阅读说明：本技术 一种用于无人叉车的双货叉 (Double-fork for unmanned forklift ) 是由 曹磊 徐依娇 鲁成 于 2021-03-19 设计创作，主要内容包括：本发明涉及一种用于无人叉车的双货叉,包括降组件和设置在升降组件上的安装基座,安装基座的侧面设有第一货叉和第二货叉；第一货叉和第二货叉均包括货叉主体、连接盘、稳定杆、调节杆和转动盘,本发明设置两个货叉进行货物的搬运,每个货叉都可以在伸缩组件和驱动组件的驱动下进行整体转动和角度调节,同时货叉主体的末端形状微微弯曲,使得第一货叉和第二货叉能够多角度调节,更加灵活地叉起非标准形状的货物,叉起货物后能够更加稳定进行运送。(The invention relates to a double-fork for an unmanned forklift, which comprises a lifting assembly and a mounting base arranged on the lifting assembly, wherein a first fork and a second fork are arranged on the side surface of the mounting base; the first fork and the second fork respectively comprise a fork main body, a connecting disc, a stabilizing rod, an adjusting rod and a rotating disc, the two forks are arranged for carrying goods, each fork can be driven by a telescopic assembly and a driving assembly to integrally rotate and adjust the angle, and meanwhile, the tail end of the fork main body is slightly bent in shape, so that the first fork and the second fork can be adjusted at multiple angles, the goods in non-standard shapes can be flexibly forked, and the goods can be more stably conveyed after being forked.)

1. The utility model provides a two forks for unmanned fork truck which characterized in that: the forklift comprises a lifting assembly and a mounting base arranged on the lifting assembly, wherein a first fork and a second fork which are horizontally and parallelly arranged are arranged on the side surface of the mounting base;

the first pallet fork and the second pallet fork are consistent in structure and respectively comprise a pallet fork main body, a connecting disc, a stabilizer bar, an adjusting rod and a rotating disc, one surface of the connecting disc is fixedly connected with the root of the pallet fork main body, one end of the other surface of the connecting disc is rotatably connected with one end of the stabilizer bar, the other end of the other surface of the connecting disc is connected with the adjusting rod through a connecting rod, two ends of the connecting rod are respectively rotatably connected with the adjusting rod and the connecting disc, the other end of the stabilizer bar is fixedly connected with the rotating disc, and the other end of the adjusting rod is connected with a telescopic assembly;

the rotating disc is rotatably connected with the side surface of the mounting base, a driving assembly for driving the rotating disc to rotate is arranged on the mounting base, and the driving assembly is connected with the rotating disc in a matched manner;

the thickness of the distal end of the fork body is less than the thickness of the other portions of the fork body, and the distal end of the fork body is bent upward.

2. The double-pallet fork for an unmanned forklift according to claim 1, wherein: the telescopic assembly comprises a through hole, a first motor and a first gear, wherein the through hole, the first motor and the first gear are arranged on the corresponding position of the rotating disc, the orientation of the through hole is that one end of the adjusting rod is provided with a sleeve, the sleeve is rotatably connected with an opening of the through hole through a bearing, an internal thread is arranged on the inner side wall of the sleeve, gear teeth matched with the first gear are arranged on the outer side wall of the sleeve, the first motor is fixedly arranged on the rotating disc, the first gear is arranged on a rotating shaft of the first motor, the first gear is meshed with the gear teeth on the outer side wall of the sleeve and is connected with the gear teeth on the outer side wall of the sleeve, the diameter of the first gear is smaller.

3. A double fork for an unmanned forklift as claimed in claim 2, wherein: the driving assembly comprises a second motor and a second gear, gear teeth matched with the second gear are arranged on the side face of the rotating disc, the second motor is fixedly arranged on the mounting base, the second gear is arranged on a rotating shaft of the second motor, and the second gear is meshed with the gear teeth on the side face of the rotating disc.

4. The double-pallet fork for an unmanned forklift according to claim 1, wherein: the lifting assembly comprises a plurality of oil cylinders arranged in parallel, the fixed ends of the oil cylinders are fixedly arranged on the forklift, and the movable ends of the oil cylinders are fixedly connected with the mounting base.

5. A double fork for an unmanned forklift as claimed in claim 3, wherein: the electromagnetic locking assembly comprises an electromagnetic coil, a spring and a magnetic bolt, a first mounting groove and a second mounting groove are respectively formed in the rotating disc and the mounting base, a plurality of circumferentially arrayed first pin holes and second pin holes are respectively formed in corresponding positions of the sleeve and the rotating disc, the electromagnetic coil, the spring and the magnetic bolt are sequentially mounted in the first mounting groove and the second mounting groove from the bottom to an opening, and the magnetic bolt is located in the first pin hole or the second pin hole when the spring is in a balance position; the electromagnetic coil is electrically connected with a control circuit inside the forklift.

