A crawler-type unmanned off-road stacking forklift

Abstract

The present invention belongs to the field of unmanned warehousing and logistics technology, specifically relating to gantry forklifts and forklifts, and more specifically to a crawler-type unmanned off-road stacking forklift. The forklift comprises: an upper frame with two vertical rails; a rectangular floating carriage with a through-hole in the middle; a swivel unit mounted within the through-hole of the floating carriage; a transverse carriage fixedly connected to the swivel unit; a fork assembly slidably connected to the transverse carriage; an automatic positioning device mounted on the forks; two floating lifting units for lifting and leveling; and a control module for controlling leveling actions based on received commands. The present invention effectively solves the problem of existing unmanned stacking forklifts being unable to automatically level the forks when oscillating left and right over uneven terrain.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned warehousing and logistics, and specifically relates to a gantry fork device and a forklift, and more specifically to a crawler-type unmanned off-road stacking forklift. Background Art

[0002] At present, the technology of existing unmanned stacking forklifts, also known as AGVs (Automated Guided Vehicles), is relatively mature. It can realize autonomous navigation and precise positioning of indoor unmanned forklifts and unmanned pallet stacking and picking functions. It has vehicle detection and cargo release detection functions, adaptive and precise forking of materials, and repeated cargo release accuracy. Through the unmanned forklift central control and dispatching system, multi-vehicle and cross-scene dispatching can be realized. For large-scale industrial vehicle dispatching scenarios, it can realize multi-vehicle dispatching, path planning, collision avoidance, task management, data analysis and other functions. The unmanned forklift integrates laser navigation and perception, multi-axis real-time motion planning and high-precision visual servo control technology, and has autonomous path planning, obstacle recognition and obstacle avoidance capabilities. The vehicle body is equipped with multiple safety protections to achieve 360-degree safe obstacle avoidance and ensure the safety of people, vehicles and goods.

[0003] Existing unmanned stacking forklifts require automatic leveling to align the forks with the fork holes on shelves and pallets during stacking and forking operations. This leveling method involves automatically moving the forks up and down, left and right, and swinging them forward and backward. However, this leveling method is not capable of swinging the forks side to side, making it suitable only for indoor and outdoor operations on flat surfaces. In outdoor environments, uneven road surfaces can cause the forklift chassis to tilt during operation, especially side to side, causing the fork arms to be uneven, making it impossible to automatically align the fork holes for stacking and forking.

[0004] To this end, an unmanned stacking forklift should be designed, whose forks can automatically perform all-round leveling according to road conditions, especially adding a leveling method that allows the forks to swing left and right, so as to solve the problem that the forks of unmanned stacking forklifts cannot automatically level when the roads are rugged in the wild environment. Summary of the Invention

[0005] The present invention proposes a crawler-type unmanned off-road stacking forklift that can automatically level the forks in field conditions. This aims to address the problem that existing unmanned stacking forklifts cannot automatically level the forks left and right on uneven roads.

[0006] The specific technical solutions are as follows:

[0007] A crawler-type unmanned off-road stacking forklift, comprising: an upper frame, comprising a crossbar and two vertical rails, wherein both ends of the crossbar are fixedly connected to the two vertical rails respectively;

[0008] The floating slide is a component with a through hole in the middle, which is movably installed between the two vertical rails and slides back and forth along the vertical rails;

[0009] a rotating portion, disposed in the through hole;

[0010] a transverse slide, fixedly connected to the rotating portion and swinging relative to the floating slide about the axis of the rotating portion;

[0011] A fork assembly comprising a fork and an automatic positioning device; the fork assembly is slidably connected to the transverse slide; the automatic positioning device is mounted on the fork and is used to collect and transmit position and angle information of the fork;

[0012] Two floating lifting parts are respectively arranged at the bottom of the two vertical rails, and the telescopic ends of the floating lifting parts are connected to the transverse sliding carriage;

[0013] A control module is installed in the forklift and controls the actions of the two floating lifting parts according to the received scheduling instructions and the information transmitted by the automatic positioning device.

[0014] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0015] (1) By designing a floating slide that is slidably mounted on the upper frame and a rotating portion that is installed between the through hole and the transverse slide, the forklift can be swung left and right relative to the entire forklift;

[0016] (2) Based on the above design, two floating lifting parts are designed to achieve the left-right swing of the forklift relative to the entire forklift under electric drive;

[0017] (3) Based on the above design, the automatic positioning equipment and control module are designed to automatically level the forks relative to the left and right directions of the entire forklift according to the road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic diagram of the overall structure of a crawler-type unmanned off-road stacking forklift.

[0020] Figure 2 This is a schematic diagram of the floating slide and transverse slide structure of a crawler-type unmanned off-road stacking forklift.

