction of the mounting frame and is used for driving the shear fork assembly to stretch out and draw back. The shear fork assembly comprises N stages of shear forks, N is a positive integer larger than or equal to 1, each stage of shear fork comprises a first shear fork arm and a second shear fork arm, the first shear fork arm and the second shear fork arm of the same stage are rotationally connected in a crossed mode, and the tail end of the first shear fork arm of the upper stage is rotationally connected with the head end of the first shear fork arm of the lower stage. The tail end of the upper-stage second shear fork arm is rotationally connected with the head end of the lower-stage second shear fork arm, the head end of the first-stage first shear fork arm is rotationally connected with the mounting frame, and the head end of the first-stage second shear fork arm is connected with the translation mechanism so as to drive the translation mechanism to move in the height direction. And the tail ends of the Nth-stage first shear fork arm and the Nth-stage second shear fork arm are rotationally connected with the pallet fork.

Description

TECHNICAL FIELD

[0001] The utility model relates to electric fork truck field especially relates to a kind of scissor fork assembly and fork truck. BACKGROUND

[0002] Fork truck is industrial handling vehicle, is the high-efficiency equipment of automatic loading and unloading, stacking and handling. Fork truck plays a very important role in the logistics system of enterprise, is the main force in material handling equipment, and is widely used in stations, ports, airports, factories, warehouses and other departments in the national economy.

[0003] In recent years, in the field of intelligent warehousing, the advantage of fork truck is also more and more obvious. In order to better apply to the field of intelligent warehousing, the fork assembly of fork truck generally has telescopic function. At present, the scissor fork assembly is more applied in the market, and single-stage scissor fork and double-stage scissor fork are both available, but most of them are driven by hydraulic pressure, for example, the form of electric hydraulic push rod is adopted to realize the telescopic function of scissor fork. The hydraulic drive has the disadvantages of poor extension accuracy, difficult control of speed, such as sudden change of speed, etc. In addition, the form of hydraulic drive itself also has the disadvantages of easy oil leakage, easy dirt, large noise, etc. Some industrial scenes also prohibit the use of hydraulic oil. In order to overcome this difficulty, a new scissor fork is urgently needed. UTILITY MODEL CONTENT

[0004] The purpose of the embodiment of the utility model is to provide a kind of scissor fork assembly and fork truck, to accurately control the extension accuracy of scissor fork and the extension rate of scissor fork etc. The specific technical scheme is as follows:

[0005] The first aspect of the present application provides a kind of scissor fork assembly, the scissor fork assembly includes: mounting bracket, translation mechanism, scissor fork assembly and fork, translation mechanism is electric translation mechanism, is arranged on the mounting bracket along the height direction of the mounting bracket;Scissor fork assembly, including N-stage scissor fork, N is greater than or equal to 1 positive integer, the first scissor arm and the second scissor arm of each stage, the first scissor arm and the second scissor arm of the same stage are cross-rotary connected, the end of the first scissor arm of the upper stage is rotatably connected with the first end of the first scissor arm of the lower stage, the end of the second scissor arm of the upper stage is rotatably connected with the first end of the second scissor arm of the lower stage, the first end of the first scissor arm of the first stage is rotatably connected with the mounting bracket, the first end of the second scissor arm of the first stage is connected with the translation mechanism, and the translation mechanism is used to drive the first end of the second scissor arm of the first stage to move along the height direction;Fork, the end of the first scissor arm of the Nth stage and the end of the second scissor arm of the Nth stage are rotatably connected with the fork;Under the action of the translation mechanism, the scissor fork is telescopic in the direction perpendicular to the height direction, thereby driving the fork to be telescopic.

[0006] In some embodiments, the translation mechanism comprises a first driving motor assembly, a first member and a second member, the first member is arranged along the height direction of the mounting frame, one end of the first member is connected with the mounting frame, and the first end of the first-stage second scissor arm is connected with the second member; the second member is threadedly connected with the first member, the output shaft of the first driving motor assembly is connected with the other end of the first member, and one end of the second member is slidingly connected with the mounting frame along the height direction of the mounting frame; or, the second member is meshingly connected with the first member, the output shaft of the first driving motor assembly is connected with the second member, and one end of the first driving motor assembly is slidingly connected with the mounting frame along the height direction of the mounting frame.

[0007] In some embodiments, the translation mechanism further comprises a guide rail and a sliding block slidingly connected with the guide rail, the guide rail is arranged along the height direction of the mounting frame and is arranged in parallel with the first member; when the second member is threadedly connected with the first member, the second member is fixedly connected with the sliding block; when the second member is meshingly connected with the first member, the first driving motor assembly is fixedly connected with the sliding block.

[0008] In some embodiments, the translation mechanism comprises a second driving motor assembly, a transmission member, a driving roller and a driven roller, the second driving motor assembly is arranged on the mounting frame, the output shaft of the second driving motor assembly is connected with the driving roller, the driving roller and the driven roller are arranged on the mounting frame in the height direction of the mounting frame, the transmission member is arranged around the driving roller and the driven roller, and the second end of the first-stage second scissor arm is connected with the transmission member.

