Obstacle walking forklift truck

Abstract

The application discloses an obstacle-crossing walking forklift, which comprises a power traction device for driving the forklift to move forward, a push rod in driving connection with the power traction device, an obstacle-crossing mechanism in connection with the push rod and used for assisting the forklift to cross obstacles, and a fork arm arranged on the obstacle-crossing mechanism and fixedly connected with the obstacle-crossing mechanism. The obstacle-crossing mechanism comprises a supporting swing rod, a mounting plate, a long obstacle-crossing module and a short obstacle-crossing module. The supporting swing rod is connected with the push rod through a rotating shaft, so that the supporting swing rod swings up and down around the rotating shaft to realize the action of lifting and retracting the fork arm. The mounting plate is connected with the supporting swing rod through a middle rotating shaft. One end of the long obstacle-crossing module is connected with the mounting plate. When the fork arm is lifted, the long obstacle-crossing module is in an inclined state to generate a guide surface. The short obstacle-crossing module is connected with the mounting plate and used for assisting to complete the last obstacle-crossing action of the forklift. The obstacle-crossing walking forklift solves the problem of insufficient obstacle-crossing ability of the forklifts in the prior art, can be applied to different working conditions, and is labor-saving and efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of walking forklifts, and in particular to a walking forklift capable of overcoming obstacles. BACKGROUND

[0002] At present, a T-shaped forklift needs to satisfy the lifting of a universal pallet, and the lowest lifting position of the pallet is 90mm (calculated from the ground). The lowest position of the fork arm needs to be lowered to a height below 85mm. This requires that the diameter of the wheel installed on the fork arm cannot exceed 80mm. According to the force analysis of obstacle overcoming, the radius of the wheel generally needs to be more than twice the height of the obstacle to stably achieve obstacle overcoming. Therefore, the obstacle overcoming height of the ordinary T-shaped forklift is within 20mm, which greatly limits the activity area of the forklift due to the obstacle overcoming ability. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a walking forklift capable of overcoming obstacles.

[0004] The technical scheme adopted by the present application to solve the technical problem is that a walking forklift capable of overcoming obstacles is constructed, which comprises a power traction device for driving the forklift to move forward, a push rod hinged to the power traction device, an obstacle overcoming mechanism connected to the push rod for assisting the forklift to overcome obstacles, and a fork arm fixedly connected to the obstacle overcoming mechanism.

[0005] The obstacle overcoming mechanism comprises a supporting swing rod, a mounting plate, a long obstacle overcoming module, and a short obstacle overcoming module.

[0006] The supporting swing rod is connected to the push rod through a rotating shaft, so that the supporting swing rod swings up and down around the rotating shaft to realize the action of lifting and retracting the fork arm.

[0007] The mounting plate is connected to the supporting swing rod through a middle rotating shaft.

[0008] One end of the long obstacle overcoming module is connected to the mounting plate, and when the fork arm is lifted, the long obstacle overcoming module is in an inclined state to generate a guide surface.

[0009] The short obstacle overcoming module is connected to the mounting plate to assist in completing the final obstacle overcoming action of the forklift.

[0010] In some embodiments, the obstacle overcoming mechanism further comprises a pair of guide sliding blocks, one end of the long obstacle overcoming module away from the mounting plate is connected to the pair of guide sliding blocks through a sliding shaft, and the guide sliding blocks are connected to the fork arm through fasteners.

[0011] A strip-shaped through hole is formed in the guide sliding block for mounting the sliding shaft.

[0012] In some embodiments, the long obstacle-surmounting module comprises a pair of long obstacle-surmounting connecting frames, a plurality of reinforcing crossbeams, and a plurality of long obstacle-surmounting wheels rotatably connected to the long obstacle-surmounting connecting frames;

[0013] The plurality of reinforcing crossbeams are arranged on one side of the long obstacle-surmounting connecting frame close to the guide sliding block.

[0014] The plurality of long obstacle-surmounting wheels are arranged on one side of the long obstacle-surmounting connecting frame close to the mounting plate, and are arranged along the length direction of the long obstacle-surmounting connecting frame and are arranged staggered between each adjacent long obstacle-surmounting wheel.

[0015] In some embodiments, one end of the long obstacle-surmounting module is rotatably connected to the mounting plate through a left rotating shaft.

[0016] The short obstacle-surmounting module is fixedly connected to the mounting plate through the middle rotating shaft and the right rotating shaft.

[0017] In some embodiments, the central axes of the left rotating shaft, the middle rotating shaft, and the right rotating shaft are in the same plane.

