Forked AGV carrier

Abstract

The utility model belongs to the technical field of carrying equipment, and relates to a fork taking type AGV carrier. The utility model discloses a main car body, cargo fork frame, hydraulic cylinder, running wheel mechanism, connecting rod mechanism and bearing wheel, the cargo fork frame includes two fork arms, the connecting rod mechanism is located in the fork arm, the bearing wheel is located at the front end of connecting rod mechanism, and the connecting rod mechanism moves back and forth to drive the bearing wheel to swing up and down, the cargo fork frame is slidably connected to the front end of main car body, the hydraulic cylinder is vertically arranged in the main car body, the running wheel mechanism is arranged at the lower end of main car body, and the utility model further includes a sliding frame, the sliding frame is slidably connected to the main car body, the output end of hydraulic cylinder is connected to the sliding frame upwards, the sliding frame is connected to the cargo fork frame after moving up a distance to drive the cargo fork frame to lift, and the lower end of sliding frame is rotatably connected to the connecting rod mechanism to drive the connecting rod mechanism to move back and forth. The utility model can effectively reduce the maintenance cost in later period and ensure that the cargo fork frame is in the horizontal state.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, and in particular to a forklift AGV handling vehicle. Background Technology

[0002] Existing pallet trucks, such as the pallet truck for transporting grid pallets disclosed in Chinese patent document CN116374893A, include a forklift body, a fork arm assembly, and two load-bearing wheels. The fork arm assembly is movably mounted on the forklift body and has a vertical movement stroke relative to the forklift body. The fork arm assembly includes two forks spaced apart along the width direction of the forklift body, and the two load-bearing wheels are movably mounted on each fork. In the vertical direction, the load-bearing wheels have a movement stroke towards and away from the forks. In this pallet truck, the forklift body has a vertically movable fork arm assembly, which includes forks. The fork arm assembly has load-bearing wheels at the bottom of the forks, and the load-bearing wheels have a movement stroke towards and away from the forks. During actual operation, when the forks are inserted into the pallet holes of the grid pallet, the load-bearing wheels retract towards the bottom of the forks to avoid friction with the bottom of the pallet.

[0003] However, the aforementioned pallet trucks also suffer from high maintenance costs and unstable fork carriage horizontal position. Utility Model Content

[0004] The purpose of this invention is to solve the problems existing in the prior art and provide a forklift AGV transport vehicle that can effectively reduce the later maintenance cost and ensure that the fork carriage is in a horizontal state.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A forklift-type AGV (Automated Guided Vehicle) includes a main body, a fork carriage, a hydraulic cylinder, a traveling wheel mechanism, a linkage mechanism, and a load-bearing wheel. The fork carriage includes two fork arms, the linkage mechanism is located inside the fork arms, and the load-bearing wheel is located at the front end of the linkage mechanism. The linkage mechanism moves back and forth, causing the load-bearing wheel to swing up and down. The fork carriage is slidably connected to the front end of the main body. The hydraulic cylinder is vertically located inside the main body, and the traveling wheel mechanism is located at the lower end of the main body. The vehicle also includes a slide, which is slidably connected to the main body. The output end of the hydraulic cylinder is connected upward to the slide. After the slide moves up a certain distance, it cooperates with the fork carriage to drive the fork carriage to rise and fall. The lower end of the slide is rotatably connected to the linkage mechanism, causing the linkage mechanism to move back and forth.

[0007] Preferably, the carriage includes two side plates and a top plate located at the upper end of the two side plates. Carriage guide wheels are provided on the opposite sides of the two side plates, and two carriage guide channels are provided inside the main carriage body.

[0008] Preferably, the fork carriage is provided with a lifting plate on the back, and the top plate is located below the lifting plate.

[0009] Preferably, each of the two side plates is provided with a drive frame on its opposite side, and the two drive frames are rotatably connected to the two sets of linkage mechanisms respectively.

[0010] Preferably, both side plates are provided with a flexible leveling mechanism between them and the fork carriage.

[0011] Preferably, the elastic leveling mechanism includes a pull rod, a compression spring, a spring tube, and a washer. The bottom of the spring tube is provided with a perforated base plate. Both the spring tube and the compression spring are sleeved on the pull rod. The washer is provided at the upper end of the pull rod. One end of the compression spring abuts against the washer, and the other end extends into the spring tube and abuts against the base plate. The pull rod is connected to the side plate, and the spring tube is connected to the fork carriage.