[0009] In some embodiments, the translation mechanism comprises a connecting rod, one end of the connecting rod is rotationally connected with the first end of the first-stage second scissor arm through a first rotating shaft, and the other end of the connecting rod is rotationally connected with the sliding block through a second rotating shaft.

[0010] In some embodiments, the mounting frame comprises a top plate, a bottom plate, a side plate, a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are arranged oppositely and perpendicularly to the top plate, the bottom plate and the side plate, and the first vertical plate and the second vertical plate are respectively provided with a first sliding groove and a second sliding groove; the translation mechanism further comprises first rollers arranged at both ends of the first rotating shaft, the first rollers are respectively located in the first sliding groove and the second sliding groove, and the wheel surfaces of the first rollers are respectively in contact with the two inner side walls of the first sliding groove and the second sliding groove.

[0011] In some embodiments, the scissor fork further comprises a tilting mechanism arranged between the second ends of the first and second scissor arms and the forks, for changing the tilting angle of the forks.

[0012] In some embodiments, the tilting mechanism comprises a frame, a translation assembly, a second roller, a mounting member and a guide member, one end of the frame is rotatably connected to the end of the first scissor arm of the Nth stage, and the other end is movably connected to the end of the second scissor arm of the Nth stage; the translation assembly is arranged on the frame along the height direction of the frame; the second roller is rotatably connected to the translation assembly; the mounting member is rotatably connected to the frame, and the forks are fixed to the side of the mounting member away from the frame; the guide member is fixed to the mounting member, one side of the guide member facing the frame is an inclined surface, and the inclined surface is in abutment with the wheel surface of the second roller under the action of gravity; the translation assembly is used to drive the second roller to move along the height direction of the frame, and the mounting member moves towards the wheel surface of the second roller under the action of gravity to make the inclined surface abut with the wheel surface of the second roller, and the mounting member drives the forks to move synchronously, so as to change the tilting angle of the forks.

[0013] In some embodiments, the translation assembly comprises a third member, a fourth member and a third driving motor assembly, the third member is arranged along the height direction of the frame and is connected to the output shaft of the third driving motor assembly, the fourth member is threadedly connected to the third member, and one end of the fourth member is slidably connected to the frame along the height direction of the frame; the second roller is rotatably connected to the fourth member.

[0014] In some embodiments, the first scissor arm and the second scissor arm of each stage are both provided with two, and the two first scissor arms of the same stage are connected by a first connecting member, and the two second scissor arms of the same stage are connected by a second connecting member.

[0015] The second aspect of the present application provides a forklift, which comprises a vehicle body, a mast assembly and the scissor fork assembly described above; the mast assembly is connected to the vehicle body; the mounting frame of the scissor fork assembly is movably connected to the mast assembly.

[0016] The scissor fork assembly and the forklift provided by the embodiment of the utility model realize accurate control of the moving distance of the first end of the first and second scissor arms along the height direction through the electric translation mechanism, thereby accurately controlling the extension length of the scissor assembly, and accurate control of the moving speed of the first end of the first and second scissor arms along the height direction through the electric translation mechanism, thereby accurately controlling the extension speed of the scissor assembly, and the scissor assembly has the advantages of high extension accuracy and controllable speed compared with the hydraulic drive type scissor assembly.

[0017] Of course, it is not necessary for any product implementing the utility model to achieve all the advantages mentioned above. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0019] Figure 1 The structure schematic diagram of the scissor fork assembly provided by the embodiment of the utility model in an embodiment is shown in the figure.

[0020] Figure 2 The shaft side schematic diagram of the extension state of the scissor fork assembly is shown in the figure.

[0021] Figure 3 The right view of the scissor fork assembly is shown in the figure. Figure 2 The front view of the scissor fork assembly is shown in the figure.

[0022] Figure 4 The right view of the scissor fork assembly is shown in the figure. Figure 2 The shaft side schematic diagram of the retraction state of the scissor fork assembly is shown in the figure.

[0023] Figure 5 The front view of the scissor fork assembly is shown in the figure.

[0024] Figure 6 The right view of the scissor fork assembly is shown in the figure. Figure 5 The front view of the scissor fork assembly is shown in the figure.

[0025] Figure 7Structure diagram of the translation mechanism when the scissor fork assembly is in the extended state;

[0026] Figure 8 Structure diagram of the translation mechanism when the scissor fork assembly is in the retracted state;

[0027] Figure 9 Structure diagram of the scissor fork assembly without forks and part of the tilting mechanism;

[0028] Figure 10 Structure diagram of the tilting mechanism of the scissor fork assembly without tilting;

[0029] Figure 11 Structure diagram of the tilting mechanism of the scissor fork assembly tilted to a certain height;

[0030] Figure 12 Structure diagram of the guide.

