Unmanned forklift

Abstract

The present invention relates to an unmanned forklift, comprising: a vehicle body, detection devices are respectively provided on opposite sides of the vehicle body to form mutually parallel detection planes on both sides of the vehicle body, and the detection planes extend roughly in the vertical direction; a cargo fork, used to support cargo; a gantry assembly, connected to the vehicle body, and capable of driving the cargo fork to move horizontally relative to the vehicle body, and the direction in which the cargo fork moves horizontally relative to the vehicle body with the gantry assembly is roughly perpendicular to the detection plane; a lifting drive mechanism, provided in the gantry assembly, and used to drive the cargo fork to move up and down; and a controller, electrically connected to the detection device, and when the cargo fork translates the cargo so that the cargo touches the detection plane, the detection device sends a detection signal to the controller, and the controller obtains the width of the cargo according to the detection signals sent by the detection devices located on both sides of the vehicle body. The above-mentioned unmanned forklift can obtain the cargo width, prevent the cargo from being too wide to be placed in a container or colliding with the container, and can improve the cargo storage efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned forklifts, and in particular to an unmanned forklift. Background Art

[0002] When traditional unmanned forklifts transport goods to containers, they are prone to hitting the containers due to the width of the goods, affecting the storage efficiency of the goods. Summary of the invention

[0003] Based on this, it is necessary to provide an unmanned forklift to address the problem of cargo being too wide and easily hitting the container.

[0004] An unmanned forklift, comprising:

[0005] A vehicle body, wherein detection devices are respectively provided on opposite sides of the vehicle body to form detection planes parallel to each other on both sides of the vehicle body, and the detection planes extend substantially in the vertical direction;

[0006] Forks, used to support cargo;

[0007] A gantry assembly connected to the vehicle body and capable of driving the fork to move horizontally relative to the vehicle body, wherein the direction in which the fork moves horizontally relative to the vehicle body along with the gantry assembly is substantially perpendicular to the detection plane;

[0008] A lifting drive mechanism, provided on the gantry assembly and used to drive the fork to move up and down; and

[0009] The controller is electrically connected to the detection device, and when the fork translates the goods so that the goods touch the detection plane, the detection device sends a detection signal to the controller, and the controller obtains the width of the goods according to the detection signals sent by the detection devices located on both sides of the vehicle body.

[0010] The above-mentioned unmanned forklift is equipped with a detection device, which drives the cargo to move horizontally through the fork so that the cargo touches the detection plane. The controller obtains the width of the cargo based on the detection signal emitted by the detection device located on both sides of the vehicle body, thereby preventing the cargo from being too wide to be placed in the container or colliding with the container, thereby improving the cargo storage efficiency.

[0011] In one embodiment, the detection device includes an adjustment seat, a mounting seat and a detector, the detector is rotatably mounted on the mounting seat, the mounting seat is slidably connected to the adjustment seat, and the adjustment seat is fixed to the door frame assembly.

[0012] In one of the embodiments, a mounting hole is provided on the mounting seat, and a waist-shaped hole is provided on the adjustment seat. The waist-shaped hole is inclined relative to the vertical plane. The pin shaft passes through the mounting hole and is partially exposed outside the mounting hole. The pin shaft partially exposed outside the mounting hole is slidably arranged in the waist-shaped hole to make the position of the mounting seat adjustable.

[0013] In one embodiment, the detector is capable of emitting laser light, and the detector is rotated and scanned relative to the mounting base to form the detection plane.

[0014] In one embodiment, the controller sets a preset size of the container and controls the movement of the fork according to the acquired cargo width, so that the fork places the cargo in the container with a preset size at least larger than the cargo width.

[0015] In one of the embodiments, it also includes a side shift frame and a fork frame, wherein the side shift frame is slidably connected to the portal frame assembly and can move up and down relative to the portal frame assembly, the fork is fixed to the fork frame, the fork frame is connected to the side shift frame, and the fork frame can slide horizontally relative to the side shift frame to drive the fork to move horizontally relative to the portal frame assembly.