[0021] Figure 3 Schematic diagram of the relative rotation angles of the floating slide and the transverse slide of a crawler-type unmanned off-road stacking forklift.

[0022] Figure 4 This is a schematic diagram of the crawler chassis structure of a crawler unmanned off-road stacking forklift.

[0023] Figure 5 This is a schematic diagram of the track and frame structure of a crawler-type unmanned off-road stacking forklift.

[0024] Figure 6 This is a schematic diagram of the body frame structure of a crawler-type unmanned off-road stacking forklift.

[0025] Figure 7 This is a schematic diagram of the installation location of the battery box and electrical control cabinet of a crawler-type unmanned off-road stacking forklift.

[0026] Figure 8 This is a schematic diagram of the control console layout of a crawler-type unmanned off-road stacking forklift.

[0027] Figure 9 This is a schematic diagram of the laser scanner component structure of a crawler-type unmanned off-road stacking forklift.

[0028] Figure 10 Schematic diagram of the frame and fork assembly structure of a crawler-type unmanned off-road stacking forklift.

[0029] Figure 11 This is a schematic diagram of the lower frame, middle frame and upper frame structure of a crawler-type unmanned off-road stacking forklift.

[0030] Figure 12 This is a schematic diagram of the fork assembly structure of a crawler-type unmanned off-road stacking forklift.

[0031] Figure 13 Schematic diagram of the fork assembly structure of a crawler-type unmanned off-road stacking forklift Figure 2 .

[0032] Figure 14 This is a schematic diagram of the installation position of the wire encoder for a crawler-type unmanned off-road stacking forklift.

[0033] In the figure: 1. Travel mechanism; 2. Vehicle frame; 3. Frame assembly; 4. Fork assembly; 5. Vehicle frame; 6. Track; 7. Travel drive unit; 8. Drive wheel; 9. Electric control cabinet; 10. Battery box; 11. Lower frame; 12. Lifting electric cylinder; 13. Middle frame; 14. Wheel roller; 15. Upper frame; 16. Lifting movable pulley; 17. Lifting chain; 18. Swing drive unit; 19. Floating lifting unit; 20. Floating slide; 21. Rotating unit; 22. Transmission chain; 23. Movable pulley; 24. First bearing; 25. Transverse slide; 26. Transverse rack; 27. Fork; 28 .Fork mounting bracket; 29. ​​Rotating shaft; 30. Three-way rotating bracket; 31. Second bearing; 32. Laser rangefinder; 33. Distance sensor; 34. Inclination sensor; 35. 3D vision camera; 36. Linear motor; 37. Laser scanner bracket; 38. Laser scanner; 39. Wire encoder body; 40. Wire encoder pull ring; 41. Display screen; 42. Right track control handle; 43. Emergency stop button; 44. Fork control lever group; 45. Power knob; 46. Speed ​​knob; 47. Fork control button group; 48. Left track control handle; 49. Third bearing. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have specific positions, structures, or operations. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0037] like Figures 1 to 14 The crawler-type unmanned off-road stacking forklift shown includes:

[0038] The upper frame 15 includes a crossbar and two vertical rails, with the ends of the crossbar fixedly connected to the two vertical rails. It should be noted that the vertical rails are preferably H-shaped rails, that is, the cross-section of the rails is H-shaped, which has higher strength than C-shaped rails. The crossbars are preferably solid rods, and at least two crossbars are used, respectively arranged at the upper end and middle position of the rails. The ends of each crossbar are preferably fixed to the two rails by welding, but screw fixing can also be used.

[0039] The floating slide 20 is a component with a through hole in the middle, which is movably installed between two vertical rails and slides back and forth along the vertical rails. It should be noted that a rectangular steel plate is preferably used as the main body of the floating slide 20, with a circular through hole in the middle of the steel plate.

[0040] The rotating portion 21 is disposed within the through-hole. It should be noted that the rotating portion 21 preferably utilizes a roller bearing, i.e., a cylindrical rolling element. This increases the strength of the roller bearing. The rotating portion 21 is preferably mounted within the through-hole using an interference fit, but can also be secured with screws.

[0041] The traverse slide 25 is fixedly connected to the rotating part 21 and swings relative to the floating slide 20 with the axis of the rotating part 21 as the center. It should be noted that a circular through hole is provided in the middle of the main body of the traverse slide 25. The through hole is preferably connected to the rotating part 21 by bolts evenly arranged along the circumference of the through hole. Through this connection method, the traverse slide 25 can swing left and right with the rotating part 21 as the center relative to the floating slide 20, as shown in FIG. Figure 3 As shown, the left and right swing angles are preferably in the range of 0° to 15°. The traverse carriage 25 is provided with a track at the upper and lower ends of the main body, and the track is preferably connected to the main body by welding, and reinforcing ribs are provided at the welding positions to enhance stability.

