A fork tooth with a lifting mechanism

Abstract

This utility model discloses a fork tooth with a lifting mechanism, including a fork tooth body, a support plate, a mechanical limit plate, and a lead screw. A bearing is mounted on the support plate, and the lead screw is connected to the support plate via the bearing. A motor is mounted on the fork tooth body, and the motor's output shaft is connected to the lead screw. A nut is mounted on the lead screw, and a fixing plate is fitted onto the nut. A guide shaft is mounted on the fixing plate, and the guide shaft is floatingly connected to the nut's flange. A spring is mounted on the guide shaft, and a limit component is mounted at the other end of the guide shaft. A lifting mechanism is also mounted on the nut. The fork tooth with a lifting mechanism provided by this utility model adopts a lifting mechanism with a landing gear structure to realize the raising and lowering of the fork tooth. A single lifting mechanism, through the guide shaft and spring, allows both lifting mechanisms to fully retract the fork tooth, while avoiding overload of the lifting mechanism that retracts first. The two lifting mechanisms are connected by an angular adjustment sleeve with angular adjustment function.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, and in particular to a fork tooth with a lifting mechanism. Background Technology

[0002] Pallet handling robots are unmanned handling devices widely used in industrial production and logistics warehousing. They achieve automatic operation through built-in navigation and control systems, and can automatically transport goods according to preset paths, greatly improving production efficiency and reducing the labor intensity of workers.

[0003] Currently, there are two types of unmanned handling equipment on the market: one is the pallet jack, which is a relatively outdated technology; the other is the pallet handling robot. A more advanced one is a pallet handling robot with patent number CN222433226U that is applicable to both crisscross and cross-shaped pallets. However, the fork in this patent has the following drawbacks: there is no structure with angular adjustment function between the two lifting mechanisms inside the fork, and no floating mechanism is set for each lifting mechanism. This leads to a situation where, due to processing errors, after the lifting mechanism retracts the fork, there is a large height difference between the two lifting mechanisms after they have retracted to the preset limit position, and this difference cannot be adjusted. That is, after one lifting mechanism retracts into the fork and reaches the preset limit, the other lifting mechanism has not yet reached the preset limit. In order to make the outer lifting mechanism also retract into the preset limit inside the fork, the lead screw will continue to rotate, which leads to overload of the lifting mechanism that has already retracted into the fork.

[0004] Therefore, a fork tooth with a lifting mechanism is proposed to solve the above problems. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a fork tooth with a lifting mechanism to solve the problems existing in the background technology.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a fork tooth with a lifting mechanism, comprising a fork tooth body, a support plate, a mechanical limiting plate, and a lead screw disposed within the fork tooth body, a bearing hole provided on the support plate, a bearing disposed within the bearing hole, the lead screw being connected to the support plate via the bearing, a motor disposed on the fork tooth body, the output shaft of the motor being connected to the lead screw, a nut disposed on the lead screw, a fixing plate sleeved on the nut, a guide shaft disposed on the fixing plate, the guide shaft being floatingly connected to the nut flange of the nut, a spring disposed on the guide shaft, a limiting element disposed at one end of the guide shaft away from the fixing plate, one end of the spring pressing on the limiting element, and the other end pressing on the nut flange of the nut, and a lifting mechanism also disposed on the nut.

[0007] Preferably, there are two lead screws, which are connected by an angular adjusting sleeve.

[0008] Preferably, the angular adjustment sleeve includes hemisphere A and hemisphere B. Hemisphere A is provided with a plurality of scale grooves in the circumferential direction, and hemisphere B is provided with a plurality of scale keys in the circumferential direction. The scale keys are adapted to and connected to the scale grooves.

[0009] Preferably, the angular adjustment sleeve includes hemisphere A and hemisphere B, which are fixedly connected by a clamp.

[0010] Preferably, the number of lead screws is one.

[0011] The beneficial effects of this utility model are:

[0012] 1. The fork teeth are raised and lowered by a lifting mechanism, which is a landing gear structure, installed between the beginning and end of the lead screw. The lifting mechanism performs a telescopic movement under the rotation of the lead screw, thereby driving the entire fork teeth to rise and fall.

[0013] 2. In the case of two lead screws, the two lifting mechanisms are connected by an angular adjusting sleeve to adjust the height difference between the two lifting mechanisms in their retracted state. When installing the two lead screws, the two hemispheres are adjusted so that the scale groove and scale key engage, thereby adjusting and significantly reducing the height difference at the bottom of the two lifting mechanisms, which in turn significantly reduces the difference in the rising distance between the two lifting mechanisms when they retract into the fork teeth.