[0031] The reference signs are as follows:

[0032] Mounting frame 1; top plate 11; bottom plate 12; side plate 13; first vertical plate 14; second vertical plate 15; second sliding groove 151; third roller 16; height direction H of the mounting frame;

[0033] Translation mechanism 2; first drive motor assembly 21; first motor 211; first speed reducer 212; first component 22; second component 23; guide rail 24; sliding block 25; connecting rod 26; first rotating shaft 261; second rotating shaft 262; first roller 263;

[0034] Scissor assembly 3; first-stage scissor 31; first scissor arm 311 of the first stage; second scissor arm 312 of the first stage; first connecting piece 313; second connecting piece 314; second-stage scissor 32; first scissor arm 321 of the second stage; second scissor arm 322 of the second stage;

[0035] Fork 4; prong 41;

[0036] Tilting mechanism 5; frame 51; horizontal plate 511; first vertical column 512; second vertical column 513; recess 512a; fixing seat 514; translation assembly 52; third component 521; fourth component 522; third drive motor assembly 523; second motor 5231; second speed reducer 5232; second roller 53; mounting piece 54; square frame 541; first rotating plate 542; second rotating plate 543; guide 55; inclined surface 551; connecting plate 552. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the utility model.

[0038] In view of the poor extension accuracy of the hydraulic drive type fork assembly 3 and the difficulty in controlling the extension rate, the embodiment of the present application provides a fork assembly, as shown in the drawings, Figure 1 The fork assembly comprises a mounting frame 1, a translation mechanism 2, a fork assembly 3 and a fork 4. The translation mechanism 2 is an electric translation mechanism 2 and is arranged on the mounting frame 1 along the height direction H of the mounting frame. The fork assembly 3 comprises N stages of forks, wherein N is a positive integer greater than or equal to 1. Each stage of forks comprises a first fork arm and a second fork arm. The first fork arm and the second fork arm of the same stage are cross-rotationally connected. The end of the first fork arm of the upper stage is rotationally connected to the first end of the first fork arm of the lower stage. The end of the second fork arm of the upper stage is rotationally connected to the first end of the second fork arm of the lower stage. The first end of the first fork arm 311 of the first stage is rotationally connected to the mounting frame 1. The first end of the second fork arm 312 of the first stage is connected to the translation mechanism 2. The translation mechanism 2 is used to drive the first end of the second fork arm 312 of the first stage to move along the height direction. The end of the first fork arm of the Nth stage and the end of the second fork arm of the Nth stage are rotationally connected to the fork 4. Under the action of the translation mechanism 2, the fork assembly 3 performs extension and retraction movement along the direction perpendicular to the height direction, thereby driving the fork 4 to perform extension and retraction movement.

[0039] It can be understood that when N is equal to 1, the fork assembly 3 is a one-stage fork assembly. When N is equal to 2, the fork assembly 3 is a two-stage fork assembly, as shown in the drawings, Figure 1 , Figure 2 The first stage fork 31 comprises the first fork arm 311 and the second fork arm 312 of the first stage. The second stage fork 32 comprises the first fork arm 321 and the second fork arm 322 of the second stage. Of course, N can also be equal to 3, 4 or other positive integers, which is not limited in the present application. The present application only illustrates the two-stage fork assembly, but this does not constitute a limitation on the present application.

[0040] The first fork arm and the second fork arm of the same stage are cross-rotationally connected, so that the first fork arm and the second fork arm rotate by a certain angle, thereby making each stage of forks have an extended state or a retracted state, so that the fork assembly 3 can remain in the extended state or the retracted state according to actual needs. As shown in the drawings, Figure 2 As shown in the drawings, Figure 3 Figure 2 ​A front view of the middle scissor fork assembly, as Figure 4 A front view of the middle scissor fork assembly, as Figure 2 A front view of the middle scissor fork assembly, as Figure 5 A front view of the middle scissor fork assembly, as Figure 6 A front view of the middle scissor fork assembly, as Figure 5 A front view of the middle scissor fork assembly. Wherein the rotary connection of the same level first scissor arm and second scissor arm can be hinged, or can be a rotary connection through the cooperation of a rotating shaft and a bearing.

[0041] The extension and retraction of the scissor assembly 3 is controlled by the electric translation mechanism 2. Through the electric translation mechanism 2, the movement distance of the first end of the first level second scissor arm in the height direction can be accurately controlled, thereby accurately controlling the extension length of the scissor assembly 3. In addition, through the electric translation mechanism 2, the movement rate of the first end of the first level second scissor arm in the height direction can be accurately controlled, thereby accurately controlling the extension rate of the scissor assembly 3. Compared with the hydraulic drive type scissor assembly 3, the extension accuracy is high, and the rate is controllable. In addition, the state information of the current controlled object, i.e. the state information of the scissor assembly 3, can be fed back to the control assembly. The control assembly compares and calculates according to the current feedback information, generates a corresponding control signal output to the actuator, and realizes the adjustment of the controlled object. In this way, the system can monitor the state of the controlled object in real time, and adjust according to the feedback information, realize the closed-loop control of the scissor assembly 3, and make the scissor assembly 3 run more stably, accurately and reliably.