[0042] The fork assembly 4 includes a fork 27 and an automatic positioning device. The fork assembly 4 is connected to the transverse slide 25 in a left-right sliding manner. So that the fork assembly 4 can slide back and forth along the length direction of the track. The automatic positioning device is installed on the fork 27 and is used to collect and transmit the position and angle information of the fork 27. It should be noted that the fork assembly 4 is clamped with the upper and lower tracks of the transverse slide 25 through the second bearing 31, so that the shelf assembly can move left and right on the transverse slide 25. In this technical solution, the automatic positioning device preferably uses an inclination sensor 34 as a signal acquisition device for the left and right swing angle of the fork 27. Figure 13 As shown, the tilt sensor 34 is fixedly mounted on the rear bracket of the fork 27 and connected to the control module via a cable. The tilt sensor 34 can sense its own tilt angle. For example, when the forklift is on an uneven surface and tilts left or right, the fork 27 tilts synchronously with the tilt sensor 34. The tilt sensor 34 then transmits the sensed tilt angle to the control module via the cable.

[0043] The two floating lifting parts 19 are respectively arranged at the bottom of the two vertical rails, and the telescopic ends of the floating lifting parts 19 are connected to the transverse slide 25. It should be noted that the floating lifting part 19 is preferably a reciprocating servo electric cylinder, including a motor, a lead screw and a push rod. The principle of the floating lifting part 19 is that the lead screw is driven to rotate by the motor, and the lead screw drives the push rod to extend or retract. The connection method between the two floating lifting parts 19 and the two vertical rails is preferably connected by flanges and bolts. The upper ends of the two floating lifting parts 19, that is, the top ends of the push rods, are respectively connected to the left and right sides of the transverse slide 25, and the two motors are respectively connected to the control module through cables, and receive and execute the instructions of the control module to start, stop and change the direction of rotation. When the push rods of the two floating lifting parts 19 are extended together, the transverse slide 25 is driven to rise as a whole; when the push rods of the two floating lifting parts 19 are retracted together, the transverse slide 25 is driven to fall as a whole; when one of the push rods of the two floating lifting parts 19 is extended and the other is retracted, the left and right ends of the transverse slide 25 are driven to rise and fall accordingly, and the transverse slide 25 swings to the left or right.

[0044] The control module is installed in the forklift and controls the movement of the two floating lifting parts 19 according to the dispatching instructions received and the information transmitted by the automatic positioning device. It should be noted that the control module can receive the dispatching instructions of the cargo yard through wireless communication, and is connected to the automatic positioning device and the two floating lifting parts 19 through cables. When the forklift picks up a pallet, the two fork heads of the fork 27 need to be aligned with the two fork holes at the bottom of the pallet before they can be inserted into the bottom of the pallet. The control module receives the tilt angle data transmitted by the tilt sensor 34 and makes a judgment. If it is determined that the fork 27 is tilted, the control module will send an action instruction to the two floating lifting parts 19. The two floating lifting parts 19 will move in opposite directions under the control of the instruction, that is, one rises and the other falls, so that the transverse slide 25 and the fork assembly 4 swing to the left or right, thereby achieving left and right leveling of the fork 27.

[0045] In specific implementation, a swivel unit 21 is installed between the through-hole of the floating slide 20 mounted on the upper frame 15 and the transverse slide 25, and the fork assembly 4 is then mounted on the transverse slide 25. Rotation of the swivel unit 21 drives the transverse slide 25, which in turn drives the fork assembly 4, thereby enabling the fork 27 to swing left and right relative to the overall forklift. Based on the above design, two floating lifting units 19, a movable pulley 23, and a transmission chain 22 are provided to enable the fork 27 to swing left and right relative to the overall forklift under electric drive. Furthermore, the design of an automatic positioning device and control module allows the fork 27 to be automatically leveled left and right according to road conditions.

[0046] In one embodiment, Figure 2 As shown, the floating slide 20 has four vertices, each of which is clamped into the two vertical tracks via a first bearing 24. It should be noted that to ensure that the floating slide 20 can slide smoothly back and forth between the two tracks, a first bearing 24 is preferably installed at each of the four vertices of the steel plate. The inner ring of each first bearing 24 is fixedly connected to a vertex of the steel plate, and the outer ring of each first bearing 24 is clamped into the two vertical tracks. This converts sliding friction into rolling friction, not only enabling smooth reciprocating motion of the floating slide 20 on the two vertical tracks, but also reducing friction.

