Forked crawler trolley

Abstract

The invention relates to the technical field of unmanned trolleys, in particular to a crawler trolley with forks. The crawler chassis is arranged on the outer side of the bottom end of the rack and connected with the rack; the body group is connected with the rack; the front fork set is arranged on the outer side of the body set and connected with the side wall of the rack and the body set; wherein the body set comprises an electric box, an inverter box, a battery box, an obstacle avoidance set, a visual navigation set, a laser navigation set and a hydraulic set, the crawler chassis is connected with and bears the battery box and the electric box through the rack, the stability can be improved, and the purpose of high-load bearing can be achieved; the trolley can be suitable for all-terrain military product transferring, loading and unloading, the trolley can normally run to receive dispatching signals in the indoor environment and the outdoor environment by arranging the visual navigation set and the laser navigation set, outdoor and indoor use is met, and the trolley is suitable for various use scenes.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned vehicles, in particular to a fork-type crawler vehicle. Background Art

[0002] The military industry is the foundation of a country's manufacturing industry. It is not only related to national defense security, but also represents the comprehensive national strength. In recent years, my country's national defense has made great progress, and many new national defense military technologies and national defense equipment have emerged, reflecting the innovation ability and scientific research level of national defense enterprises. However, in some core technologies, there are still some innovation bottlenecks. Because military products have the special property of being explosive, the transportation of military products has always been the most dangerous. In the military destruction mission, the long-distance transportation of products is the case with the largest demand and the first to be automated. The intelligence and automation of product transportation has always been a hot topic in the industry.

[0003] The existing unmanned vehicles do not support all-terrain operation and transportation of military products, have weak horizontal obstacle crossing capabilities, are not suitable for multi-environment production and transportation, and cannot meet the needs of military customers on the market. Therefore, in view of the above situation, there is an urgent need to develop a fork-mounted crawler vehicle to overcome the shortcomings in current practical applications. Summary of the invention

[0004] The object of the present invention is to provide a fork-type crawler trolley to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A fork-type crawler trolley comprises: a frame; a crawler chassis, which is arranged on the outer side of the bottom end of the frame and connected to the frame for supporting the frame and completing all-terrain walking; a body group, which is connected to the frame; a front fork group, which is arranged on the outer side of the body group, connected to the side wall of the frame and connected to the body group, and is used to cooperate with the body group to complete the picking and placing of goods; wherein, the body group comprises: an electric box, an inverter box, a battery box, an obstacle avoidance group, a visual navigation group, a laser navigation group and a hydraulic group, the electric box is fixedly connected to the frame, an inverter box and a battery box fixedly connected to the frame are arranged on the outer side of the electric box, a laser navigation group is fixedly connected to the outer side of the top of the electric box, and a visual navigation group connected to the electric box is also arranged on the outer side of the laser navigation group, an obstacle avoidance group is fixedly connected to the frame wall at one end of the frame away from the front fork group, and a hydraulic group connected to the front fork group is also fixedly connected to the frame for cooperating with the frame to realize the lifting and lowering of the front fork group.

[0007] As a further solution of the present invention: the crawler chassis includes: a crawler, a connecting frame, a motor and auxiliary wheels. The connecting frame is arranged on the outer side of the bottom end of the frame and is fixedly connected to the frame. Crawler tracks are arranged on both sides of the connecting frame. The crawler tracks are abutted against the auxiliary wheels arranged on the inner side of the connecting frame. The crawler tracks are also connected to the motor arranged on the connecting frame, so as to cooperate with the motor to realize all-terrain walking of the trolley.

[0008] As a further solution of the present invention: the front fork group includes: an obstacle avoidance sensor, an oil cylinder, an alarm light, a door frame and a front fork, the door frame is fixedly connected to the frame, the front fork is slidingly connected to the outer side of one end of the door frame away from the frame, the front fork is connected to the hydraulic group through the oil cylinder, the obstacle avoidance sensor is also fixedly connected to the front fork, and the alarm light is fixedly connected to the top of the door frame.

[0009] As a further solution of the present invention: a pull rope sensor is also fixedly connected to the door frame.

[0010] As a further solution of the present invention: the electrical box is provided with a touch screen and a USB interface.

[0011] As a further solution of the present invention: a lead-acid battery is installed in the battery box.

[0012] As a further solution of the present invention: the obstacle avoidance group is composed of a plurality of radars, and the radars can achieve a 270° field of view.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The tracked chassis is connected to the battery box and the electric box through the frame, which can not only increase the stability but also achieve the purpose of carrying high loads. The setting of the tracked chassis makes the vehicle suitable for all-terrain military product transportation and loading and unloading. The hydraulic group is used to complete the hydraulic control of the front fork group. The structure is simple and practical. By setting the visual navigation group and the laser navigation group, the vehicle can travel normally in both indoor and outdoor environments and receive dispatch signals, and then complete automatic navigation control. It can control the equipment cost while ensuring the equipment performance, meet the outdoor and indoor use, and is suitable for a variety of usage scenarios. It greatly reduces dangerous processes and the number of operators, and realizes the automatic and intelligent transportation of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of a fork-type crawler trolley.