[0018] In some embodiments, the obstacle-surmounting mechanism further comprises a walking wheel assembly arranged at the bottom end of the mounting plate, the walking wheel assembly comprising a front walking wheel and a rear walking wheel, and the front walking wheel being arranged on one side close to the long obstacle-surmounting module.

[0019] In some embodiments, the short obstacle-surmounting module comprises a pair of short obstacle-surmounting connecting frames and a plurality of short obstacle-surmounting wheels rotatably connected to the short obstacle-surmounting connecting frames.

[0020] The plurality of short obstacle-surmounting wheels are arranged along the length direction of the short obstacle-surmounting connecting frame and are arranged staggered between each adjacent short obstacle-surmounting wheel.

[0021] In some embodiments, the short obstacle-surmounting wheels are arranged on both sides of the walking wheel assembly; or

[0022] The short obstacle-surmounting wheels are installed in the activity space of the walking wheel assembly.

[0023] In some embodiments, the short obstacle-surmounting connecting frame is provided with a limiting piece for limiting the support swing lever.

[0024] In some embodiments, the obstacle-surmounting walking forklift further comprises a swing lever, one end of the swing lever being hinged to the power tractor obstacle-surmounting walking forklift, the other end of the swing lever being hinged to the push rod, and the fork arm being connected to the swing lever through a central shaft.

[0025] The side of the fork arm away from the central shaft is connected to the support swing lever through a walking shaft.

[0026] The barrier-crossing walking forklift has the advantages that the barrier-crossing walking forklift enhances the barrier-crossing ability, solves the problem of insufficient barrier-crossing ability of the forklift, can be applied to different working conditions, and is labor-saving and efficient. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the present application, the present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0028] Figure 1 is a schematic diagram of the internal structure of the barrier-crossing walking forklift in some embodiments of the present application;

[0029] Figure 2 is a schematic diagram of the barrier-crossing mechanism in some embodiments of the present application;

[0030] Figure 3 is a schematic diagram of the barrier-crossing walking forklift in some embodiments of the present application;

[0031] Figure 4 is a schematic diagram of the bottom structure of the barrier-crossing walking forklift in some embodiments of the present application;

[0032] Figure 5 is a schematic diagram of the long barrier-crossing module in some embodiments of the present application;

[0033] Figure 6 is a schematic diagram of the long barrier-crossing wheel in some embodiments of the present application; Figure 5

[0034] Figure 7 is a schematic diagram of the short barrier-crossing module in some embodiments of the present application;

[0035] Figure 8 is a first schematic diagram of the barrier-crossing walking forklift crossing an obstacle in some embodiments of the present application;

[0036] Figure 9 is a second schematic diagram of the barrier-crossing walking forklift crossing an obstacle in some embodiments of the present application;

[0037] Figure 10 is a third schematic diagram of the barrier-crossing walking forklift crossing an obstacle in some embodiments of the present application. DETAILED DESCRIPTION

[0038] ​In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will now be described in detail with reference to the drawings. In the following description, it should be understood that the "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and other indications of orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, constructed and operated in a particular orientation, and are only for the convenience of describing the present technical solution, and are not indicative of the device or element indicated must have a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0039] It should also be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing", "setting" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above the other element, or there can be one or more intervening elements. The terms "first", "second", "third" and the like are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] Please refer to Figures 1 to 10 , the obstacle crossing forklift in some embodiments of the present application, the obstacle crossing forklift can be unmanned intelligent forklift A600T, to solve the problem of auxiliary small wheel obstacle crossing, which includes a power traction device 1 for driving the forklift forward, a push rod 2 drivingly connected with the power traction device 1, an obstacle crossing mechanism 3 connected with the push rod 2 for assisting the forklift to cross the obstacle, and a fork arm 4 fixedly connected with the obstacle crossing mechanism 3, as shown in Figure 2 , the obstacle crossing mechanism 3 includes a support swing rod 31, an installation plate 32, a long obstacle crossing module 33 and a short obstacle crossing module 34, the support swing rod 31 is connected with the push rod 2 through the rotating shaft 311, so that the support swing rod 31 swings up and down around the rotating shaft 311 to realize the action of lifting and retracting the fork arm 4, the installation plate 32 is connected with the support swing rod 31 through the middle rotating shaft 322, one end of the long obstacle crossing module 33 is connected with the installation plate 32, when the fork arm 4 is lifted, the long obstacle crossing module 33 is in an inclined state to generate a guide surface, the short obstacle crossing module 34 is connected with the installation plate 32, which is used to assist the forklift to complete the last obstacle crossing action.