[0016] In one of the embodiments, it also includes a displacement detection component, the displacement detection component includes a displacement sensor, the displacement sensor includes a brush slider and a resistance guide rail that are slidably connected, the resistance guide rail is fixed to the fork frame, and the brush slider is installed on the side shift frame. When the fork frame moves horizontally relative to the door frame assembly, the fork frame can drive the resistance guide rail to move relative to the brush slider.

[0017] In one of the embodiments, the displacement detection assembly further includes a receiving member, the receiving member is integrally connected to the brush slider, and the displacement sensor is connected to the side shift frame via the receiving member.

[0018] In one embodiment, the receiving member includes a guide rod and a bearing, the bearing is slidably arranged on the guide rod, the guide rod and the resistance guide rail are arranged on the fork frame in parallel and at intervals, the displacement detection assembly also includes a first mounting plate and a second mounting plate, the bearing and the brush slider are both fixed to the first mounting plate, and connected to the second mounting plate through the first mounting plate, so that when the fork frame moves horizontally relative to the door frame assembly, the resistance guide rail slides relative to the brush slider.

[0019] In one embodiment, the first mounting plate is provided with a through hole, the second mounting plate is provided with a swing rod, one end of the swing rod is hinged to the second mounting plate, and the other end of the swing rod is movably inserted into the through hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a combined axonometric diagram of an unmanned forklift in one embodiment;

[0021] Figure 2 for Figure 1 A partial enlarged view of;

[0022] Figure 3 is a schematic diagram of a detection plane in one embodiment;

[0023] Figure 4 is a schematic diagram of cargo, cargo forks and a detection plane in one embodiment;

[0024] Figure 5 for Figure 1 An exploded view of the unmanned forklift shown;

[0025] Figure 6 for Figure 5 B is a partial enlarged view;

[0026] Figure 7 for Figure 5 A combined axonometric view of a displacement detection assembly in an unmanned forklift shown;

[0027] Figure 8 for Figure 7 An exploded view of the displacement detection assembly shown;

[0028] Fig. 9 for Figure 1 A combined axonometric view of the first gantry, the second gantry, the third gantry and the lifting drive mechanism in the unmanned forklift shown;

[0029] Fig.10 for Fig. 9 Top view of the . DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] Please refer to Figure 1 , Figure 4 and Fig. 9 An unmanned forklift of an embodiment is used to fork cargo 20. The unmanned forklift includes a vehicle body 100, a gantry assembly 200, a cargo fork 300, a lifting drive mechanism 400, a detection device 500 and a controller (not shown in the figure).

[0034] Please refer to Figure 1 The gantry assembly 200 is connected to the vehicle body 100 and can drive the fork 300 to move horizontally relative to the vehicle body 100.

[0035] It should be noted that detection devices 500 are respectively provided on opposite sides of the vehicle body 100 to form parallel detection planes 501 on both sides of the vehicle body 100. The detection planes 501 extend roughly in the vertical direction, and the direction in which the fork 300 moves horizontally relative to the vehicle body 100 along with the mast assembly 200 is roughly perpendicular to the detection plane 501.

[0036] Specifically, the vehicle body 100 includes a body 110 and a chassis 120 , the body 110 is fixedly connected to the chassis 120 and is located above the chassis 120 , and the door frame assembly 200 is connected to the chassis 120 .

[0037] In some embodiments, the body 110 and the chassis 120 are connected by riveting, which is convenient for replacing the chassis 120 after it is damaged, and is conducive to resource recycling. In other embodiments, the body 110 and the chassis 120 can also be an integrated structure to enhance structural strength and integrity.

[0038] For further information, please refer to Figure 5 The chassis 120 includes a connecting portion 121 and two extending portions 122. The two extending portions 122 are respectively connected to two ends of the connecting portion 121. The extending portions 122 extend in a first direction (i.e. Figure 5 The inner side of the extension portion 122 is provided with a slide groove 123, and the slide groove 123 extends along the Figure 5 As shown, the gantry assembly 200 extends in the X direction, and a roller 201 is provided on the outer side of the gantry assembly 200. The roller 201 slides along the slide groove 123, that is, the gantry assembly 200 can drive the fork 300 to move horizontally along the first direction relative to the vehicle body 100, so as to facilitate the fork 300 to adjust the distance from the cargo 20 when picking up the cargo 20.