[0014] 3. By setting guide shafts and springs, both lifting mechanisms are fully retracted into the fork teeth, and overload is avoided for the lifting mechanism that reaches the mechanical limit first. When one lifting mechanism retracts into the fork teeth and reaches the mechanical limit, the lead screw continues to rotate to retract the other. At this time, the nut connected to the pre-retracted lifting mechanism moves along the guide shaft and compresses the spring. Since the spring has a buffering effect, overload is avoided. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the internal structure of the fork tooth body of this utility model.

[0018] Figure 3This is a schematic diagram of the connection between the angular adjustment sleeve and the clamp of this utility model.

[0019] Figure 4 This is a schematic diagram of the angular adjustment sleeve structure of this utility model.

[0020] Figure 5 This is a schematic diagram of the hemispherical A structure of this utility model.

[0021] Figure 6 This is a schematic diagram of the hemispherical B structure of this utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Fork tooth body; 2. Lifting mechanism; 3. Lead screw; 4. Support plate; 5. Bearing; 6. Nut; 7. Fixed plate; 8. Guide shaft; 9. Spring; 10. Angular adjustment sleeve; 101. Hemisphere A; 102. Hemisphere B; 103. Scale groove; 104. Scale key; 11. Clamp; 12. Motor; 13. Limiting component; 14. Mechanical limit plate. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] Reference Figures 1 to 6 This invention provides an embodiment of a fork tooth with a lifting mechanism. The fork tooth includes a fork tooth body 1, within which a support plate 4, a mechanical limiting plate 14, and a lead screw 3 are disposed. The mechanical limiting plate 14 is fixedly disposed at the top of the fork tooth body 1 to limit the retraction displacement of the lifting mechanism 2. The support plate 4 has a bearing hole, and a bearing 5 is disposed within the bearing hole. The lead screw 3 is connected to the support plate 4 via the bearing 5. A motor 12 is disposed on the fork tooth body 1, and the output shaft of the motor 12 is connected to the lead screw 3. A nut 6 is disposed on the lead screw 3, and a fixing plate 7 is sleeved on the nut 6. A guide shaft 8 is disposed on the fixing plate 7, and the guide shaft 8 is floatingly connected to the nut flange of the nut 6. A spring 9 is disposed on the guide shaft 8, and a limiting element 13 is disposed at one end of the guide shaft 8 away from the fixing plate 7. One end of the spring 9 presses against the limiting element 13, and the other end presses against the nut flange of the nut 6. The nut 6 is also provided with a lifting mechanism 2. The lifting mechanism 2 is a landing gear structure with two-stage telescopic function.

[0026] Example 1

[0027] Specifically, the fork body 1 is equipped with a lead screw 3 and two support plates 4. The support plates 4 have bearing holes, and bearings 5 ​​are installed in the bearing holes. The two bearings 5 ​​are on the same straight line. The lead screw 3 is connected to the two bearings 5. One end of the lead screw 3 is connected to a motor 12, which drives the lead screw 3 to rotate. The two coaxial bearings 5 ​​improve the straightness of the lead screw 3.

[0028] Specifically, a nut 6 is mounted on the lead screw 3, and a lifting mechanism 2 for lifting the fork teeth is mounted on the nut 6. A fixing plate 7 is fixedly mounted inside the fork tooth body 1, and the fixing plate 7 has a connecting hole. The nut 6 includes a nut body and a nut flange. The nut body floats and fits into the connecting hole on the fixing plate 7. A guide shaft 8 is mounted on the fixing plate 7, passing through the nut flange and fixedly mounted on the fixing plate 7. The guide shaft 8 is movably connected to the nut 6. A spring 9 is mounted on the guide shaft 8, and a limiting member 13 is provided at the other end of the guide shaft 8 to prevent the nut 6 from falling off during movement. One end of the spring 9 presses against the limiting member 13, and the other end presses against the nut flange of the nut 6. The spring 9 serves as a buffer. On the other hand, when one lifting mechanism 2 retracts into the fork teeth and reaches the mechanical limiting plate 14, the lead screw 3 continues to rotate to retract the other one. At this time, the nut 6 connected to the first retracted lifting mechanism 2 moves along the guide shaft 8, compressing the spring 9. Because the spring 9 has a buffering effect, overload is avoided.

[0029] In some embodiments, the output shaft of the motor 12 is connected to a reducer, and the output end of the reducer is connected to the lead screw 3.