[0041] It can be understood that, because the fork arm 4 needs to achieve the state of lifting and retracting, the obstacle crossing mechanism 3 needs to have the function of following the contraction and expansion of the fork arm 4. When the fork arm 4 is retracted, the long obstacle crossing module 33 is in a horizontal state, and when the fork arm 4 is lifted, the long obstacle crossing module 33 is in an inclined state, generating a guide surface to prepare for obstacle crossing. The obstacle crossing walking forklift enhances the obstacle crossing ability, solves the problem of insufficient obstacle crossing ability of the forklift in the past, can be applied to different working conditions, and is labor-saving and efficient.

[0042] Specifically, the obstacle crossing mechanism 3 further includes a pair of guide sliding blocks 35, and one end of the long obstacle crossing module 33 away from the mounting plate 32 is connected with the pair of guide sliding blocks 35 through a sliding shaft 36, and the guide sliding blocks 35 are connected with the fork arm 4 through fasteners. The guide sliding blocks 35 are provided with strip-shaped through holes 351 for installing the sliding shaft 36. It can be understood that the guide sliding blocks 35 are generally plate-shaped structures, and the bottom end is provided with a sliding groove for installing and moving the sliding shaft 36. The guide sliding blocks 35 are arranged at the bottom end of the fork arm 4 and can be connected with the fork arm 4 through fasteners, so that the fork arm 4 can move with the long obstacle crossing module 33.

[0043] As shown in Figure 5 The long obstacle crossing module 33 includes a pair of long obstacle crossing connecting frames 331, a plurality of reinforcing cross beams 332, and a plurality of long obstacle crossing wheels 333 rotatably connected with the long obstacle crossing connecting frames 331. The plurality of reinforcing cross beams 332 are arranged on one side of the long obstacle crossing connecting frames 331 close to the guide sliding blocks 35, and are used to strengthen the strength and hardness of the long obstacle crossing module 33, to ensure the stability of the long obstacle crossing module 33 during work. The plurality of long obstacle crossing wheels 333 are arranged on one side of the long obstacle crossing connecting frames 331 close to the mounting plate 32, as shown in Figure 6 The plurality of long obstacle crossing wheels 333 are arranged along the length direction of the long obstacle crossing connecting frames 331 and are arranged in a staggered manner between each adjacent long obstacle crossing wheel 333. The staggered arrangement between each adjacent long obstacle crossing wheel 333 can shorten the height difference of the contact point fluctuation during obstacle crossing, and reduce the jolt amplitude of obstacle crossing. In the embodiment, a plurality of long obstacle crossing wheels 333 are used to provide a plurality of fulcrums for the obstacle crossing walking forklift during obstacle crossing, and the rotation arrangement with the guide sliding blocks 35 and the mounting plate 32 can further improve the obstacle crossing ability of the obstacle crossing mechanism 3.

[0044] Further, one end of the long obstacle-surmounting module 33 is rotatably connected to the mounting plate 32 through a left rotating shaft 321, and the short obstacle-surmounting module 34 is fixedly connected to the mounting plate 32 through a middle rotating shaft 322 and a right rotating shaft 323, and the central axes of the left rotating shaft 321, the middle rotating shaft 322 and the right rotating shaft 323 are in the same plane. Understandably, the upper part of the mounting plate 32 is a plate structure, and the bottom end is provided with a first mounting portion for mounting the left rotating shaft 321, a second mounting portion for mounting the middle rotating shaft 322, and a third mounting portion for mounting the right rotating shaft 323. The arrangement of the short obstacle-surmounting module 34 makes the mounting plate 32 and the short obstacle-surmounting module 34 maintain a parallel state during obstacle surmounting.

[0045] The obstacle-surmounting mechanism 3 further comprises a walking wheel assembly 37 arranged at the bottom end of the mounting plate 32, which comprises a front walking wheel 371 and a rear walking wheel 372, and the front walking wheel 371 is arranged near one side of the long obstacle-surmounting module 33. The front walking wheel 371 and the rear walking wheel 372 are arranged separately, and both of them are preferably universal wheels, which can rotate freely, so that the obstacle-surmounting mechanism 3 can better adapt to various shapes of obstacles 6 during obstacle surmounting, for example, the center of gravity can be automatically adjusted according to the shape of the obstacle 6 to adapt to the shape of the obstacle 6 to keep the vehicle body balanced, which can further improve the obstacle-surmounting ability.

[0046] In this embodiment, the long obstacle-surmounting module 33, the push rod 2 and the support swing rod 31 form a triangular mechanism, which is beneficial to maintaining its stability, and the length of the long obstacle-surmounting module 33 is 900 mm, and the length of the short obstacle-surmounting module 34 is 156 mm. According to the cooperation of their respective sizes and structures, the fork arm 4 can always maintain a horizontal state during obstacle surmounting.