[0039] In some embodiments, the connecting portion 121 and the extending portion 122 are integrally formed structures with good integrity and high strength. In other embodiments, the connecting portion 121 and the extending portion 122 can also be split structures, and the extending portion 122 can be detachably connected to the connecting portion 121 to facilitate replacement of the extending portion 122 after it is damaged.

[0040] In some embodiments, the length of the extension portion 122 cannot be adjusted. In other embodiments, the extension portion 122 can also be configured as a retractable structure to facilitate adjusting the length of the extension portion 122 to meet different space requirements when the unmanned forklift is traveling.

[0041] In some embodiments, the roller 201 is disposed on the outside of the door frame assembly 200. In other embodiments, the roller 201 may also be convexly disposed on the bottom of the door frame assembly 200. Alternatively, the slide groove 123 may be disposed on the door frame assembly 200, and the roller 201 may be disposed on the extension portion 122.

[0042] In some embodiments, two rollers 201 are respectively provided on both sides of the door frame assembly 200. In other embodiments, in order to prevent the roller 201 from being unable to slide after being damaged, multiple rollers 201 are respectively provided on both sides of the door frame assembly 200, and the multiple rollers 201 are arranged in parallel and at intervals along the first direction.

[0043] For further information, please refer to Figure 5 The above-mentioned unmanned forklift further includes wheels 130 , which are rotatably disposed on the chassis 120 .

[0044] In some embodiments, the wheels 130 are rotatably disposed at the ends of the connecting portion 121 and the extending portion 122 so that the unmanned forklift remains stable and does not shake easily when traveling. In other embodiments, the wheels 130 may also be convexly disposed on the bottom surface of the extending portion 122.

[0045] Please refer to Fig. 9 The lifting drive mechanism 400 is disposed on the gantry assembly 200 to drive the fork 300 to move along the second direction (i.e. Fig. 9 Y direction) lifting movement.

[0046] Specifically, the gantry assembly 200 includes a first gantry 210, and the lifting drive mechanism 400 includes a first lifting drive mechanism 410. The first lifting drive mechanism 410 includes a first fixed portion 411 and a first movable portion 412. The first fixed portion 411 is fixed to the first gantry 210, and the first movable portion 412 is connected to the fork 300 through a chain (not shown in the figure). The first movable portion 412 can move up and down relative to the first fixed portion 411, thereby driving the fork 300 to move along the second direction (i.e. Fig. 9 Y direction) lifting movement.

[0047] Please refer to Figure 3 , detection devices 500 are respectively provided on opposite sides of the vehicle body 100 to form mutually parallel detection planes 501 on both sides of the vehicle body 100, and the detection planes 501 extend substantially in the vertical direction.

[0048] Specifically, please refer to Figure 2 The detection device 500 includes a detector 510 , an adjustment seat 520 and a mounting seat 530 . The detector 510 is rotatably mounted on the mounting seat 530 . The mounting seat 530 is rotatably connected to the adjustment seat 520 . The adjustment seat 520 is fixedly mounted on the first door frame 210 .

[0049] It should be noted that the detector 510 is capable of emitting laser light, and the detector 510 rotates and scans relative to the mounting base 530 to form a detection plane 501 .

[0050] Continue reading Figure 2 As shown, the mounting seat 530 is provided with a mounting hole (not shown in the figure), the adjustment seat 520 is provided with a waist-shaped hole 540, the waist-shaped hole 540 is inclined relative to the vertical plane, the pin shaft (not shown in the figure) passes through the mounting hole and is partially exposed outside the mounting hole, and the pin shaft partially exposed outside the mounting hole is slidably arranged in the waist-shaped hole 540, so that the position of the mounting seat 530 is adjustable, thereby facilitating the adjustment of the position of the detector 510. When the height and horizontal position of the detector 510 are not suitable or the detection plane 501 is skewed, the position of the mounting seat 530 can be adjusted to adjust the detector 510. In other embodiments, the adjustment seat 520 and the mounting seat 530 can also be rotatably connected by hinges or hinges.