[0042] As Figure 7 , Figure 8 respectively illustrates the structure of the translation mechanism 2 when the scissor fork assembly is in an extended state or a retracted state. The translation mechanism 2 includes a first drive motor assembly 21, a first member 22, and a second member 23. The first member 22 is arranged along the height direction H of the mounting frame. One end of the first member 22 is connected to the mounting frame 1, and the first end of the first level second scissor arm 312 is connected to the second member 23.

[0043] In some embodiments, referring to Figure 7 , Figure 8 , the second member 23 is threadedly connected to the first member 22. The output shaft of the first drive motor assembly 21 is connected to the other end of the first member 22. One end of the second member 23 is slidingly connected to the mounting frame 1 along the height direction H of the mounting frame.

[0044] In the embodiment, the first member 22 is arranged along the height direction H of the mounting rack, the second member 23 is threadedly connected with the first member 22, and when the first driving motor assembly 21 drives the first member 22 to rotate, the second member 23 can be limited from rotating synchronously with the first member 22 due to the sliding connection of one end of the second member 23 with the mounting rack 1, so that the second member 23 can move up and down along the first member 22 under the action of the first driving motor assembly 21. In the process of the up-and-down movement of the first member 22, the first end of the second scissor arm 312 of the first stage is driven to move up and down, so as to drive the scissor arms of each stage to perform the telescopic movement. It can be understood that the sliding connection of one end of the second member 23 with the mounting rack 1 can also enable the second member 23 to move along the predetermined track.

[0045] In the embodiment, the first member 22 is arranged along the height direction H of the mounting rack, the second member 23 is threadedly connected with the first member 22, and when the first driving motor assembly 21 drives the first member 22 to rotate, the second member 23 can be limited from rotating synchronously with the first member 22 due to the sliding connection of one end of the second member 23 with the mounting rack 1, so that the second member 23 can move up and down along the first member 22 under the action of the first driving motor assembly 21. In the process of the up-and-down movement of the first member 22, the first end of the second scissor arm 312 of the first stage is driven to move up and down, so as to drive the scissor arms of each stage to perform the telescopic movement. It can be understood that the sliding connection of one end of the second member 23 with the mounting rack 1 can also enable the second member 23 to move along the predetermined track.

[0046] In other embodiments, the second member 23 is meshingly connected with the first member 22, the output shaft of the first driving motor assembly 21 is connected with the second member 23, and one end of the first driving motor assembly 21 is slidingly connected with the mounting rack 1 along the height direction H of the mounting rack.

[0047] In the embodiment, the first member 22 is arranged along the height direction H of the mounting rack, the second member 23 is threadedly connected with the first member 22, and when the first driving motor assembly 21 drives the first member 22 to rotate, the second member 23 can be limited from rotating synchronously with the first member 22 due to the sliding connection of one end of the second member 23 with the mounting rack 1, so that the second member 23 can move up and down along the first member 22 under the action of the first driving motor assembly 21. In the process of the up-and-down movement of the first member 22, the first end of the second scissor arm 312 of the first stage is driven to move up and down, so as to drive the scissor arms of each stage to perform the telescopic movement. It can be understood that the sliding connection of one end of the second member 23 with the mounting rack 1 can also enable the second member 23 to move along the predetermined track.

[0048] In one implementation, the mounting bracket 1 may include a top plate 11, a bottom plate 12, and a side plate 13. The side plate 13 connects the top plate 11 and the bottom plate 12 to form a stable structure. The side plate 13 may be located on the side of the top plate 11 and the side plate 13 opposite to and away from the forks 4. The first drive motor assembly 21 may be connected to the top plate 11 or the bottom plate 12. One end of the second component 23 or one end of the first drive motor assembly 21 may be slidably connected to the side plate 13. One end of the first component 22 is connected to the top plate 11 or the bottom plate 12. Exemplarily, the first drive motor assembly 21 is connected to the top plate 11, the output shaft of the first drive motor assembly 21 is connected to the top end of the first component 22, and the bottom end of the first component 22 is connected to the first bottom plate 12.

[0049] The first driving component can be a combination of a first motor 211 and a first reducer 212. The output shaft of the first motor 211 is connected to the first reducer 212 via a coupling, and the output shaft of the first reducer 212 is connected to the first component 22 via a coupling. The first motor 211 can be a stepper motor. The first component 22 can be a rack or chain, etc., and the second component 23 can be a gear, etc.