[0047] As shown in Figure 7 The short obstacle-surmounting module 34 comprises a pair of short obstacle-surmounting connecting frames 341 and a plurality of short obstacle-surmounting wheels 342 rotatably connected to the short obstacle-surmounting connecting frames 341, and the plurality of short obstacle-surmounting wheels 342 are arranged along the length direction of the short obstacle-surmounting connecting frames 341 and are arranged staggered between each adjacent short obstacle-surmounting wheel 342. Similarly, the staggered arrangement between each adjacent short obstacle-surmounting wheel 342 can shorten the height difference of the contact point fluctuation during obstacle surmounting, and reduce the bumping amplitude during obstacle surmounting. The rear end of the short obstacle-surmounting connecting frame 341 protrudes from the mounting plate 32, and the long obstacle-surmounting wheel 333 and the short obstacle-surmounting wheel 342 can be wheels made of rubber material.

[0048] Wherein, as the width of the fork arm 4 is mainly affected by the movement space of the walking wheel assembly 37 and the installation volume of the obstacle crossing mechanism 3, the narrower the fork arm 4 is, the more flexible the forklift operation will be. The short obstacle crossing module 34 and the walking wheel assembly 37 can have two arrangement modes. The first arrangement mode is that the short obstacle crossing wheels 342 are arranged on both sides of the walking wheel assembly 37 without being disconnected in the middle, which can make the obstacle crossing more smooth. The second arrangement mode is that the short obstacle crossing wheels 342 are installed to avoid the active space of the walking wheel assembly 37, which can make the width of the fork arm 4 narrower and the forklift operation more flexible.

[0049] Further, in order to prevent excessive relative rotation between the support swing lever 31 and the mounting plate 32, the short obstacle crossing connecting frame 341 is provided with a limiting piece 38 for limiting the support swing lever 31 to prevent damage to the obstacle crossing mechanism 3 caused by excessive rotation angle of the support swing lever 31, thereby improving the safety and practicality of the obstacle crossing walking forklift.

[0050] The obstacle crossing walking forklift further comprises a swing lever 5, one end of which is hinged to the power tractor 1 and the other end of which is hinged to the push rod 2, and the fork arm 4 is connected to the swing lever 5 through a center shaft 51. The swing lever 5 is generally L-shaped, one end of which is hinged to the power tractor 1, and the power tractor 1 drives the swing lever 5 to move forward, thereby driving the obstacle crossing mechanism 3 to move forward. The side of the fork arm 4 away from the center shaft 51 is connected to the support swing lever 31 through a walking shaft 313.

[0051] In this embodiment, please refer to Figures 8 to 10 For example, when the obstacle crossing mechanism 3 encounters an obstacle 6 with a height of 35mm, the attitude of each part of the obstacle crossing mechanism 3 will change. The long obstacle crossing module 33 first touches the obstacle 6 and is lifted under the action of the obstacle 6 and the traction of the power tractor 1. The mounting plate 32 rotates around the middle rotating shaft 322. The front walking wheel 371 is first lifted and leaves the ground. When the forklift continues to walk forward under the traction of the power tractor 1, the front walking wheel 371 reaches the obstacle 6 and crosses it. The forklift continues to walk forward, the obstacle 6 contacts the short obstacle crossing module 34 and the rear walking wheel 372, and the obstacle crossing action is completed until the obstacle 6 is completely crossed. In the whole obstacle crossing process, because of the assistance of the obstacle crossing mechanism 3, the maximum height difference between the lowest point of the walking wheel and the contact surface of the obstacle 6 is 12.5mm. The radius of the front walking wheel 371 and the rear walking wheel 372 is 25mm. The maximum height difference is half of the radius of the walking wheel, which can realize successful obstacle crossing.

[0052] Understandably, the obstacle walking forklift through the push rod 2, support swing rod 31, mounting plate 32, long obstacle module 33 and short obstacle module 34, the setting of the guide sliding block 35, when the obstacle walking forklift needs to be over obstacles or in special road conditions, the push rod 2, support swing rod 31, long obstacle module 33 can be slid to the corresponding position, and the lifting and support of the fork arm 4 are realized, so that the stability of the obstacle walking forklift in different environments can be effectively guaranteed, even if there is a special road condition such as high obstacle, the posture can be effectively corrected automatically, stable operation is realized, the adaptability in harsh environment is guaranteed, the use range of the forklift is improved, the obstacle walking forklift can be automatically adjusted when crossing obstacles of different heights, the height application range and stability are improved.