[0051] In some embodiments, please refer to Figure 2 The mounting seat 530 includes a first side plate 531, a second side plate 532 and a bottom plate 533. The first side plate 531 and the second side plate 532 are vertically connected to the bottom plate 533. The bottom plate 533 is fixedly connected to the door frame assembly 200. The number of the first side plates 531 is two and they are arranged oppositely. The mounting seat 530 is arranged between the two first side plates 531. The number of the second side plates 532 is two and they are arranged oppositely. The two second side plates 532 are respectively covered on the top and bottom sides of the mounting seat 530, which plays a role in dustproof and waterproofing for the detector 510. In other embodiments, the first side plate 531, the second side plate 532 and the bottom plate 533 can also be connected at other angles, or the detector 510 can also be directly connected to the bottom plate 533 for rotation.

[0052] For further information, please refer to Figure 1The above-mentioned unmanned forklift also includes a control box 502. The controller is arranged in the control box 502. The controller is electrically connected to the detection device 500. When the fork 300 drives the cargo 20 to translate so that the cargo 20 touches the detection plane 501, the detection device 500 sends a detection signal to the controller. The controller obtains the width W of the cargo 20 according to the detection signals sent by the detection devices 500 located on both sides of the vehicle body 100.

[0053] For ease of understanding, the following will combine Figure 4 For illustration, the number of the detection devices 500 in this figure is two and the two detection devices 500 are disposed on opposite sides of the vehicle body 100 .

[0054] In some embodiments, the fork 300 is located between two oppositely disposed detection devices 500, and the fork 300 first drives the cargo 20 along the Figure 4 The fork 300 moves in the Z direction to trigger the detection plane 501 on the left side, and then the fork 300 first drives the goods 20 along the Figure 4 As shown, the fork 300 moves in the Z direction to trigger the detection plane 501 on the right side, and the horizontal spacing W1 of the two oppositely arranged detection devices 500 is a fixed value. The distance W2 that the fork 300 moves from the detection plane 501 on the left side of the trigger to the detection plane 501 on the right side of the trigger is obtained through the controller, and the width W of the cargo 20 is the difference between W1 and W2. The width W of the cargo 20 is easy to obtain, the operation is simple, and the cost is low, which can effectively avoid the problem that the cargo 20 is too wide to be placed in the container.

[0055] In other embodiments, the fork 300 is located outside the left detection device 500 or the right detection device 500, and the fork 300 drives the cargo 20 along the Figure 4 The Z-direction movement shown sequentially triggers the detection plane 501 on the left and the detection plane 501 on the right. The preset horizontal spacing W1 of the two oppositely arranged detection devices 500 is a fixed value. The distance that the fork 300 moves from the detection plane 501 on the left to the detection plane 501 on the right is W2, and the width W of the cargo 20 is the difference between W1 and W2.

[0056] Furthermore, the controller can set a preset size of the container and control the movement of the fork 300 according to the acquired width of the cargo 20 so that the fork 300 places the cargo 20 in the container whose preset size is at least larger than the width of the cargo 20 .

[0057] Specifically, when the width of the cargo 20 is larger than the width of the container, since the controller can know the width of the cargo 20 in advance, it can control the fork 300 to stop placing the cargo 20 in the container, for example, by issuing a buzzer prompt, or selecting a container with a preset size larger than the cargo for storage, to prevent the cargo 20 from colliding with the container or being unable to be placed in the container due to excessive width.

[0058] Please refer to Figure 5 The above-mentioned unmanned forklift also includes a side shift frame 600 and a fork frame 700. The side shift frame 600 is slidably connected to the first door frame 210, the fork frame 700 is slidably connected to the side shift frame 600, and the fork 300 is fixed to the fork frame 700, so that the fork 300 can move relative to the side shift frame 600 along the third direction (i.e. Figure 5 Horizontal movement (Z direction shown).