[0050] In some embodiments of this application, such as Figure 7 , Figure 8 As shown, the translation mechanism 2 also includes a guide rail 24 and a slider 25 slidably connected to the guide rail 24. The guide rail 24 is arranged along the height direction H of the mounting frame and is parallel to the first component 22. When the second component 23 is threadedly connected to the first component 22, the second component 23 is fixedly connected to the slider 25; when the second component 23 is engaged with the first component 22, the first drive motor assembly 21 is fixedly connected to the slider 25. It can be understood that when the mounting frame 1 includes a top plate 11, a bottom plate 12, and a side plate 13, the guide rail 24 can be arranged on the side plate 13. If the mounting frame 1 does not include the side plate 13, then the guide rail 24 is directly arranged between the top plate 11 and the bottom plate 12.

[0051] When the second component 23 is threadedly connected to the first component 22, the second component 23 is slidably connected to the guide rail 24 via the slider 25. This simplifies the structure of the second component 23 and facilitates its flexible arrangement. The slidable connection between the second component 23 and the guide rail 24 via the slider 25 ensures that the second component 23 can slide along the guide rail 24 while restricting its rotation, thereby converting the rotation of the first component 22 into the translation of the second component 23.

[0052] When the second component 23 is engaged with the first component 22, the first driving motor assembly 21 is connected with the guide rail 24 through the sliding block 25, and the second component 23 and the first driving motor assembly 21 can move along the first component by limiting the first driving motor assembly 21 and the engagement of the first component 22 and the second component 23, and the structure is simple and can ensure the smooth operation of the second component 23.

[0053] In some embodiments of the present application, the translation mechanism 2 comprises a second driving motor assembly (not shown in the figure), a conveying member (not shown in the figure), a driving roller (not shown in the figure) and a driven roller (not shown in the figure). The second driving motor assembly is arranged on the mounting rack 1, the output shaft of the second driving motor assembly is connected with the driving roller, the driving roller and the driven roller are arranged on the mounting rack 1 along the height direction H of the mounting rack, the conveying member is arranged around the driving roller and the driven roller, and the second end of the second scissors arm 312 of the first stage is connected with the conveying member.

[0054] In the embodiment, the conveying member is arranged along the height direction H of the mounting rack and around the driving roller and the driven roller. When the second driving motor assembly drives the driving roller to rotate, the conveying member will reciprocate up and down between the driving roller and the driven roller. In the process of reciprocating up and down of the conveying member, the first end of the second scissors arm 312 of the first stage is driven to move up and down, thereby driving the scissors of each stage to perform telescopic movement.

[0055] As shown in Figure 7 , Figure 8 , taking the mounting rack 1 comprising a top plate 11, a bottom plate 12 and a side plate 13 as an example, the second driving motor assembly can be arranged on the bottom plate 12, and the driving roller and the driven roller are respectively arranged on the side plate 13.

[0056] In some embodiments of the present application, as shown in Figure 7 , Figure 8 , the translation mechanism 2 further comprises a connecting rod 26, one end of the connecting rod 26 is rotationally connected with the first end of the second scissors arm 312 of the first stage through a first rotating shaft 261, and the other end of the connecting rod 26 is rotationally connected with the sliding block 25 through a second rotating shaft 262.

[0057] In the embodiment, the first end of the second scissors arm 312 of the first stage is rotationally connected with the sliding block 25 through the connecting rod 26, so that there is a certain deformation space between the first end of the second scissors arm 312 of the first stage and the sliding block 25, so that the scissors assembly 3 can adapt to the deformation or size deviation in the telescopic process or the lifting process, and the acting force on the first component 22 is reduced.

[0058] In some embodiments of the present application, referring to Figure 7 , Figure 8 and Figure 9 , Figure 9The structure diagram of the forked fork assembly without the fork and part of the tilting mechanism, the mounting frame 1 includes a top plate 11, a bottom plate 12, a side plate 13, a first vertical plate 14 and a second vertical plate 15, the first vertical plate 14 and the second vertical plate 15 are oppositely arranged and perpendicular to the top plate 11, the bottom plate 12 and the side plate 13, and the first vertical plate 14 and the second vertical plate 15 are respectively provided with a first sliding groove and a second sliding groove 151. The translation mechanism 2 further includes first rollers 263 arranged at both ends of the first rotating shaft 261, and the first rollers 263 are respectively located in the first sliding groove and the second sliding groove 151, and the wheel surface of the first roller 263 is in contact with the two side walls of the first sliding groove and the second sliding groove 151.

[0059] By arranging the first rollers 263 at both ends of the first rotating shaft 261, the wheel surface of the first roller 263 is in contact with the two inner side walls of the first sliding groove and the second sliding groove 151, and the first rollers 263 can guide the movement of the second fork arm 312 of the first stage during the sliding of the sliding block 25. During the angle adjustment of the connecting rod 26, more lateral force can be transmitted to the first roller 263 through the first rotating shaft 261 and act on the first vertical plate 14 and the second vertical plate 15, thereby reducing the force acting on the first component 22.

[0060] In some embodiments of the present application, as shown in Figure 9 , Figure 10 , Figure 11 and Figure 12 , Figure 10 the structure diagram of the tilting mechanism 5 without tilting, Figure 11 the structure diagram of the tilting mechanism 5 tilted to a certain height, Figure 12 the structure diagram of the guide 55, the forked fork further includes the tilting mechanism 5 arranged between the second end of the first fork arm and the second end of the second fork arm and the fork 4, for changing the inclination angle of the fork 4.