[0047] In one embodiment, Figure 2 As shown, a movable pulley 23 is respectively installed on the upper end of the two floating lifting parts 19; each movable pulley 23 supports a transmission chain 22; one end of each transmission chain 22 is fixedly connected to the upper frame 15, and the other end is fixedly connected to the transverse slide 25. It should be noted that one end of the two transmission chains 22 is respectively fixedly installed on the left and right sides of the upper frame 15 by bolts, and the other end is respectively fixedly connected to the left and right sides of the main body of the transverse slide 25 by bolts. When the two floating electric cylinders rise or fall together, the two transmission chains 22 are driven to operate to realize the rise or fall of the transverse slide 25. When one of the two floating electric cylinders rises and the other falls, the transverse slide 25 can swing left or right relative to the floating slide 20 around the rotating part 21.

[0048] In specific implementation, this technical solution converts sliding friction into rolling friction of the movable pulley 23, thereby reducing power loss; and utilizes the principle of the movable pulley to connect the transverse slide 25 with the upper frame 15 through a chain. When the upper end of the floating lifting part 19 moves a certain distance, the moving distance of the transverse slide 25 and the fork assembly 4 can be increased exponentially under the drive of the movable pulley 23 and the transmission chain 22, thereby achieving a larger lifting distance.

[0049] In one embodiment, Figure 10 and Figure 11As shown, it also includes a lower frame 11 and a middle frame 13, and the lower frame 11 and the middle frame 13 as well as the middle frame 13 and the upper frame 15 are all slidably connected. The upper end of the lower frame 11 is hingedly connected to the forklift body, and the lower end is equipped with a swing drive unit 18; the two ends of the swing drive unit 18 are hingedly connected to the lower end of the lower frame 11 and the lower end of the forklift body. It should be noted that the lower frame 11, the middle frame 13 and the upper frame 15 together constitute the frame assembly 3. The lower frame 11 is composed of two H-shaped rails and cross bars, and the number of cross bars is preferably not less than two, and the two ends thereof are fixedly connected to the two H-shaped rails, preferably by welding. The upper end of the lower frame 11 is provided with two hinges connected to the body through hinges, and the lower end is provided with a swing drive unit 18. One end of the swing drive unit 18 is connected to the lower end of the lower frame 11 through a hinge, and the other end of the swing drive unit 18 is connected to the vehicle body through a hinge. The extension and retraction of the telescopic end of the swing drive unit 18 can realize the swing of the lower frame 11 around the upper hinge point.

[0050] The middle frame 13 consists of two H-shaped rails and crossbars. There are at least two crossbars, each of which is fixedly connected to the two H-shaped rails, preferably by welding. The middle frame 13 is mounted on the two H-shaped rails of the lower frame 11 via rollers 14 mounted on the two H-shaped rails. The upper frame 15 is mounted on the two H-shaped rails of the middle frame 13 via rollers 14 mounted on the two H-shaped rails. The middle frame 13 and the lower frame 11, as well as the upper frame 15 and the middle frame 13, can slide back and forth. The lower frame 11, middle frame 13, and upper frame 15 together form a three-stage telescopic frame structure.

[0051] like Figure 11As shown, a lifting electric cylinder 12 is fixedly installed on the left and right sides of the bottom of the lower frame 11, preferably in a bolted fixed connection mode, and each lifting electric cylinder 12 is connected to the control module via a cable. The upper end of the lifting electric cylinder 12 is fixedly connected to the middle frame 13, preferably in a bolted fixed connection mode, for lifting and lowering the middle frame 13. Two lifting pulleys 16 are movably installed on the cross bar at the upper end of the middle frame 13, and the lifting pulley 16 can rotate around its own axis. Each lifting pulley 16 supports a lifting chain 17, and one end of each lifting chain 17 is fixedly connected to the cross bar of the lower frame 11 by bolts, and the other end is fixedly connected to the cross bar of the upper frame 15 by bolts. When it is necessary to lift the fork 27, the control module sends an action command to the lifting electric cylinder 12. The lifting electric cylinder 12 extends and pushes the middle frame 13 to rise. The middle frame 13 drives the lifting pulley 16 to rise at the same time. The lifting pulley 16 drives the lifting chain 17 to operate. The other end of the lifting chain 17 drives the upper frame 15 to rise. Since the upper frame 15 is connected to the fork 27 through the floating slide 20 and the transverse slide 25, the lifting of the fork 27 can be achieved; when it is necessary to lower the fork 27, the control module sends an action command to the lifting electric cylinder 12. The lifting electric cylinder 12 retracts and drives the middle frame 13 to lower at the same time. The middle frame 13 drives the lifting pulley 16 to lower at the same time. The lifting pulley 16 drives the lifting chain 17 to operate, thereby driving the upper frame 15 to descend and driving the fork 27 to move downward.