[0053] Understandably, the above embodiments only express the preferred embodiments of the present application, which are described in detail and specifically, but cannot be understood as the limitation of the patent scope of the present application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. An obstacle-crossing forklift, characterized in that, It includes a power traction device (1) for driving the forklift forward, a push rod (2) driven and connected to the power traction device (1), an obstacle crossing mechanism (3) connected to the push rod (2) for assisting the forklift to cross obstacles, and a fork arm (4) fixedly connected to the obstacle crossing mechanism (3). The obstacle crossing mechanism (3) includes a support swing arm (31), a mounting plate (32), a long obstacle crossing module (33), and a short obstacle crossing module (34); The support swing rod (31) is connected to the push rod (2) through the pivot (311) so that the support swing rod (31) swings up and down around the pivot (311) to realize the lifting and retraction of the fork arm (4); The mounting plate (32) and the support swing rod (31) are connected by a central rotating shaft (322); One end of the long obstacle-crossing module (33) is connected to the mounting plate (32). When the fork arm (4) is lifted, the long obstacle-crossing module (33) is in an inclined state to generate a guide surface. The short obstacle-crossing module (34) is connected to the mounting plate (32) and is used to assist in completing the forklift's final obstacle-crossing action.

2. The obstacle-crossing forklift according to claim 1, characterized in that, The obstacle crossing mechanism (3) further includes a pair of guide sliding blocks (35). The end of the long obstacle crossing module (33) away from the mounting plate (32) is connected to the pair of guide sliding blocks (35) through a sliding shaft (36), and the guide sliding blocks (35) are connected to the fork arm (4) through fasteners. The guide sliding block (35) has a strip-shaped through hole (351) for mounting the sliding shaft (36).

3. The obstacle-crossing forklift according to claim 2, characterized in that, The long obstacle crossing module (33) includes a pair of long obstacle crossing connecting frames (331), several reinforcing crossbeams (332), and several long obstacle crossing wheels (333) rotatably connected to the long obstacle crossing connecting frames (331); Several reinforcing crossbeams (332) are provided on the side of the long obstacle crossing connecting frame (331) near the guide sliding block (35); A plurality of the long obstacle-crossing wheels (333) are disposed on the side of the long obstacle-crossing connecting frame (331) near the mounting plate (32), arranged along the length direction of the long obstacle-crossing connecting frame (331) and staggered between each adjacent long obstacle-crossing wheel (333).

4. The obstacle-crossing forklift according to claim 3, characterized in that, One end of the long obstacle-crossing module (33) is rotatably connected to the mounting plate (32) via a left rotating shaft (321); The short obstacle-crossing module (34) is fixedly connected to the mounting plate (32) via the central rotating shaft (322) and the right rotating shaft (323).

5. The obstacle-crossing forklift according to claim 4, characterized in that, The central axis (51) of the left rotation axis (321), the middle rotation axis (322), and the right rotation axis (323) are on the same plane.

6. The obstacle-crossing forklift according to claim 4, characterized in that, The obstacle crossing mechanism (3) also includes a walking wheel assembly (37) located at the bottom of the mounting plate (32). The walking wheel assembly (37) includes a front walking wheel (371) and a rear walking wheel (372). The front walking wheel (371) is located on the side close to the long obstacle crossing module (33).

7. The obstacle-crossing forklift according to claim 6, characterized in that, The short obstacle crossing module (34) includes a pair of short obstacle crossing connecting frames (341) and a plurality of short obstacle crossing wheels (342) rotatably connected to the short obstacle crossing connecting frames (341); Several of the short obstacle-crossing wheels (342) are arranged along the length of the short obstacle-crossing connecting frame (341) and each adjacent short obstacle-crossing wheel (342) is staggered.

8. The obstacle-crossing forklift according to claim 7, characterized in that, The short obstacle-crossing wheels (342) are located on both sides of the walking wheel assembly (37); or The short obstacle-crossing wheel (342) is installed to avoid obstacles within the activity space of the walking wheel assembly (37).

9. The obstacle-crossing forklift according to claim 8, characterized in that, The short obstacle crossing connecting frame (341) is provided with a limiting member (38) for limiting the support swing arm (31).

10. The obstacle-crossing forklift according to claim 1, characterized in that, The obstacle-crossing forklift also includes a swing arm (5), one end of which is hinged to the power traction device (1), and the other end is hinged to the push rod (2). The fork arm (4) is connected to the swing arm (5) through a central shaft (51). The side of the fork arm (4) away from the central axis (51) is connected to the support swing rod (31) via the travel axis (313).

Images