[0061] In the present embodiment, when the fork is needed to pick up the goods, the inclination angle of the fork 4 is adjusted by the tilting mechanism 5, so that the prongs 41 of the fork 4 remain horizontal, facilitating the bottom fork to pick up the goods. When the fork picks up the goods and needs to be transferred, the inclination angle of the fork 4 is adjusted by the tilting mechanism 5, so that the end of the prong 41 of the fork 4 is slightly inclined upward, which can reduce the possibility of falling of the goods.

[0062] In some embodiments of the present application, as shown in Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, the tilting mechanism 5 comprises a frame 51, a translation assembly 52, a second roller 53, a mounting member 54 and a guide member 55. One end of the frame 51 is rotatably connected with the end of the first scissor arm of the Nth stage along the height direction of the frame 51, and the other end is rotatably connected with the end of the second scissor arm of the Nth stage. Taking the second scissor of the fork carriage 3 as an example, one end of the frame 51 is rotatably connected with the end of the first scissor arm 321 of the second stage along the height direction of the frame 51, and the other end of the frame 51 is movably connected with the end of the second scissor arm 322 of the second stage. The translation assembly 52 is arranged on the frame 51 along the height direction of the frame 51. The second roller 53 is rotatably connected with the translation assembly 52. The mounting member 54 is rotatably connected with the frame 51, and the fork 4 is fixed to the side of the mounting member 54 away from the frame 51. The guide member 55 is fixed to the mounting member 54, and the side of the guide member 55 facing the frame 51 is an inclined surface 551 and abuts against the wheel surface of the second roller 53 under the action of gravity. The translation assembly 52 is used to drive the second roller 53 to move along the height direction of the frame 51, and the mounting member 54 moves towards the wheel surface of the second roller 53 under the action of gravity to make the inclined surface 551 abut against the wheel surface of the second roller 53, and the mounting member 54 drives the fork 4 to move synchronously, so as to change the inclination angle of the fork 4. The inclination angle here refers to the angle between the prong 41 of the fork 4 and the horizontal direction.

[0063] In this embodiment, the translation assembly 52 is used to drive the second roller 53 to move along the height direction of the frame 51, and in the process of movement, the mounting member 54 is automatically driven by the gravity of the mounting member 54 itself and the fork 4 to make the inclined surface 551 of the guide member 55 always abut against the wheel surface of the second roller 53 under the action of gravity. Since the side of the guide member 55 mounted on one side of the mounting member 54 facing the second roller 53 is the inclined surface 551, the guide member 55 drives the mounting member 54 and the fork 4 to move in the process of maintaining abutment against the wheel surface of the second roller 53. Therefore, when the wheel surface of the second roller 53 abuts against different positions of the guide member 55, the inclination angle of the fork 4 is also different, so the inclination angle of the fork 4 can be automatically adjusted according to actual needs.

[0064] The frame 51 comprises a horizontal plate 511 at the top for rotatable connection with the end of the first scissor arm of the Nth stage, which can be hinged. The frame 51 further comprises two oppositely arranged vertical columns, i.e. a first vertical column 512 and a second vertical column 513, which are connected with the horizontal plate 511. The first vertical column 512 can be an integral structure or a segmented connection structure, and the second vertical column 513 can be an integral structure or a segmented connection structure. Figure 9 As shown, the first vertical column 512 and the second vertical column 513 are both two-end connection structures. The end of the second scissor arm of the Nth stage is movably connected with the first vertical column 512 and the second vertical column 513, which can be rolling connection or sliding connection.Figure 9 As shown in the figure, in the Nth stage, the second stage second scissor arm 322, the first upright column 512 and the second upright column 513 have grooves 512a on the sides of the width direction of the horizontal plate 511 and away from each other, and the end of the second stage second scissor arm 322 is provided with a rolling wheel (not shown in the figure) which rolls up and down in the groove 512a. The rack 51 includes a fixing seat 514 for fixing the third driving motor assembly 523, the fixing seat 514 is fixedly connected with the first upright column 512 and the second upright column 513, and the fixing seat 514 is located on the side of the first upright column 512 and the second upright column 513 which is opposite to the installation surface of the forks 4. The mounting member 54 includes a square frame 541 and a first rotating plate 542 and a second rotating plate 543, one side of the direction frame is fixedly connected with the forks 4, and the other side is fixedly connected with the first rotating plate 542 and the second rotating plate 543, the first rotating plate 542 and the second rotating plate 543 are respectively located on the outer side of the first upright column 512 and the second upright column 513 and are rotatably connected with them. The guide member 55 is fixed between the first rotating plate 542 and the second rotating plate 543. The inclined surface 551 of the guide member 55 can be formed by grooving the guide member 55, and the depth of the groove gradually decreases or increases along the height direction of the rack 51, such as Figure 11 、 Figure 12 As shown in the figure, the depth of the groove gradually decreases along the height direction of the rack 51. The guide member 55 and the first rotating plate 542 and the second rotating plate 543 can be fixed by two connecting plates 552.