Technical Field

The invention relates to the field of forklifts, in particular to a double-fork for an unmanned forklift.

Background

Unmanned fork truck, AGV, automated guided transporting vehicle utilizes the network to carry out control signal's transmission, thereby knows the peripheral condition through navigation head and independently plans, adjusts the route of marcing to load and unload and transport the material better. The flexibility of the AGV equipment is maximized without the characteristics of fixing devices such as a laying rail and the like, and the characteristics of high-efficiency, automatic, intelligent and flexible equipment enable the AGV equipment to be widely applied to various industry fields.

Along with the development of intelligent factories, unmanned warehouses and the like, the AGV is increasingly applied to automatic unmanned butt joint with other equipment and facilities, and the AGV with a fork device, namely a transfer robot, is a good solution. However, the existing transfer robots with forks only have one fork, so that the work efficiency is low, and meanwhile, the transfer robots can only transfer standard parts, and when transferring goods with non-standard shapes, the fixation is unstable.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a double fork for an unmanned forklift, which can be flexibly adjusted to stably carry various goods of non-standard shapes.

The invention discloses a double-fork for an unmanned forklift, which comprises a lifting assembly and a mounting base arranged on the lifting assembly, wherein a first fork and a second fork which are horizontally and parallelly arranged are arranged on the side surface of the mounting base;

the first pallet fork and the second pallet fork are consistent in structure and respectively comprise a pallet fork main body, a connecting disc, a stabilizer bar, an adjusting rod and a rotating disc, one surface of the connecting disc is fixedly connected with the root of the pallet fork main body, one end of the other surface of the connecting disc is rotatably connected with one end of the stabilizer bar, the other end of the other surface of the connecting disc is connected with the adjusting rod through a connecting rod, two ends of the connecting rod are respectively rotatably connected with the adjusting rod and the connecting disc, the other end of the stabilizer bar is fixedly connected with the rotating disc, and the other end of the adjusting rod is connected with a telescopic assembly;

the rotating disc is rotatably connected with the side surface of the mounting base, a driving assembly for driving the rotating disc to rotate is arranged on the mounting base, and the driving assembly is connected with the rotating disc in a matched manner;

the thickness of the distal end of the fork body is less than the thickness of the other portions of the fork body, and the distal end of the fork body is bent upward.

Further, flexible subassembly is including setting up through-hole, first motor and first gear on the rolling disc corresponds the position, the orientation of through-hole the one end of adjusting the pole is equipped with the sleeve, and the sleeve passes through the bearing to be connected with the opening part rotation of through-hole, is equipped with the internal thread on the telescopic inside wall, is equipped with the teeth of a cogwheel that matches with first gear on the telescopic lateral wall, and first motor is fixed to be set up on the rolling disc, first gear setting is in the pivot of first motor, and first gear is connected with the teeth of a cogwheel meshing on the telescopic lateral wall, and the diameter of first gear is less than telescopic diameter, the other end of adjusting the pole is equipped with the external screw thread, the other end of adjusting the pole is worn.

Further, drive assembly includes second motor and second gear, the side of rolling disc is equipped with the teeth of a cogwheel that matches with the second gear, and the second motor is fixed to be set up on the mounting base, the second gear setting is in the pivot of second motor, the second gear with the teeth of a cogwheel meshing of rolling disc side is connected.

Further, the lifting assembly comprises a plurality of oil cylinders arranged in parallel, fixed ends of the oil cylinders are fixedly arranged on the forklift, and movable ends of the oil cylinders are fixedly connected with the mounting base.

Furthermore, electromagnetic locking assemblies for fixing the telescopic assembly and the rotary disc are arranged on the rotary disc and the mounting base respectively, each electromagnetic locking assembly comprises an electromagnetic coil, a spring and a magnetic bolt, a first mounting groove and a second mounting groove are arranged on the rotary disc and the mounting base respectively, a plurality of circumferentially arrayed first pin holes and second pin holes are arranged in corresponding positions of the sleeve and the rotary disc respectively, the electromagnetic coils, the springs and the magnetic bolts are sequentially mounted in the first mounting grooves and the second mounting grooves from the bottom to openings, and the magnetic bolts are located in the first pin holes or the second pin holes when the springs are in a balance position; the electromagnetic coil is electrically connected with a control circuit inside the forklift.