[0052] In a specific implementation, due to the adoption of a three-stage telescopic frame assembly 3, the lifting height of the fork 27 can be increased without increasing the minimum height of the forklift, and the structure of the movable pulley 16 and the lifting chain 17 can reduce the power consumption of the forklift and multiply the lifting height of the upper frame 15.

[0053] In one embodiment, Figure 12 As shown, the transverse slide 25 includes two first C-shaped rails and two transverse racks 26. The two first C-shaped rails are fixedly mounted on the upper and lower ends of the transverse slide 25. The two transverse racks 26 are fixedly mounted on the outside of the two first C-shaped rails. It should be noted that the rails arranged at the upper and lower ends of the transverse slide 25 are preferably C-shaped rails, that is, the cross-sectional shape of the rails is C-shaped, and the side of the rail with the groove at the upper end faces upward, and the side of the rail with the groove at the lower end faces downward. A transverse rack 26 is fixed on the opposite surfaces of the two rail grooves by welding.

[0054] In one embodiment, Figure 12 and Figure 13As shown, the fork assembly 4 also includes a three-way rotating frame 30, a rotating shaft 29, and a fork mounting frame 28. The three-way rotating frame 30 is slidably mounted on two first C-shaped rails via second bearings 31, allowing for left and right movement. Preferably, two sets of two bearings are used, each set consisting of two, to increase strength. Second C-shaped rails are disposed transversely at the upper and lower ends of the fork mounting frame 28. The fork mounting frame 28 is movably connected to the three-way rotating frame 30 via the rotating shaft 29 and rotates about the rotating shaft 29. The fork 27 slides in engagement with the second C-shaped rails via a third bearing 49.

[0055] It should be noted that the fork mounting frame 28 is composed of two C-shaped rails and a vertical rod, and both ends of the vertical rod are fixedly connected to the two second C-shaped rails respectively, preferably by welding.

[0056] The two second C-shaped rails of the fork mounting frame 28 are respectively arranged at the upper and lower ends of the fork mounting frame 28, and the surfaces with the grooves are arranged opposite to each other.

[0057] The fork 27 is composed of two L-shaped brackets, which are matched with the second C-shaped track of the fork mounting frame 28 through two groups of two third bearings 49 provided at the upper and lower ends of the fork 27 and can move on the track.

[0058] Transverse gears are installed on the upper and lower ends of the three-way rotating frame 30 respectively, and the two transverse gears are respectively engaged with the upper and lower transverse racks 26 of the transverse slide 25.

[0059] A transverse motor is provided inside the three-way rotating frame 30, which can drive two transverse gears to move on the transverse rack 26. The transverse motor is connected to the control module through a cable and executes the action instructions issued by the control module, thereby realizing the left and right movement control of the fork assembly 4 relative to the transverse slide 25.

[0060] A rotary motor and electromagnetic brake are also installed inside the three-way rotating frame 30 at the end away from the transverse slide 25. A rotating gear is fixedly mounted on the rotating shaft 29 of the fork mounting frame 28, meshing with the output gear of the rotary motor. Driven by the rotary motor, the fork mounting frame 28 rotates about the rotating shaft 29.

[0061] An electromagnetic brake, mounted on shaft 29, can lock fork mount 28 at any angle. The rotating motor and electromagnetic brake are each connected to the control module via cables, executing commands from the control module to control the rotation and locking of fork mount 28.

[0062] A moving nut, a terminal screw, and a terminal motor are installed between the fork 27 and the fork mounting frame 28. The terminal screw is arranged transversely on the fork mounting frame 28 and is fixedly connected to the fork mounting frame 28 by bolts. The moving nut is bolted to the main body of the fork 27. The terminal motor is fixedly connected to the fork mounting frame 28. The output shaft of the terminal motor engages with the terminal screw. Rotation of the terminal motor drives the terminal screw, which in turn drives the terminal nut and the fork to move left and right. The terminal motor is connected to the control module via a cable and executes the action commands issued by the control module to control the left and right movement of the fork 27 on the fork mounting frame 28.

[0063] In a specific implementation, the position and posture of the forks 27 can be automatically adjusted through the adjustment mechanisms between the transverse slide 25 and the three-way rotating frame 30 , the three-way rotating frame 30 and the fork mounting frame 28 , and the fork mounting frame 28 and the forks 27 .