[0065] It should be noted that the height direction of the rack 51 is consistent with the height direction H of the mounting rack, and only the height direction H of the mounting rack is taken as an example in the figure.

[0066] In some embodiments of the present application, as shown in Figure 9 、 Figure 10 、 Figure 11 As shown in the figure, the translation assembly 52 includes a third member 521, a fourth member 522 and a third driving motor assembly 523, the third member 521 is arranged along the height direction of the rack 51 and is connected with the output shaft of the third driving motor assembly 523, the fourth member 522 is threadedly connected with the third member 521, and one end of the fourth member 522 is slidingly connected with the rack 51 along the height direction of the rack 51; the second roller 53 is rotatably connected with the fourth member 522.

[0067] In this embodiment, the third component 521 is arranged along the height direction of the frame 51, and the fourth component 522 is threadedly connected to the third component 521. When the third drive motor assembly 523 drives the third component 521 to rotate, since one end of the fourth component 522 is slidably connected to the frame 51, the fourth component 522 can be restricted to rotate synchronously with the third component 521. This allows the fourth component 522 to move up and down along the third component 521 under the action of the third drive motor assembly 523. During the up and down movement of the fourth component 522, the second roller 53 is driven to move up and down, thereby enabling the fork 4 to change its tilt angle.

[0068] The third component 521 can be a threaded rod, and the fourth component 522 is a sliding block with internal threads. Alternatively, the translation component 52 can be a lead screw motor. The third drive motor component 523 is the power source for the lead screw motor and can be a DC motor or a stepper motor. The third component 521 can be a lead screw, and the fourth component 522 can be a nut. The third drive motor component 523 can be a combination of the second motor 5231 and the second reducer 5232, or it can be an integrated geared motor.

[0069] In some embodiments of this application, such as Figure 1 , Figure 2 As shown, each level has two first scissor arms and two second scissor arms. The two first scissor arms in the same level are connected by a first connector 313, and the two second scissor arms in the same level are connected by a second connector 314.

[0070] Each stage of the scissor lift has two arms, and the scissor arms in the same stage are connected by connectors, which can improve the strength of the scissor lift, thereby increasing the load-bearing capacity of the scissor lift assembly and expanding the application range of the scissor lift assembly.

[0071] By setting two scissor arms for each stage, compared to setting only one scissor arm which increases the width of the scissor arm, the weight of the scissor arm can be reduced, making the extension and retraction of the scissor arm assembly 3 more flexible.

[0072] A second aspect of this application provides a forklift, which includes a body, a mast assembly, and the aforementioned scissor fork assembly. The mast assembly is connected to the body; the mounting bracket 1 of the scissor fork assembly is movably connected to the mast assembly.

[0073] In this embodiment, the first upright plate 14 and the second upright plate 15 of the mounting frame 1 are provided with at least one set of third rollers 16 on the side that contacts the gantry assembly. The scissor fork assembly and the gantry assembly are connected by rolling through the third rollers 16, so that the scissor fork assembly can also be lifted and lowered on the gantry assembly to pick up goods at different heights.

[0074] The above merely describes preferred embodiments of the present application, and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A scissor fork assembly, characterized in that, The scissor fork assembly comprises: a mounting frame (1); a translation mechanism (2) arranged on the mounting frame (1) along the height direction of the mounting frame (1); a scissor assembly (3) comprising N levels of scissors, N being a positive integer greater than or equal to 1, each level of the scissors comprising a first scissor arm and a second scissor arm, the first scissor arm and the second scissor arm of the same level being cross-rotatably connected, the end of the first scissor arm of the upper level being rotatably connected to the head of the first scissor arm of the lower level, the end of the second scissor arm of the upper level being rotatably connected to the head of the second scissor arm of the lower level, the head of the first scissor arm of the first level being rotatably connected to the mounting frame (1), the head of the second scissor arm of the first level being connected to the translation mechanism (2), and the translation mechanism (2) being used to drive the head of the second scissor arm of the first level to move along the height direction; a fork (4), the end of the first scissor arm of the Nth level and the end of the second scissor arm of the Nth level being rotatably connected to the fork (4); under the action of the translation mechanism (2), the scissors perform telescopic movement along a direction perpendicular to the height direction, thereby driving the fork (4) to perform telescopic movement.

2. The scissor fork assembly of claim 1, wherein, The translation mechanism (2) comprises a first driving motor assembly (21), a first member (22), and a second member (23), the first member (22) is arranged along the height direction of the mounting frame (1), one end of the first member (22) is connected to the mounting frame (1), and the head of the second scissor arm of the first level is connected to the second member (23); the second member (23) is threadedly connected to the first member (22), the output shaft of the first driving motor assembly (21) is connected to the other end of the first member (22), and one end of the second member (23) is slidingly connected to the mounting frame (1) along the height direction of the mounting frame (1); alternatively, the second member (23) is meshingly connected to the first member (22), the output shaft of the first driving motor assembly (21) is connected to the second member (23), and one end of the first driving motor assembly (21) is slidingly connected to the mounting frame (1) along the height direction of the mounting frame (1).