[0012] Preferably, the lower end of the pull rod is provided with a connecting block, which is rotatably connected to the drive frame.

[0013] Preferably, the linkage mechanism includes a lever arm block, a roller, a connecting rod, and a drive block. One end of the connecting rod is rotatably connected to the lever arm block, and the other end is rotatably connected to the bearing wheel. The end of the lever arm block away from the connecting rod is provided with a roller, and the end of the lever arm block near the connecting rod is rotatably connected to the carriage. The main body of the vehicle is provided with a limiting guide structure for the horizontal extension and retraction of the roller.

[0014] Preferably, the connecting rod includes a first unit rod, a second unit rod, and a telescopic adjustment structure. The first unit rod and the second unit rod each have a threaded hole at their opposite ends, and the threads of the two threaded holes are in opposite directions. The telescopic adjustment structure includes a screw rod with its two ends connected to the two threaded holes respectively, and two sets of positioning nuts disposed on the screw rod and respectively abutting against the first unit rod and the second unit rod.

[0015] Preferably, fork carriage guide wheels are provided on both opposite sides of the fork carriage, and two fork carriage guide channel steels are provided in the main vehicle body.

[0016] The advantages of this utility model are:

[0017] 1. The three working states of the fork carriage can be achieved through a set of hydraulic cylinders, which can effectively reduce the later maintenance costs;

[0018] 2. By synchronously driving the two sets of linkage mechanisms through the carriage, it can effectively ensure that the extension and retraction of the two sets of load-bearing wheels are consistent, thereby ensuring that the fork carriage is always in a horizontal state;

[0019] 3. The telescopic adjustment structure of the connecting rod enables fine-tuning of the synchronization of the two sets of bearing wheels. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of a forklift-type AGV transport vehicle provided in the embodiments of this specification;

[0021] Figure 2 This is a schematic diagram of the structure of the carriage and fork carriage in the embodiments provided in this specification;

[0022] Figure 3 This is a schematic diagram of the internal structure of the main vehicle body provided in the embodiments of this specification;

[0023] Figure 4 This is a schematic diagram of the linkage mechanism in the pulled-back state provided in the embodiments of this specification;

[0024] Figure 5 A schematic diagram of the linkage mechanism in the forward-pushing state provided in the embodiments of this specification;

[0025] Figure 6 for Figure 4 Enlarged structural diagram at point A;

[0026] Figure 7 This is a schematic diagram of the first state of a forklift AGV transporter provided in the embodiments of this specification;

[0027] Figure 8 This is a schematic diagram illustrating a second state of a forklift-type AGV transporter provided in the embodiments of this specification;

[0028] Figure 9 This is a schematic diagram illustrating the third state of a forklift AGV transporter provided in the embodiments of this specification;

[0029] Figure 10 This is a schematic diagram of the elastic leveling mechanism provided in the embodiments of this specification;

[0030] In the diagram: 1-Main body; 11-Fork carriage guide channel steel; 12-Slide carriage guide channel steel; 131-Roller bracket; 132-Roller limit plate; 2-Fork carriage; 21-Fork arm; 22-Fork carriage guide wheel; 23-Lifting plate; 3-Slide carriage; 31-Side plate; 32-Top plate; 33-Slide carriage guide wheel; 34-Drive frame; 4-Hydraulic cylinder; 5-Load-bearing wheel; 61-Balance wheel; 62-Travel wheel; 71-Lever arm block; 72-Roller; 73-Connecting rod; 731-First unit rod; 732-Second unit rod; 733-Screw; 734-Positioning nut; 735-Adjusting nut; 81-Pull rod; 811-Connecting block; 82-Compression spring; 83-Bourdon tube; 831-Bracket; 84-Washer; 9-Grid pallet. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0032] As mentioned in the background section, the pallet truck uses three sets of hydraulic cylinders to drive the lifting and lowering of the fork carriage and the extension and retraction of the two sets of load-bearing wheels. Therefore, maintenance of these three sets of hydraulic cylinders is required later, resulting in relatively high costs. Furthermore, the extension and retraction of the two sets of load-bearing wheels are driven by independent hydraulic cylinders, which can easily lead to synchronization problems, thereby affecting the horizontal position of the fork carriage.