[0064] In one embodiment, Figure 1 、 Figure 4 and Figure 5 As shown, the forklift also includes a running mechanism 1, a frame 5, and a running drive unit 7. The running mechanism 1 is a crawler-type structure, fixedly mounted on the left and right sides of the frame 5. The running drive unit 7 is fixedly mounted on the rear end of the frame 5 and provides driving force for the running mechanism 1. It should be noted that each running mechanism 1 includes crawler tracks 6, supporting rollers, carrier sprockets, guide wheels, and drive wheels 8. Drive wheels 8 with external ring gears are located at the rear end of the running mechanism. These drive wheels 8 are splined to the output shaft of the running drive unit 7, and the external ring gears mesh with the crawler tracks 6 on both sides. Two sets of running drives 7 are provided, each connected to a control module via a cable. When the forklift needs to start, the control module issues commands to the two running drives 7, controlling their operation. When the two running drives 7 begin rotating, the output shafts drive the drive wheels 8 on both sides via the spline structure. The drive wheels 8, via the external ring gears, drive the crawler tracks 6, thereby driving the forklift. The crawler tracks 6 are made of rubber.

[0065] In practice, rubber tracks can be used for both outdoor operations and indoor driving without damaging the ground. If the road surface is hard and uneven, metal tracks can be easily replaced. Track-driven forklifts can better adapt to uneven road surfaces, thus meeting the needs of outdoor operations and driving.

[0066] In one embodiment, Figure 6 and Figure 7 As shown, it also includes a body frame 2, which is fixedly connected to the upper end of the frame 5; a battery box 10, a seat, an electric control cabinet 9, a console, a wireless communication module and an automatic navigation device are installed inside the body frame 2; the control module and the wireless communication module are arranged in the electric control cabinet 9.

[0067] It should be noted that the battery box 10 provides power for the forklift. The battery box 10 has a large mass and is preferably placed at the rear of the vehicle body to balance the mass distribution of the forklift.

[0068] The seat is arranged inside the vehicle body frame 2 and is used to provide body support for the operator when manually operating the forklift.

[0069] The electric control cabinet 9 is equipped with a wireless communication module and a control module. The wireless communication module receives the freight yard scheduling instructions wirelessly and transmits the instructions to the control module through a cable. The control module is used to realize automatic control of the forklift according to the received instructions, navigation data information and data information transmitted by the automatic positioning device.

[0070] like Figure 8 As shown, the console is arranged on the left side inside the vehicle frame 2 for manually controlling the operation and travel of the forklift, including a left track control handle 48, a right track control handle 42, a display screen 41, a speed control knob 46, an emergency stop button 43, a fork control lever group 44, a fork control button group 47 and a power-on knob 45, wherein the left and right track control handles respectively control the forward and reverse directions of the left and right tracks; the display screen 41 can display the current position information and driving status information of the forklift; the speed control knob 46 is used to control the driving speed of the forklift; the emergency stop button 43 is used for emergency parking in case of emergencies; the fork control lever group 44 and the fork control button group 47 are used to control the positioning of the forks respectively; the power-on knob 45 is used to control the power on and off of the forklift.

[0071] In specific implementation, the design of the console can realize manual operation of the forklift's driving and operation, increasing the manual function of the forklift.

[0072] In one embodiment, the automatic navigation device is connected to the control module via a cable for transmitting navigation data information to achieve automatic navigation and positioning of the forklift indoors and outdoors. It should be noted that the automatic navigation device includes a laser scanner assembly, a satellite navigation system, and an inertial navigation system. The laser scanner assembly is used for indoor navigation of the forklift, and the satellite navigation system and the inertial navigation system are used for outdoor navigation and positioning of the forklift. The automatic navigation device transmits the collected navigation data information to the control module, which controls the driving action of the forklift based on the received scheduling instructions and navigation data information through calculation and processing, thereby achieving autonomous navigation functions indoors and outdoors.

[0073] like Figure 9As shown, the laser scanner assembly is located on top of the vehicle frame 2 and includes a laser scanner 38, a laser scanner bracket 37, and a linear motor 36. The laser scanner bracket 37 is fixedly connected to the vehicle frame 2, and the linear motor 36 is fixedly mounted below the laser scanner bracket 37. The laser scanner 38 is fixedly connected to the output end of the linear motor 36. Driven by the linear motor 36, the laser scanner 38 is raised above the vehicle frame 2 when the forklift is in operation and lowered below the vehicle frame 2 to reduce the height of the entire vehicle when the forklift is transporting. The linear motor 36 is connected to the control module via a cable and executes the action commands issued by the control module.

[0074] The satellite navigation system can obtain the geographic location information of the forklift by communicating with the satellite. After transmitting this information to the control module, the control module makes a judgment based on the location information and issues action instructions to the two travel drive parts 7 of the forklift based on the judgment result, thereby realizing automatic navigation driving of the forklift.

[0075] The inertial navigation system measures the forklift's acceleration and automatically integrates it to obtain the forklift's instantaneous speed and position. This data is then transmitted to the control module, which then makes decisions based on the data and issues action commands to the forklift's two travel drive units (7), thereby enabling the forklift's automatic navigation. This navigation method does not rely on external information or radiate energy, making it less susceptible to interference. It is an autonomous navigation system suitable for use in environments without satellite signals.