The invention has the beneficial effects that: according to the double-fork for the unmanned forklift, the two forks are arranged for carrying goods, each fork can be integrally rotated and angularly adjusted under the driving of the telescopic assembly and the driving assembly, and meanwhile, the tail end of the fork main body is slightly bent in shape, so that the first fork and the second fork can be adjusted at multiple angles, the goods in non-standard shapes can be more flexibly forked, and the goods can be more stably conveyed after being forked.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that for a person skilled in the art, other relevant drawings can be obtained from the drawings without inventive effort:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a first fork of the present invention;

FIG. 3 is a cross-sectional structural view of a first fork of the present invention;

fig. 4 is an enlarged structural view of the electromagnetic stopping assembly of the present invention.

1-mounting a base: 11-second motor, 111-second gear;

2-first fork: 21-pallet fork main body, 22-connecting disc, 23-stabilizer bar, 24-adjusting rod, 25-rotating disc: 251-sleeve, 252-first motor: 2521-first gear, 26-link;

3-a second fork;

4-electromagnetic stop assembly: 41-electromagnetic coil, 42-spring, 43-magnetic bolt.

Detailed Description

As shown in fig. 1-4: the double-fork for the unmanned forklift comprises a lifting assembly and a mounting base 1 arranged on the lifting assembly, wherein a first fork 2 and a second fork 3 which are horizontally and parallelly arranged are arranged on the side surface of the mounting base 1;

the first pallet fork 2 and the second pallet fork 3 are consistent in structure and respectively comprise a pallet fork main body 21, a connecting disc 22, a stabilizer bar 23, an adjusting rod 24 and a rotating disc 25, one surface of the connecting disc 22 is fixedly connected with the root of the pallet fork main body 21, the pallet fork main body 21 is Y-shaped, the root of the pallet fork main body is a metal rod, the tail end of the pallet fork main body is two metal rods, one end of the other surface of the connecting disc 22 is hinged with one end of the stabilizer bar 23 through a rotating shaft, the other end of the other surface of the connecting disc 22 is connected with the adjusting rod 24 through a connecting rod 26, two ends of the connecting rod 26 are respectively hinged with the adjusting rod 24 and the connecting disc 22 through rotating shafts, the other end of the stabilizer bar 23 is perpendicular to the disc surface of the rotating disc 25;

the rotating disc 25 is hinged with the side surface of the mounting base 1 through a rotating shaft, a driving assembly for driving the rotating disc 25 to rotate is arranged on the mounting base 1, and the driving assembly is connected with the rotating disc 25 in a matched mode;

the two metal rods of the distal end of the fork main body 21 have a thickness smaller than that of the other portions of the fork main body 21, and the distal end of the fork main body 21 is bent upward.

The basic functional principle of the fork is as follows:

adjust pole 24's telescopic component's effect down and carry out concertina movement to the other end that drives connection pad 22 under connecting rod 26 rotates around stabilizer bar 23's pin joint, thereby the end of control fork main part 21 carries out angle modulation, and thereby drive assembly makes first fork 2 and second fork 3 wholly rotate through rotating the rolling disc 25:

when general box goods are forked, the tail ends of the fork main bodies 21 need to be inclined downwards firstly, so that the tail ends of the fork main bodies 21 are horizontal, and the goods can be forked by a forklift when the forklift runs forwards;

if the goods are irregularly shaped, the tail ends of the fork main bodies 21 of the first fork 2 and the second fork 3 are inclined downwards and adjusted, then the tail ends of the fork main bodies 21 of the first fork 2 and the second fork 3 are rotated outwards, the first fork 2 and the second fork 3 are similar to a shape which is opened by two hands and ready for being contained, then the forklift travels forwards, the first fork 2 and the second fork 3 are folded, the irregularly shaped goods are directly caught, and then the first fork 2 and the second fork 3 are rotated to lift the goods;

due to the more flexible structure, the double-fork of the invention can complete more complex actions and can grab irregularly shaped goods, and simultaneously, because the first fork 2 and the second fork 3 can be adjusted to the shape for furling the goods, the double-fork is more stable when transporting irregularly shaped goods.