[0059] In some embodiments, the side shift frame 600 is provided with a rod 610, the rod 610 is hollow, and the fork frame 700 is provided with a hydraulic cylinder 710, the hydraulic cylinder 710 passes through the rod 610, so that the fork 300 can move relative to the side shift frame 600 along the third direction (i.e. Figure 3 The fork can be moved sideways (in the Z direction as shown) to facilitate forking the cargo 20.

[0060] In some embodiments, the number of forks 300 is two and they are arranged at intervals, and the distance between the two forks 300 is not adjustable. In other embodiments, a cylinder can be arranged between the two forks 300, and the cylinder drives the two forks 300 to move closer to or away from each other to change the distance between the two forks 300, so as to facilitate the forks 300 to pick up goods 20 of different sizes, thereby expanding the scope of application of the unmanned forklift.

[0061] It should be noted that the translation displacement corresponding to the detection plane 501 on the left or the detection plane 501 on the right driven by the fork 300 to move the cargo 20 can be measured by the displacement detection component 800 provided on the unmanned forklift.

[0062] Specifically, please refer to Figure 5 and Figure 6 The unmanned forklift also includes a displacement detection component 800, which includes a displacement sensor 810. The displacement sensor 810 includes a brush slider 811 and a resistance guide rail 812 that are slidably connected. The resistance guide rail 812 is fixed to the fork frame 700 and moves along the fork frame 700. Figure 6 The brush slider 811 is installed on the side shift frame 600. When the fork frame 700 moves horizontally relative to the first door frame 210, the fork frame 700 can drive the resistance guide rail 812 to move relative to the brush slider 811 along the Figure 6 Movement in the Z direction is shown.

[0063] Furthermore, the displacement sensor 810 further includes a connecting wire 813 , which is electrically connected to the resistance rail 812 and the controller for transmitting position information.

[0064] In some embodiments, the displacement sensor 800 is a linear displacement sensor. In other embodiments, the displacement sensor 800 is a grating scale displacement sensor.

[0065] Please refer to Figure 7The displacement detection component 800 includes a receiving member 820, which is connected to the brush slider 811 as a whole. The displacement sensor 810 is connected to the side shift frame 600 through the receiving member 820, so as to avoid the brush slider 811 being directly connected to the side shift frame 600, and to prevent the stress generated when the resistance guide rail 812 slides relative to the brush slider 811 and easily wear the displacement sensor 810, thereby effectively ensuring the detection effect of the displacement sensor 810.

[0066] Specifically, please refer to Figure 8 The receiving member 820 includes a bearing 821 and a guide rod 822 which are slidably connected. The bearing 821 is slidably arranged on the guide rod 822. The guide rod 822 is arranged on the fork frame 700 in parallel with the resistance guide rail 812 and is spaced apart from the resistance guide rail 812. Figure 7 As shown, the displacement detection assembly 800 further includes a first mounting plate 830 and a second mounting plate 840. The bearing 821 and the brush slider 811 are both fixed to the first mounting plate 830 and connected to the second mounting plate 840 through the first mounting plate 830, so that when the fork frame 700 moves horizontally relative to the door frame assembly 200, the resistance guide rail 812 slides relative to the brush slider 811.

[0067] Please refer to Figure 8 The first mounting plate 830 includes a main board 831, a first support plate 832 and a second support plate 833. The number of the first support plates 832 is two and the two first support plates 832 are relatively connected to the main board 831. The bearing 821 is arranged between the two first support plates 832. The brush slider 811 is located above the bearing 821 and connected to the main board 831, so that the bearing 821 and the brush slider 811 are arranged in a stacked structure. The second support plate 833 faces the side facing away from the first support plate 832, and the second support plate 833 is connected to the second mounting plate 840.