3. The scissor fork assembly of claim 2, wherein, The translation mechanism (2) further comprises a guide rail (24) and a sliding block (25) slidingly connected to the guide rail (24), the guide rail (24) is arranged along the height direction of the mounting frame (1) and is arranged in parallel with the first member (22); when the second member (23) is threadedly connected to the first member (22), the second member (23) is fixedly connected to the sliding block (25); when the second member (23) is meshingly connected to the first member (22), the first driving motor assembly (21) is fixedly connected to the sliding block (25).

4. The scissor fork assembly of claim 1, wherein, The translation mechanism (2) comprises a second driving motor assembly, a conveying member, a driving roller and a driven roller, the second driving motor assembly is arranged on the mounting frame (1), an output shaft of the second driving motor assembly is connected with the driving roller, the driving roller and the driven roller are arranged on the mounting frame (1) in a height direction of the mounting frame (1), the conveying member is arranged around the driving roller and the driven roller, and a second end of the second fork arm of the first stage is connected with the conveying member.

5. The scissor fork assembly of claim 3, wherein, The translation mechanism (2) comprises a connecting rod (26), one end of the connecting rod (26) is rotationally connected with a first end of the second fork arm of the first stage through a first rotating shaft (261), and the other end of the connecting rod (26) is rotationally connected with the sliding block (25) through a second rotating shaft (262).

6. The scissor fork assembly of claim 5, wherein, The mounting frame (1) comprises a top plate (11), a bottom plate (12), a side plate (13), and first and second vertical plates (14) and (15), the first and second vertical plates (14) and (15) are oppositely arranged and perpendicular to the top plate (11), the bottom plate (12) and the side plate (13), and the first and second vertical plates (14) and (15) are respectively provided with first and second sliding grooves (151); The translation mechanism (2) further comprises first rollers (263) arranged at two ends of the first rotating shaft (261), the first rollers (263) are respectively located in the first and second sliding grooves (151), and wheel surfaces of the first rollers (263) are respectively in contact with two inner side walls of the first and second sliding grooves (151).

7. The scissor fork assembly of any of claims 2-6, wherein, The fork further comprises a tilting mechanism (5) arranged between the second ends of the first and second fork arms and the forks (4), for changing an inclination angle of the forks (4).

8. The scissor fork assembly of claim 7, wherein, The tilting mechanism (5) comprises: a rack (51), one end of the rack (51) is rotationally connected with a terminal end of the first fork arm of the Nth stage in a height direction of the rack (51), and the other end of the rack (51) is movably connected with a terminal end of the second fork arm of the Nth stage; a translation assembly (52), the translation assembly (52) is arranged on the rack (51) in the height direction of the rack (51); a second roller (53), the second roller (53) is rotationally connected with the translation assembly (52); a mounting member (54), the mounting member (54) is rotationally connected with the rack (51), and the forks (4) are arranged on a side of the mounting member (54) away from the rack (51); a guide member (55), the guide member (55) is fixed on the mounting member (54), one side of the guide member (55) facing the rack (51) is an inclined surface (551), and the inclined surface (551) is in abutment with a wheel surface of the second roller (53) under the action of gravity. The translation assembly (52) is used for driving the second roller (53) to move along the height direction of the rack (51), the mounting member (54) moves to the direction close to the wheel surface of the second roller (53) under the action of gravity, so that the inclined surface (551) abuts against the wheel surface of the second roller (53), and the mounting member (54) drives the synchronous movement of the fork (4), so as to change the inclination angle of the fork (4).

9. The scissor fork assembly of claim 8, wherein, The translation assembly (52) comprises a third member (521), a fourth member (522) and a third driving motor assembly (523), the third member (521) is arranged along the height direction of the rack (51) and is connected with the output shaft of the third driving motor assembly (523), the fourth member (522) is threadedly connected with the third member (521), and one end of the fourth member (522) is slidably connected with the rack (51) along the height direction of the rack (51). The second roller (53) is rotationally connected with the fourth member (522).

10. The scissor fork assembly of any one of claims 1-6, wherein, The first scissor arm and the second scissor arm of each stage are both provided with two, the two first scissor arms of the same stage are connected through a first connecting member (313), and the two second scissor arms of the same stage are connected through a second connecting member (314).

11. A fork lift truck characterised in that, The forklift truck comprises: a vehicle body; a mast assembly connected with the vehicle body; a scissor fork assembly, the scissor fork assembly is any one of the scissor fork assemblies in claims 1-10, and the mounting frame (1) of the scissor fork assembly is movably connected with the mast assembly.

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