In this embodiment, the telescopic assembly includes a through hole disposed at a corresponding position of the rotating disc 25, a first motor 252 and a first gear 2521, one end of the through hole facing the adjusting rod 24 is provided with a sleeve 251, the sleeve 251 is rotatably connected to an opening of the through hole through a bearing, an inner thread is disposed on an inner sidewall of the sleeve 251, gear teeth matched with the first gear 2521 are disposed on an outer sidewall of the sleeve 251, the first motor 252 is fixedly disposed on the rotating disc 25, the first gear 2521 is disposed on a rotating shaft of the first motor 252, the first gear 2521 is engaged with the gear teeth on the outer sidewall of the sleeve 251, a diameter of the first gear 2521 is smaller than a diameter of the sleeve 251, an outer thread is disposed at the other end of the adjusting rod 24, and the other end of the adjusting rod 24 is;

first motor 252 drives first gear 2521 when rotating, thereby drive sleeve 251 and rotate, rotate under the effect of internal thread and external screw thread when sleeve 251 rotates and be converted into rectilinear motion, thereby it carries out concertina movement to drive adjusting lever 24, it changes to drive the contained angle of connecting rod 26 and connection pad 22 when adjusting lever 24 is flexible, thereby it carries out angle modulation to drive the fork frame main part on connection pad 22 and the connection pad 22, when fork main part 21 carries the goods, the moment of torsion that needs increase first motor 252 can carry out angle modulation, consequently the diameter of first gear 2521 is less than the diameter of sleeve 251, add the moment of torsion that reduction gear set further increased first motor 252 even.

In this embodiment, the driving assembly includes a second motor 11 and a second gear 111, a side surface of the rotary disk 25 is provided with gear teeth matched with the second gear 111, the second motor 11 is fixedly disposed on the mounting base 1, the second gear 111 is disposed on a rotating shaft of the second motor 11, the second gear 111 is engaged with the gear teeth on the side surface of the rotary disk 25, the rotary disk 25 and the fork main body 21 are rotated through gear transmission, the gear teeth of the second gear 111 and the rotary disk 25 can also increase torque of the second motor 11, and free rotation can be performed when a load is loaded.

In this embodiment, lifting unit includes a plurality of parallel arrangement's hydro-cylinder, and the stiff end of hydro-cylinder is fixed to be set up on fork truck, the expansion end and the 1 fixed connection of mounting base of hydro-cylinder, oil circuit intercommunication in hydro-cylinder and the fork truck to drive the hydro-cylinder, lift whole fork subassembly through a plurality of hydro-cylinders, thereby lift the goods to the goods shelves of eminence.

In this embodiment, the rotating disc 25 and the mounting base 1 are both provided with an electromagnetic stopping assembly 4 for fixing the telescopic assembly and the rotating disc 25, the electromagnetic stopping assembly 4 includes an electromagnetic coil 41, a spring 42 and a magnetic bolt 43, the rotating disc 25 and the mounting base 1 are respectively provided with a first mounting groove and a second mounting groove, the corresponding positions of the sleeve 251 and the rotating disc 25 are respectively provided with a plurality of circumferentially arrayed first pin holes and second pin holes, the electromagnetic coil 41, the spring 42 and the magnetic bolt 43 are sequentially mounted in the first mounting groove and the second mounting groove from the bottom to the opening, and the magnetic bolt 43 is located in the first pin hole or the second pin hole when the spring 42 is in the balanced position; the electromagnetic coil 41 is electrically connected with a control circuit inside the forklift;

because the reliability of fixing the telescopic assembly and the rotating disc 25 through the self-locking effect of the motor is lower, the telescopic assembly and the rotating disc 25 are fixed by using the electromagnetic effect, when the adjustment is not needed, the magnetic bolt 43 is positioned in the first mounting groove and the first pin hole or the second mounting groove and the second pin hole under the action of the spring 42, the electromagnetic coil 41 is electrified by a control circuit in the forklift after the adjustment is needed, the magnetic bolt 43 is sucked into the first mounting groove or the second mounting groove, the rotating disc 25 is separated from the mounting base, the sleeve 251 is separated from the rotating disc 25, the further adjustment is carried out, the electromagnetic coil 41 is powered off after the adjustment is finished, the electromagnetic bolt is bounced into the first pin hole or the second pin hole in the corresponding position again to be fixed, and the stability during the locking is increased through a mechanical locking mode.

According to the double-fork for the unmanned forklift, the two forks are arranged for carrying goods, each fork can be integrally rotated and angularly adjusted under the driving of the telescopic assembly and the driving assembly, and meanwhile, the tail end of the fork main body 21 is slightly bent in shape, so that the first fork 2 and the second fork 3 can be adjusted at multiple angles, the goods in non-standard shapes can be flexibly forked, and the goods can be more stably conveyed after being forked.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.