[0068] In some embodiments, the second support plate 833 is provided with a through hole 834, and the second mounting plate 840 is provided with a swing rod 841, one end of the swing rod 841 is hinged to the second mounting plate 840, and the other end of the swing rod 841 is movably inserted into the through hole 834. In other embodiments, the second support plate 833 and the second mounting plate 840 can also be directly connected by buckles.

[0069] Furthermore, the displacement detection assembly 800 also includes a fixed block 850, which is fixed to the fork frame 700. Both ends of the guide rod 822 and the resistance guide rail 812 are clamped on the fixed block 850 and are arranged in parallel and at intervals. The guide rod 822 and the resistance guide rail 812 are fastened to the fork frame 700 through the fixed block 850 to prevent looseness from affecting the structural stability.

[0070] For further information, please refer to Fig. 9In order to make the lifting height adjustment range of the fork 300 wider and more accurate, the gantry assembly 200 also includes a second gantry 220 and a third gantry 230, and the second gantry 220 and the third gantry 230 can perform two-stage lifting movements. The above-mentioned unmanned forklift also includes a second lifting drive mechanism 420, the fork 300 is slidably connected to the third gantry 230, and the second gantry 220 is slidably connected between the third gantry 230 and the first gantry 210. The first lifting drive mechanism 410 can drive the fork 300 to move along the second direction (along Fig. 9 The second lifting drive mechanism 420 can drive the second door frame 220 and the third door frame 230 to perform lifting movement along the second direction, thereby driving the fork 300 to perform lifting movement along the second direction.

[0071] Specifically, the second lifting drive mechanism 420 includes a second fixed portion 421 and a second movable portion 422, the second fixed portion 421 is fixed to the first door frame 210, and the second movable portion 422 is connected to the second door frame 220 to drive the second door frame 220 and the third door frame 230 to move along the second direction (i.e. Fig. 9 The machine can perform lifting movement (in the Y direction as shown).

[0072] In some embodiments, please refer to Figure 5 , the fork 300 is slidably connected to the third door frame 230 through the first pulley 310, please refer to Fig.10 The first gantry 210 is slidably connected with the second gantry 220 through the second pulley 221, and the second gantry 220 is slidably connected with the third gantry 230 through the third pulley 231. The controller is connected with the first pulley 310, the second pulley 221 and the third pulley 231 to control the lifting speed. The second gantry 220 and the third gantry 230 can perform two-stage lifting motion. For example, the controller can control the rotation speed of the second pulley 221 and the third pulley 231. When the rotation speeds of the second pulley 221 and the third pulley 231 are the same, the second gantry 220 and the third gantry 230 are synchronously lifted and lowered along the second direction at the same lifting speed; when the rotation speeds of the second pulley 221 and the third pulley 231 are different, the second gantry 220 and the third gantry 230 are synchronously lifted and lowered along the second direction at different lifting speeds.

[0073] In other embodiments, the fork 300 and the first door frame 210, the first door frame 210 and the second door frame 220, and the second door frame 220 and the third door frame 230 can all be slidably connected by cooperating with the slide rail slider.

[0074] In some embodiments, the first lifting drive mechanism 410 and the second lifting drive mechanism 420 are both hydraulic cylinders. In other embodiments, the first lifting drive mechanism 410 and the second lifting drive mechanism 420 can also be motors, cylinders, or screw rod assemblies.

[0075] In some embodiments, the end of the fork 300 is tapered to facilitate forking the cargo 20. In other embodiments, the end of the fork 300 may also be W-shaped. In some embodiments, the length of the fork 300 is not adjustable. In other embodiments, the fork 300 may also be a retractable structure to meet the forking requirements of cargo 20 of different sizes.

[0076] The above-mentioned unmanned forklift is provided with a detection device 500, which obtains the width of the cargo 20 when the fork 300 drives the cargo 20 to move the fork 300 horizontally to the trigger detection plane 501, thereby preventing the cargo 20 from being too wide to be placed in the container or colliding with the container, thereby improving the storage and retrieval efficiency of the cargo 20; a displacement detection component 800 is provided, and the displacement sensor 810 is connected to the side shift frame 600 through a receiving member 820 to avoid the brush slider 811 being directly connected to the side shift frame 600, thereby preventing the stress generated when the resistance guide rail 812 slides relative to the brush slider 811 and easily wearing the displacement sensor 810, thereby effectively ensuring the detection effect of the displacement sensor 810.