[0076] In specific implementation, the automatic navigation device can realize indoor and outdoor navigation of the forklift, especially the setting of the satellite navigation system and the inertial navigation system realizes the automatic navigation function of the forklift in the field.

[0077] In one embodiment, Figure 13 As shown, the automatic positioning device includes a wire encoder, an inclination sensor 34, a laser rangefinder 32, a 3D vision camera 35 and a distance sensor 33. The wire encoder is installed between the lower frame 11 and the transverse slide 25, and is used to measure the height change value of the fork assembly 4. The inclination sensor 34 is installed at the rear end of the fork 27, and is used to measure the rotation angle of the fork 27 in the left and right directions. The laser rangefinder 32 is installed at the front end of the fork 27, and is used to detect the relative position of the front end of the fork 27 and the shelf. The 3D vision camera 35 is installed above the rear end of the fork 27, and is used to identify the relative position of the fork 27 and the pallet fork hole. The distance sensor 33 is installed in the middle of the bottom rear end of the fork 27, and is used to sense the pallet stacking position. The automatic positioning device is connected to the control module through a cable, and transmits data information to the control module. It should be noted that, Figure 14As shown, the wire encoder includes a main body 39 and a pull ring 40. The main body 39 is fixedly mounted on the bottom of the lower frame 11, and the pull ring 40 is fixedly mounted on the side end surface of the transverse slide 25 and connected to the main body 39 by a wire rope.

[0078] In specific implementation, the automatic positioning device can sense the position and angle data of the fork 27 relative to the shelf and the pallet fork hole, and transmit the data to the control module. The control module then makes judgments based on this data and issues action instructions to the transverse motor, rotation motor and end motor, thereby automatically controlling the position and angle adjustment of the fork 27.

[0079] The driving and operating process of the crawler unmanned off-road stacking forklift is as follows:

[0080] When a forklift is traveling and operating on a flat surface, for example, when it picks up a pallet from a shelf, the dispatch system sends a remote pickup command to the forklift. The forklift's wireless communication module receives the command and transmits it to the control module. Simultaneously, the automatic navigation device transmits navigation positioning information to the control module. This navigation positioning information is provided by the laser scanner 38 indoors and by the satellite navigation system and inertial navigation system outdoors. Based on the dispatch command and navigation positioning information, the control module calculates and plans the forklift's route and issues an action command to the two travel drive units 7, causing the forklift to begin traveling along the planned route. At this point, under the control of the control module, the laser scanner 38 lowers its height below the top of the vehicle frame 2, lowering the vehicle's height and facilitating passage. When the forklift reaches the target shelf location, the control module issues an action command to the lift electric cylinder 12, traverse motor, rotation motor, and end motor based on the position signal collected by the automatic positioning device, adjusting the forklift 27 to a position directly facing the shelf pallet. The automatic positioning device then collects the precise location information of the pallet's fork hole and transmits this information to the control module. Based on this information, the control module issues fine-tuning instructions to the traverse motor, rotation motor, and end motor to align the head of the fork 27 with the fork hole. The control module issues a command to the forklift to pick up the pallet. The forklift executes the command to pick up the pallet. Once the picking operation is completed, the control module controls the forklift based on the dispatching instructions and navigation positioning information to deliver the pallet to the designated location, completing the operation.

[0081] When a forklift is operating on uneven terrain, the heights of the left and right tracks 6 may be inconsistent, causing the forks of the forks 27 to become uneven and unable to align with the pallet fork opening. The tilt sensor 34 senses the tilt angle of the forks 27 and transmits the angle value to the control module. The control module then issues action commands to the two floating lifting parts 19 of the slewing bearing assembly based on the angle value: if the forks 27 are higher on the left and lower on the right, the control module issues action commands to the two floating electric cylinders to lower the left and raise the right; if the forks 27 are higher on the right and lower on the left, the control module issues action commands to the two floating electric cylinders to lower the right and raise the left. This achieves the automatic leveling function of the forks 27.

[0082] The control module can also send simultaneous raising and lowering motion instructions to the two floating electric cylinders based on the information transmitted by the automatic positioning device, so that the two fork heads of the fork 27 can be fine-tuned to rise and lower at the same time for more accurate positioning.