[0033] Therefore, such as Figure 1-3 As shown, this embodiment provides a forklift-type AGV (Automated Guided Vehicle) for picking up pallets such as zigzag pallets, nine-legged pallets, and mountain-shaped pallets. The vehicle mainly includes a main body 1, a fork carriage 2, a slide 3, a hydraulic cylinder 4, a traveling wheel mechanism, a linkage mechanism, and load-bearing wheels 5. Conventionally, the fork carriage 2 includes two fork arms 21, with the linkage mechanism located within the fork arms 21. The load-bearing wheels 5 include wheel frames and wheel sets. The wheel frames are rotatably connected to the linkage mechanism and the fork arms 21, allowing the linkage mechanism to pull the wheel frames back and forth, causing the wheel frames to swing up and down around their rotatable connection point with the fork arms 21. When the load-bearing wheels 5 extend and contact the ground, they support the front end of the fork arms 21; when retracted, they prevent the fork arms 21 from colliding with the pallets during pallet picking. The traveling wheel mechanism is located at the lower end of the main body and is used to move the entire vehicle; it is a conventional structure and will not be described in detail here. Additionally, two balance wheels 61 are located at the lower end of the main body, and transition wheels 24 are located on the lower ends of the left and right sides of the fork carriage 2.

[0034] Unlike existing technologies, this embodiment uses a hydraulic cylinder to achieve the lifting and lowering of the fork carriage and the movement of two sets of linkage mechanisms. Specifically, the fork carriage 2 has two fork carriage guide wheels 22 on both opposite sides, and two fork carriage guide channels 11 are provided inside the main body 1 to enable the fork carriage 2 to slide up and down along the main body 1. Correspondingly, the carriage 3 includes two side plates 31 and a top plate 32 located on the upper end of the two side plates 31. Two carriage guide wheels 33 are provided on the opposite sides of the two side plates 31, and two carriage guide channels 12 are provided inside the main body 1. The hydraulic cylinder 4 is vertically installed inside the main body 1, and the output end of the hydraulic cylinder 4 is rotatably connected to the lower side of the top plate 32 to enable the carriage 3 to slide up and down along the main body 1. The carriage 3 is closer to the inside of the main body than the fork carriage 2. The fork carriage 2 has a lifting plate 23 on its back, with a top plate 32 positioned below it. Initially, there is a distance between the top plate 32 and the lifting plate 23. Thus, driven by the hydraulic cylinder 4, the carriage 3 needs to rise a certain distance before contacting the lifting plate 23 and lifting the fork carriage 2. The lower end of the carriage 3 is rotatably connected to a linkage mechanism, which in turn moves the linkage mechanism back and forth. Specifically, as follows... Figure 4 and 5As shown, the linkage mechanism includes a lever arm block 71, a roller 72, a connecting rod 73, and a drive block 74. One end of the connecting rod 73 is rotatably connected to the lever arm block 71, and the other end is rotatably connected to the bearing wheel 5. The end of the lever arm block 71 away from the connecting rod 73 is provided with a roller 72, and the end of the lever arm block 71 close to the connecting rod 73 is rotatably connected to the carriage 3. The main body 1 is provided with a limiting guide structure for the horizontal extension and retraction of the roller 72. The limiting guide structure consists of a lower roller bracket 131 and an upper roller limiting plate 132, and the roller 72 can slide horizontally between the two. Among them, the lever arm block 71 has a certain arc structure. As can be seen in the figure, when the slide 3 pulls the lever arm block 71 upward, the lever arm block 71 will push the connecting rod 73 forward, and the connecting rod 73 will drive the bearing wheel 5 to gradually extend outward of the fork arm 21; when the slide 3 pushes the lever arm block 71 downward, the lever arm block 71 will pull the connecting rod 73 backward, and the connecting rod 73 will drive the bearing wheel 5 to gradually retract inward of the fork arm 21.

[0035] Based on the above structure, this embodiment can realize the following three states of the transport vehicle:

[0036] In the first state, the carriage 3 is at its lowest position, and the fork carriage 2 is also at its lowest position, but there is a distance between the carriage 3 and the lifting plate 23 of the fork carriage 2; at the same time, the carriage 3 pushes the lever block 71 down to its lowest position, and the lever block 71 pulls the connecting rod 73 to its rearmost position, and the load-bearing wheel 5 is completely retracted into the fork arm 21. At this time, the state of the pallet truck is as follows. Figure 7 As shown, the two balance wheels 61, one travel wheel 62, and two transition wheels 24 are on the ground. Since the load-bearing wheel 5 is fully retracted, the pallet can be picked up by forklift in this state.