[0077] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An unmanned forklift, characterized in that: include: A vehicle body, wherein detection devices are respectively provided on opposite sides of the vehicle body to form detection planes parallel to each other on both sides of the vehicle body, and the detection planes extend substantially in the vertical direction; Forks, used to support goods, the number of forks is two and they are arranged at intervals; A gantry assembly is connected to the vehicle body and drives the fork to move horizontally relative to the vehicle body, and the direction in which the fork moves horizontally relative to the vehicle body along with the gantry assembly is substantially perpendicular to the detection plane; A lifting drive mechanism, provided on the gantry assembly and used to drive the fork to move up and down; as well as The controller is electrically connected to the detection device, and when the fork translates the goods so that the goods touch the detection plane, the detection device sends a detection signal to the controller, and the controller obtains the width of the goods according to the detection signals sent by the detection devices located on both sides of the vehicle body.

2. The unmanned forklift according to claim 1, characterized in that: The detection device comprises an adjustment seat, a mounting seat and a detector. The detector is rotatably arranged on the mounting seat. The mounting seat is slidably connected to the adjustment seat. The adjustment seat is fixed to the door frame assembly.

3. The unmanned forklift according to claim 2, characterized in that: The mounting seat is provided with a mounting hole, and the adjustment seat is provided with a waist-shaped hole, the waist-shaped hole is inclined relative to the vertical plane, the pin shaft passes through the mounting hole and is partially exposed outside the mounting hole, and the pin shaft partially exposed outside the mounting hole is slidably arranged in the waist-shaped hole, so that the position of the mounting seat can be adjusted.

4. The unmanned forklift according to claim 2, characterized in that: The detector is capable of emitting laser light, and the detector rotates and scans relative to the mounting base to form the detection plane.

5. The unmanned forklift according to claim 1, characterized in that: The controller sets a preset size of the container and controls the movement of the fork according to the acquired cargo width, so that the fork places the cargo in the container whose preset size is at least larger than the cargo width.

6. The unmanned forklift according to claim 1, characterized in that: It also includes a side shift frame and a fork frame, wherein the side shift frame is slidably connected to the portal frame assembly and can move up and down relative to the portal frame assembly, the fork is fixed to the fork frame, the fork frame is connected to the side shift frame, and the fork frame can slide horizontally relative to the side shift frame to drive the fork to move horizontally relative to the portal frame assembly.

7. The unmanned forklift according to claim 6, characterized in that: It also includes a displacement detection component, which includes a displacement sensor. The displacement sensor includes a brush slider and a resistance guide rail that are slidably connected. The resistance guide rail is fixed to the fork frame, and the brush slider is installed on the side shift frame. When the fork frame moves horizontally relative to the door frame assembly, the fork frame can drive the resistance guide rail to move relative to the brush slider.

8. The unmanned forklift according to claim 7, characterized in that: The displacement detection assembly also includes a receiving member, the receiving member is connected to the brush slider as a whole, and the displacement sensor is connected to the side shift frame through the receiving member.

9. The unmanned forklift according to claim 8, characterized in that: The receiving member includes a guide rod and a bearing, the bearing is slidably arranged on the guide rod, and the guide rod and the resistance guide rail are arranged on the fork frame in parallel and at intervals. The displacement detection assembly also includes a first mounting plate and a second mounting plate, the bearing and the brush slider are both fixed to the first mounting plate, and connected to the second mounting plate through the first mounting plate, so that when the fork frame moves horizontally relative to the door frame assembly, the resistance guide rail slides relative to the brush slider.

10. The unmanned forklift according to claim 9, characterized in that: The first mounting plate is provided with a through hole, the second mounting plate is provided with a swing rod, one end of the swing rod is hinged to the second mounting plate, and the other end of the swing rod is movably inserted into the through hole.

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