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A platform for research: civil engineering, architecture and urbanism
Fork arm linkage vehicle carrying robot and forklift method thereof
The invention belongs to the technical field of vehicle carrying robots, and discloses a fork arm linkage vehicle carrying robot and a forklift method thereof. The robot comprises a cross beam provided with a length adjusting structure; two longitudinal beams which are provided with steering wheels and universal wheels, and one end of each longitudinal beam is connected with the cross beam through a lifting structure; four fork arms which are movably mounted on the left side and the right side, on the same side as the longitudinal beam, of the cross beam respectively; the fork arm is connected with a fork arm linkage structure, the fork arm linkage structure comprises a moving motor, a fixing frame, a first nut, a second nut and a lead screw; when the moving motor rotates, the first nut and the second nut move on the lead screw by the same displacement in the opposite directions, and therefore the two fork arms with the symmetrical and identical structures are driven to move by the same displacement in the opposite directions. Firstly, the middle points of the lead screws of the two fork arm linkage structures correspond to the center points of the two wheels respectively, then the forklift preparation positions of the fork arms can be directly determined, and finally a vehicle is forked.
本发明属于车辆搬运机器人技术领域，公开一种叉臂联动车辆搬运机器人及其叉车方法。所述机器人包括：一个横梁，设有长度调节结构；两个纵梁，安装有舵轮和万向轮，且其一端与横梁的通过升降结构连接在一起；四个叉臂，分别可移动的安装在横梁的与纵梁同一侧的左右两侧；所述叉臂连接有叉臂联动结构，所述叉臂联动结构包括：移动电机、固定架、第一螺母、第二螺母、丝杠；当移动电机转动时，第一螺母和第二螺母在丝杠上向相反的方向上移动相同的位移，从而带动结构对称相同的两个叉臂向相反的方向移动相同的位移。首先使得两个叉臂联动结构的丝杠的中点分别与两个车轮的中心点相对应，然后直接就可以确定叉臂的叉车准备位置，最终叉起车辆。
Fork arm linkage vehicle carrying robot and forklift method thereof
The invention belongs to the technical field of vehicle carrying robots, and discloses a fork arm linkage vehicle carrying robot and a forklift method thereof. The robot comprises a cross beam provided with a length adjusting structure; two longitudinal beams which are provided with steering wheels and universal wheels, and one end of each longitudinal beam is connected with the cross beam through a lifting structure; four fork arms which are movably mounted on the left side and the right side, on the same side as the longitudinal beam, of the cross beam respectively; the fork arm is connected with a fork arm linkage structure, the fork arm linkage structure comprises a moving motor, a fixing frame, a first nut, a second nut and a lead screw; when the moving motor rotates, the first nut and the second nut move on the lead screw by the same displacement in the opposite directions, and therefore the two fork arms with the symmetrical and identical structures are driven to move by the same displacement in the opposite directions. Firstly, the middle points of the lead screws of the two fork arm linkage structures correspond to the center points of the two wheels respectively, then the forklift preparation positions of the fork arms can be directly determined, and finally a vehicle is forked.
本发明属于车辆搬运机器人技术领域，公开一种叉臂联动车辆搬运机器人及其叉车方法。所述机器人包括：一个横梁，设有长度调节结构；两个纵梁，安装有舵轮和万向轮，且其一端与横梁的通过升降结构连接在一起；四个叉臂，分别可移动的安装在横梁的与纵梁同一侧的左右两侧；所述叉臂连接有叉臂联动结构，所述叉臂联动结构包括：移动电机、固定架、第一螺母、第二螺母、丝杠；当移动电机转动时，第一螺母和第二螺母在丝杠上向相反的方向上移动相同的位移，从而带动结构对称相同的两个叉臂向相反的方向移动相同的位移。首先使得两个叉臂联动结构的丝杠的中点分别与两个车轮的中心点相对应，然后直接就可以确定叉臂的叉车准备位置，最终叉起车辆。
Fork arm linkage vehicle carrying robot and forklift method thereof
一种叉臂联动车辆搬运机器人及其叉车方法
JIA BAOHUA (author)
2022-01-28
Patent
Electronic Resource
Chinese
IPC:
E04H
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