[0030] Working principle: The lifting mechanism 2 is a hinged two-stage telescopic linkage mechanism. The motor 12 rotates, driving the lead screw 3 to rotate, which in turn causes the other nut 6 on the lead screw 3 to move in the opposite direction, causing the lifting mechanism 2 to retract. However, due to factors such as machining errors, the two lifting mechanisms 2 cannot retract simultaneously. When one lifting mechanism 2 retracts to the mechanical limit plate 14 first, the other is still outside the fork tooth body 1. The lead screw 3 continues to rotate, and the nut 6 of the first retracted lifting mechanism 2 continues to move along the guide shaft 8 and in the hole of the fixed plate 7, compressing the spring 9. Since the spring 9 has a buffering effect, overload is avoided.

[0031] Example 2

[0032] The fork tooth body 1 is equipped with two coaxial lead screws 3, and each lead screw 3 is equipped with two support plates 4 with bearings 5. However, due to machining and assembly errors of the lead screws 3 and lifting mechanisms 2, it is difficult to ensure that the difference in the bottom distance between the two lifting mechanisms 2 is small enough, and thus it is difficult to ensure that both lifting mechanisms 2 are retracted into the fork tooth body 1. Therefore, an angular adjusting sleeve 10 is provided to connect the two lead screws 3.

[0033] Specifically, the angular adjustment sleeve 10 includes a hemisphere A101 and a hemisphere B102. Hemisphere A101 is fixedly connected to one lead screw 3, and hemisphere B102 is fixedly connected to another lead screw 3. Hemisphere A101 and hemisphere B102 are fixedly connected by a clamp 11, and the axis of the clamp 11 is perpendicular to the axis of the angular adjustment sleeve 10.

[0034] Specifically, hemisphere A101 has multiple scale grooves 103 arranged circumferentially, and hemisphere B102 has multiple scale keys 104 arranged circumferentially, with the scale keys 104 being adapted to and connected to the scale grooves 103.

[0035] Specifically, the connection method, function, and implementation force of the single lifting mechanism 2 and the fork tooth body 1 are the same. The connection method and function of the nut 6, fixing plate 7, guide shaft 8, spring 9, and lifting mechanism 2 are the same as in Embodiment 1.

[0036] Working principle: Hemisphere A101 is fixedly connected to one lead screw 3, and hemisphere B102 is fixedly connected to another lead screw 3. When the difference in the bottom distance between the two lifting mechanisms 2 is too large, the difference in the bottom distance between the two lifting mechanisms 2 can be reduced by fixing one hemisphere and rotating the other hemisphere clockwise or counterclockwise.

[0037] Note that the connection between the angular adjusting sleeve 10 and the two lead screws 3 is performed during the fork assembly stage.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A tine with a lifting mechanism, comprising a tine body (1), characterized in that: The fork tooth body (1) is provided with a support plate (4), a mechanical limiting plate (14) and a lead screw (3). The support plate (4) is provided with a bearing hole, and a bearing (5) is provided in the bearing hole. The lead screw (3) is connected to the support plate (4) through the bearing (5). The fork tooth body (1) is provided with a motor (12). The output shaft of the motor (12) is connected to the lead screw (3). A nut (6) is provided on the lead screw (3). A sleeve is fitted on the nut (6). A fixed plate (7) is provided, and a guide shaft (8) is provided on the fixed plate (7). The guide shaft (8) is floatingly connected to the nut flange of the nut (6). A spring (9) is provided on the guide shaft (8). A limit member (13) is provided at one end of the guide shaft (8) away from the fixed plate (7). One end of the spring (9) presses on the limit member (13), and the other end presses on the nut flange of the nut (6). A lifting mechanism (2) is also provided on the nut (6).

2. A tine with a lift mechanism according to claim 1, characterized in that: The lead screw (3) is provided in two parts, and the two lead screws (3) are connected by an angular adjustment sleeve (10).

3. A tine with a lift mechanism according to claim 2, characterized in that: The angular adjustment sleeve (10) includes a hemisphere A (101) and a hemisphere B (102). The hemisphere A (101) is provided with a plurality of scale grooves (103) in the circumferential direction, and the hemisphere B (102) is provided with a plurality of scale keys (104) in the circumferential direction. The scale keys (104) are adapted to and connected to the scale grooves (103).

4. The lift arm of claim 2, wherein: The angular adjustment sleeve (10) includes hemisphere A (101) and hemisphere B (102), which are fixedly connected by a clamp (11).

5. The lift arm of claim 1, wherein: The number of lead screws (3) is one.

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