[0083] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0084] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A crawler-type unmanned off-road stacking forklift, characterized in that: include: An upper frame (15) comprises a crossbar and two vertical rails, wherein both ends of the crossbar are fixedly connected to the two vertical rails respectively; The floating slide (20) is a component with a through hole in the middle, which is movably mounted between the two vertical rails through a first bearing (24) and slides back and forth along the vertical rails; A rotating portion (21) is arranged in the through hole; A transverse slide (25) is fixedly connected to the rotating portion (21) and swings relative to the floating slide (20) with the axis of the rotating portion (21) as the center; A fork assembly (4) comprising a fork (27) and an automatic positioning device; the fork assembly (4) is slidably connected to the transverse slide (25) in a left-right manner; the automatic positioning device is mounted on the fork (27) and is used to collect and transmit position and angle information of the fork (27); Two floating lifting parts (19) are respectively arranged at the bottom of the two vertical rails, and movable pulleys (23) are installed at the upper ends of the two floating lifting parts (19); the telescopic ends of the floating lifting parts (19) are connected to the transverse sliding carriage (25); A control module is installed in the forklift and controls the actions of the two floating lifting parts (19) according to the received dispatching instructions and the information transmitted by the automatic positioning device.

2. The crawler-type unmanned off-road stacking forklift according to claim 1, characterized in that: The floating slide (20) has four vertices which are respectively mounted in the two vertical rails through the first bearings (24).

3. The crawler-type unmanned off-road stacking forklift according to claim 1, characterized in that: Each movable pulley (23) supports a transmission chain (22); one end of each transmission chain (22) is fixedly connected to the upper frame (15), and the other end is fixedly connected to the transverse slide (25).

4. The crawler-type unmanned off-road stacking forklift according to claim 1, characterized in that: The invention also includes a lower frame (11) and a middle frame (13), wherein the lower frame (11) and the middle frame (13) as well as the middle frame (13) and the upper frame (15) are all slidably connected; the upper end of the lower frame (11) is hingedly connected to the forklift body, and the lower end is provided with a swing drive unit (18); the two ends of the swing drive unit (18) are hingedly connected to the lower end of the lower frame (11) and the lower end of the forklift body.

5. The crawler-type unmanned off-road stacking forklift according to claim 1, characterized in that: The transverse slide (25) includes two first C-shaped rails and two transverse racks (26); the two first C-shaped rails are fixedly mounted on the upper and lower ends of the transverse slide (25); and the two transverse racks (26) are fixedly mounted on the outer sides of the two first C-shaped rails.

6. The crawler-type unmanned off-road stacking forklift according to claim 5, characterized in that: The fork assembly (4) further comprises a three-way rotating frame (30), a rotating shaft (29) and a fork mounting frame (28); the three-way rotating frame (30) is slidably mounted on the two first C-shaped rails via a second bearing (31); the second C-shaped rails are transversely arranged at the upper and lower ends of the fork mounting frame (28); the fork mounting frame (28) is movably connected to the three-way rotating frame (30) via the rotating shaft (29) and rotates around the rotating shaft (29); the fork (27) is slidably engaged with the second C-shaped rails via a third bearing (49).

7. The crawler-type unmanned off-road stacking forklift according to claim 1, characterized in that: The forklift comprises a traveling mechanism (1), a vehicle frame (5) and a traveling drive unit (7); the traveling mechanism (1) adopts a crawler structure and is fixedly mounted on the left and right sides of the vehicle frame (5); the traveling drive unit (7) is fixedly mounted at the rear end of the vehicle frame (5) to provide driving force for the traveling mechanism (1).

8. The crawler-type unmanned off-road stacking forklift according to claim 7, characterized in that: The forklift comprises a vehicle frame (2), wherein the vehicle frame (2) is fixedly connected to the upper end of the vehicle frame (5); a battery box (10), a seat, an electric control cabinet (9), a control console, a wireless communication module and an automatic navigation device are installed inside the vehicle frame (2); and the control module and the wireless communication module are arranged in the electric control cabinet (9).

9. The crawler-type unmanned off-road stacking forklift according to claim 8, characterized in that: The automatic navigation device is connected to the control module via a cable for transmitting navigation data information to achieve automatic navigation and positioning of the forklift indoors and outdoors.

10. The crawler-type unmanned off-road stacking forklift according to claim 4, characterized in that: The automatic positioning device includes a wire encoder, an inclination sensor (34), a laser rangefinder (32), a 3D vision camera (35) and a distance sensor (33); the wire encoder is installed between the lower frame (11) and the transverse slide (25) for measuring the height change value of the fork assembly (4); the inclination sensor (34) is installed at the rear end of the fork (27) for measuring the rotation angle of the fork (27) in the left and right directions; the laser rangefinder (32) is installed at the front end of the fork (27) for detecting the relative position of the front end of the fork (27) and the shelf; the 3D vision camera (35) is installed above the rear end of the fork (27) for identifying the relative position of the fork (27) and the pallet fork hole; the distance sensor (33) is installed at the middle position of the bottom of the rear end of the fork (27) for sensing the pallet stacking position; the automatic positioning device is connected to the control module through a cable and transmits data information to the control module.

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