[0037] In the second state, the carriage 3 rises from its lowest position until it contacts the lifting plate 23 of the fork carriage 2. During this process, the fork carriage 2 remains at its lowest position. The carriage 3 pulls the lever arm block 71 upward, and the lever arm block 71 pushes the connecting rod 73 forward. The load-bearing wheel 5 gradually extends and supports itself on the ground. At this time, the transport vehicle is in the following state: Figure 8 As shown, the two balance wheels 61, one traveling wheel 62, two transition wheels 24 and two load-bearing wheels 5 are all on the ground. This state is the standby state or the stop state. Since the load-bearing wheels are supported on the ground at this time, the transport vehicle can stably move forward and backward.

[0038] In the third state, the carriage 3 continues to rise to its highest position, and the fork carriage 2 also rises to its highest position accordingly. During this process, the carriage 3 continuously pulls the lever arm block 71 upward, the lever arm block 71 continuously pushes the connecting rod 73 forward, and the load-bearing wheel 5 continuously extends beyond the fork arm 21. That is, as the fork carriage 2 gradually rises, the load-bearing wheel 5 also gradually extends accordingly to always support it on the ground and maintain the horizontal state of the fork carriage 2. At this time, the state of the pallet truck is as follows: Figure 9As shown, the two balance wheels 61, one traveling wheel 62, and two load-bearing wheels 5 are in contact with the ground, which can be either a loaded state or an unloaded state. In summary, this embodiment uses a single hydraulic cylinder to achieve three working states of the pallet truck. On the one hand, it reduces maintenance costs in the later stages; on the other hand, the two sets of linkage mechanisms are driven by the same slide 3, resulting in higher synchronization and making it easier to maintain the horizontal state of the fork carriage 2.

[0039] To ensure the connection strength between the carriage 3 and the linkage mechanism, drive frames 34 are provided on the opposite sides of the two side plates 31. The two drive frames 34 are rotatably connected to the lever arm blocks 71 of the two sets of linkage mechanisms, respectively.

[0040] Since the carriage 3 and the fork carriage 2 are not fixedly connected, especially when the carriage 3 is disengaged from the lifting plate 23, the lateral balance of the fork carriage 2 is difficult to guarantee. Therefore, elastic leveling mechanisms are provided between the two side plates 31 and the fork carriage 2 to maintain the lateral balance of the fork carriage 2, thus ensuring the consistent height of the two fork arms 21. Figure 10 As shown, the elastic leveling mechanism includes a pull rod 81, a compression spring 82, a spring tube 83, and a washer 84. The bottom of the spring tube 83 has a perforated base plate. Both the spring tube 83 and the compression spring 82 are sleeved on the pull rod 81. The washer 84 is attached to the upper end of the pull rod 81 by a nut. The upper end of the compression spring 82 abuts against the washer 84, and the lower end extends into the spring tube 83 and abuts against the base plate. A bracket 831 is provided on the side of the spring tube 83 to connect to the fork carriage 2. A connecting block 811 is provided at the lower end of the pull rod 81, and the connecting block 811 is rotatably connected to the drive frame 34. Thus, when the fork carriage 2 is in the lowest position, the spring tube 83 connected to it is also in the lowest position and remains stationary. At this time, the slide 3 continues to descend, which will pull the pull rod 81 downward through the drive frame 34. The compression spring 82 is gradually compressed. The elastic force of the compression spring 82 on the spring tube 83 allows the left and right sides of the fork carriage 2 to be in a relatively balanced state.

[0041] To balance the error and ensure that the extension and retraction of the two sets of load-bearing wheels 5 are consistent. For example... Figure 6As shown, the connecting rod 73 includes a first unit rod 731, a second unit rod 732, and a telescopic adjustment structure. Each of the first unit rod 731 and the second unit rod 732 has a threaded hole at one opposite end, with the threads of the two threaded holes in opposite directions. The telescopic adjustment structure includes a screw 733 connected to the two threaded holes at both ends, and two sets of positioning nuts 734 mounted on the screw 733 and respectively abutting against the first unit rod 731 and the second unit rod 732. An adjusting nut 735 is fixedly mounted in the middle of the screw 733. Thus, by rotating the screw 733 through the adjusting nut 735, the screw 733 is pulled closer together or pushed apart from the first unit rod 731 and the second unit rod 732, thereby adjusting the length of the entire connecting rod. The adjusted length is fixed by tightening the positioning nuts 734 at the ends of the unit rods, thus allowing adjustment of the telescopic range of the bearing wheel 5 in a certain state to ensure that the telescopic range of the two sets of bearing wheels is consistent.