[0016] Figure 2 It is a schematic diagram of the internal structure of the fork-type crawler trolley.

[0017] Figure 3 It is a schematic diagram of the partial structure of a fork-type crawler trolley.

[0018] Figure 4 It is a schematic diagram of the structure of the crawler chassis in the fork-type crawler trolley.

[0019] Figure 5 It is a schematic diagram of the structure of the front fork group in a fork-type crawler vehicle.

[0020] In the figure: 1. crawler chassis; 2. main body group; 3. front fork group; 4. electric box; 5. inverter box; 6. battery box; 7. frame; 8. obstacle avoidance group; 9. visual navigation group; 10. laser navigation group; 11. hydraulic group; 12. crawler; 13. connecting frame; 14. motor; 15. auxiliary wheel; 16. obstacle avoidance sensor; 17. oil cylinder; 18. pull rope sensor; 19. warning light; 20. door frame; 21. front fork. DETAILED DESCRIPTION

[0021] The technical solution of the present application is further described in detail below in conjunction with specific implementation methods.

[0022] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0023] See also Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, a fork-type crawler trolley includes: a frame 7; a crawler chassis 1, which is arranged on the outer side of the bottom end of the frame 7 and connected to the frame 7, and is used to support the frame 7 and complete all-terrain walking; a body group 2, which is connected to the frame 7; a front fork group 3, which is arranged on the outer side of the body group 2, connected to the side wall of the frame 7, and connected to the body group 2, and is used to cooperate with the body group 2 to complete the picking and placing of goods; wherein, the body group 2 includes: an electric box 4, an inverter box 5, a battery box 6, an obstacle avoidance group 8, visual navigation group 9, laser navigation group 10 and hydraulic group 11, the electric box 4 is fixedly connected to the frame 7, the outside of the electric box 4 is provided with an inverter box 5 and a battery box 6 fixedly connected to the frame 7, the top of the electric box 4 is fixedly connected to the outside, the laser navigation group 10 is also provided with a visual navigation group 9 connected to the electric box 4, the frame 7 is fixedly connected to the wall at one end away from the front fork group 3, the frame 7 is also fixedly connected with a hydraulic group 11 connected to the front fork group 3, which is used to cooperate with the frame 7 to realize the lifting and lowering of the front fork group 3.

[0024] In this embodiment, the tracked chassis 1 is connected to the battery box 6 and the electric box 4 through the frame 7, which can not only increase stability but also achieve the purpose of carrying high loads. The setting of the tracked chassis 1 makes the vehicle suitable for all-terrain military product transportation and loading and unloading. The hydraulic group 11 is used to complete the hydraulic control of the front fork group 3. The structure is simple and practical. By setting the visual navigation group 9 and the laser navigation group 10, the vehicle can travel normally in both indoor and outdoor environments and receive dispatch signals, and then complete automatic navigation control. It can control the equipment cost while ensuring the equipment performance, meet the needs of outdoor and indoor use, and is suitable for a variety of usage scenarios. It greatly reduces dangerous processes and the number of operators, and realizes automatic and intelligent transportation of materials.

[0025] In one embodiment of the present invention, please refer to Figure 4 The crawler chassis 1 includes: a crawler 12, a connecting frame 13, a motor 14 and an auxiliary wheel 15. The connecting frame 13 is arranged on the outer side of the bottom end of the frame 7 and is fixedly connected to the frame 7. Crawler tracks 12 are arranged on both sides of the connecting frame 13. The crawler tracks 12 are abutted against the auxiliary wheels 15 arranged on the inner side of the connecting frame 13. The crawler tracks 12 are also connected to the motor 14 arranged on the connecting frame 13, so as to cooperate with the motor 14 to realize all-terrain walking of the vehicle.

[0026] In this embodiment, the auxiliary wheels 15 in the crawler chassis 1 can float flexibly, so that the vehicle has a certain horizontal and vertical obstacle surmounting capability, and the crawler chassis 1 can be customized according to customer requirements. By setting the crawler chassis 1, the vehicle has a certain horizontal and vertical obstacle surmounting capability, so that it is suitable for production and transportation in multiple environments, fully meeting the needs of military customers on the market.

[0027] In one embodiment of the present invention, please refer to Figure 5 The front fork group 3 includes: an obstacle avoidance sensor 16, an oil cylinder 17, an alarm light 19, a door frame 20 and a front fork 21. The door frame 20 is fixedly connected to the frame 7. The front fork 21 is slidably connected to the outer side of the end of the door frame 20 away from the frame 7. The front fork 21 is connected to the hydraulic group 11 through the oil cylinder 17. The obstacle avoidance sensor 16 is also fixedly connected to the front fork 21. The alarm light 19 is fixedly connected to the top of the door frame 20.

[0028] In this embodiment, the hydraulic group 11 controls the lifting of the front fork 21. The lifting stroke of the front fork 21 is 1.5 meters. The maximum load of the vehicle is 1 ton. An obstacle avoidance sensor 16 is installed on the front fork 21 to give the trolley an anti-collision function. The lifting fork is hydraulically controlled and has a simple and practical structure.

[0029] In one embodiment of the present invention, a pull-rope sensor 18 is fixedly connected to the door frame 20 , and the pull-rope sensor 18 can record the lifting and lowering stroke of the front fork 21 .

[0030] In one embodiment of the present invention, the electrical box 4 is provided with a touch screen and a USB interface, and close-range or remote debugging can be selected as required.

[0031] In one embodiment of the present invention, a lead-acid battery is installed in the battery box 6, and the effective battery life can reach 8 hours.

[0032] In one embodiment of the present invention, the obstacle avoidance group 8 is composed of a plurality of radars, which can achieve a 270° field of view and can effectively scan the surrounding environment of the vehicle.

[0033] In one embodiment of the present invention, the various components are connected by screws, and key positions are protected by sealing rings to prevent rain and snow. The debugging personnel only need to stand in the external control room to easily control the equipment externally. The dispatching system issues instructions to guide the vehicle to run along the specified route. If there is a fault, the vehicle will be shut down and alarmed in time and the signal will be fed back to the control room personnel.

[0034] The fork-type crawler trolley, the crawler chassis 1 is connected to the battery box 6 and the electric box 4 through the frame 7, which can not only increase the stability, but also achieve the purpose of high load carrying. The setting of the crawler chassis 1 makes the trolley suitable for all-terrain military product transportation and loading and unloading. The hydraulic group 11 is used to complete the hydraulic control of the front fork group 3, and the structure is simple and practical. By setting the visual navigation group 9 and the laser navigation group 10, the trolley can normally travel in both indoor and outdoor environments to receive dispatch signals, and then complete automatic navigation control. While controlling the equipment cost, the equipment performance can be guaranteed, which meets the needs of outdoor and indoor use. It is suitable for a variety of usage scenarios, greatly reduces dangerous processes and the number of operators, and realizes automatic and intelligent transportation of materials. By setting the crawler chassis 1, the trolley has a certain horizontal and vertical obstacle crossing ability, so it is suitable for multi-environment production and transportation, and fully meets the needs of military customers on the market. An obstacle avoidance sensor 16 is installed on the front fork 21, which makes the trolley have an anti-collision function. The lifting fork is hydraulically controlled, and the structure is simple and practical.

[0035] The above are only preferred embodiments of the present invention. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These should also be regarded as the protection scope of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A fork-type crawler trolley, characterized in that: include: frame; A crawler chassis, which is arranged on the outer side of the bottom end of the frame and connected to the frame, is used to support the frame and complete all-terrain walking; A body group, wherein the body group is connected to the frame; A front fork assembly, which is arranged outside the body assembly, connected to the side wall of the frame and connected to the body assembly, and is used to cooperate with the body assembly to complete the picking and placing of goods; Among them, the main body group includes: an electric box, an inverter box, a battery box, an obstacle avoidance group, a visual navigation group, a laser navigation group and a hydraulic group. The electric box is fixedly connected to the frame, and the inverter box and the battery box fixedly connected to the frame are arranged on the outside of the electric box. A laser navigation group is fixedly connected to the outside of the top of the electric box, and a visual navigation group connected to the electric box is also arranged on the outside of the laser navigation group. An obstacle avoidance group is fixedly connected to the frame wall at one end of the frame away from the front fork group, and a hydraulic group connected to the front fork group is also fixedly connected to the frame for cooperating with the frame to realize the lifting and lowering of the front fork group.

2. The fork-type crawler trolley according to claim 1, characterized in that: The crawler chassis includes: a crawler, a connecting frame, a motor and auxiliary wheels. The connecting frame is arranged on the outer side of the bottom end of the frame and is fixedly connected to the frame. Crawler tracks are arranged on both sides of the connecting frame. The crawler tracks are abutted against the auxiliary wheels arranged on the inner side of the connecting frame. The crawler tracks are also connected to the motor arranged on the connecting frame, so as to cooperate with the motor to realize all-terrain walking of the trolley.

3. The fork-type crawler trolley according to claim 2, characterized in that: The front fork group includes: an obstacle avoidance sensor, an oil cylinder, an alarm light, a door frame and a front fork. The door frame is fixedly connected to the frame, and a front fork is slidably connected to the outer side of one end of the door frame away from the frame. The front fork is connected to the hydraulic group through the oil cylinder. An obstacle avoidance sensor is also fixedly connected to the front fork, and an alarm light is fixedly connected to the top of the door frame.

4. The fork-type crawler trolley according to claim 3, characterized in that: A pull rope sensor is also fixedly connected to the door frame.

5. The fork-type crawler trolley according to claim 4, characterized in that: The electric box is provided with a touch screen and a USB interface.

6. The fork-type crawler trolley according to claim 1, characterized in that: Lead-acid batteries are installed in the battery box.

7. The fork-type crawler trolley according to claim 2, characterized in that: The obstacle avoidance group is composed of several radars, which can achieve a 270° field of view.

Images