[0042] The above are merely preferred embodiments of this utility model, and are implementations based on the overall concept of this utility model. Furthermore, the scope of protection of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the scope of protection of this utility model. Therefore, the scope of protection of this utility model should be determined by the scope of the claims.

Claims

1. A forklift-type AGV (Automated Guided Vehicle) transporter, comprising a main body, a fork carriage, a hydraulic cylinder, a traveling wheel mechanism, a linkage mechanism, and a load-bearing wheel. The fork carriage includes two fork arms, the linkage mechanism is disposed within the fork arms, and the load-bearing wheel is disposed at the front end of the linkage mechanism. The linkage mechanism moves back and forth, causing the load-bearing wheel to swing up and down. The fork carriage is slidably connected to the front end of the main body. The hydraulic cylinder is vertically disposed within the main body, and the traveling wheel mechanism is disposed at the lower end of the main body. The fork carriage is characterized in that... It also includes a carriage, which is slidably connected to the main body of the vehicle. The output end of the hydraulic cylinder is connected upward to the carriage. After the carriage moves up a certain distance, it cooperates with the fork carriage to drive the fork carriage to rise and fall. The lower end of the carriage is rotatably connected to the linkage mechanism to drive the linkage mechanism to move back and forth.

2. The forklift-type AGV transport vehicle according to claim 1, characterized in that, The carriage includes two side plates and a top plate located at the upper end of the two side plates. Carriage guide wheels are provided on the opposite sides of the two side plates, and two carriage guide channels are provided inside the main carriage body.

3. A forklift-type AGV transport vehicle according to claim 2, characterized in that, The fork carriage is equipped with a lifting plate on its back, and the top plate is located below the lifting plate.

4. A forklift-type AGV transport vehicle according to claim 2, characterized in that, Each of the two side plates has a drive frame on its opposite side, and the two drive frames are rotatably connected to the two sets of linkage mechanisms respectively.

5. A forklift-type AGV transport vehicle according to claim 4, characterized in that, Both side plates are equipped with elastic leveling mechanisms between themselves and the forklifts.

6. A forklift-type AGV transport vehicle according to claim 5, characterized in that, The elastic leveling mechanism includes a pull rod, a compression spring, a spring tube, and a washer. The bottom of the spring tube is provided with a perforated base plate. Both the spring tube and the compression spring are sleeved on the pull rod. The washer is provided at the upper end of the pull rod. One end of the compression spring abuts against the washer, and the other end extends into the spring tube and abuts against the base plate. The pull rod is connected to the side plate, and the spring tube is connected to the fork carriage.

7. A forklift-type AGV transport vehicle according to claim 6, characterized in that, The lower end of the pull rod is provided with a connecting block, which is rotatably connected to the drive frame.

8. A forklift-type AGV transport vehicle according to claim 1, characterized in that, The linkage mechanism includes a lever arm block, a roller, a connecting rod, and a drive block. One end of the connecting rod is rotatably connected to the lever arm block, and the other end is rotatably connected to the bearing wheel. The end of the lever arm block away from the connecting rod is provided with a roller, and the end of the lever arm block near the connecting rod is rotatably connected to the carriage. The main body of the vehicle is provided with a limiting guide structure for the horizontal extension and retraction of the roller.

9. A forklift-type AGV transport vehicle according to claim 8, characterized in that, The connecting rod includes a first unit rod, a second unit rod, and a telescopic adjustment structure. The first unit rod and the second unit rod each have a threaded hole at one end facing each other. The threads of the two threaded holes are in opposite directions. The telescopic adjustment structure includes a screw rod with its two ends connected to the two threaded holes respectively, and two sets of positioning nuts on the screw rod that abut against the first unit rod and the second unit rod respectively.

10. A forklift-type AGV transport vehicle according to claim 1, characterized in that, The fork carriage is provided with fork carriage guide wheels on both opposite sides, and the main vehicle body is provided with two fork carriage guide channel steels.

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