Intelligent loading and unloading unmanned forklift for high-speed rail logistics
By designing intelligent loading and unloading unmanned forklifts in high-speed rail logistics, using mobile gantry-type cargo loading units and position variable auxiliary support mechanisms, the existing unmanned forklifts are solved, and efficient and safe cargo handover and forklift operation are achieved.
Patent Information
- Application Number
- CN202510385442.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-29
- Publication Date
- 2025-06-10
AI Technical Summary
Existing unmanned forklifts cannot adapt to the gap and height difference between the train and the platform during high-speed rail express, and the extension support fork is inactive, resulting in low loading and unloading efficiency, insufficient safety, and interference with conventional passenger flow.
A high-speed rail logistics intelligent loading and unloading unmanned forklift is designed, using a mobile gantry cargo loading unit and a variable position auxiliary support mechanism, combined with a visual identification device and obstacle avoidance navigation unit to achieve flexible docking and cargo handover of high-speed rail doors, and ensure the stability and safety of the forklift through the extension support fork guide and pull-back mechanism.
It improves the accuracy and efficiency of loading and unloading, ensures the safe operation of forklifts in complex environments, reduces interference to conventional passenger flow and equipment, and reduces production and maintenance costs.
Smart Images
Figure CN120117554A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of intelligent logistics unmanned forklifts, and in particular to a high-speed rail logistics intelligent loading and unloading unmanned forklift. Background Art
[0002] With the gradual expansion and improvement of the high-speed rail network, the logistics business using the existing high-speed rail transport capacity has rapidly increased in freight volume due to its characteristics of high efficiency, safety, and wide coverage. The construction and renovation volume is large, and the operation requires a large amount of platform space to be occupied independently. However, due to the high logistics facility construction and renovation costs, the limited infrastructure and space conditions of the existing platforms, and the environment of mixed human and cargo traffic, and at the same time to ensure the absolute safety of passengers and station vehicle equipment, manual loading and unloading methods are still used for packages in current high-speed rail logistics operations. And the intermediate stop time of high-speed rail trains is short, the manual loading and unloading method is greatly affected by human factors, and the uncertainty of the operation speed is high. Therefore, most intermediate stations still cannot open high-speed rail express freight, sacrificing its logistics transportation efficiency.
[0003] In order to ensure the stability of the vehicle body during operation, the existing unmanned forklifts generally have extendable support forks at the bottom for anti-overturning, which are generally as long as the forklift forks and are installed immovably at the bottom of the forklift. During use, it is required that the position where the projection of the extendable support fork on the ground does not have gullies or height differences, and the extendable support fork also needs to enter the goods storage position together with the loaded forklift forks; in high-speed rail express freight, due to the obvious gap and height difference between the train and the platform surface, it is required that only the loaded forklift forks can extend into the goods transfer position inside the high-speed rail train, and the extendable support fork body cannot enter the high-speed rail with the forklift forks, otherwise the support fork will collide with the high-speed rail vehicle body or its support wheels will get stuck in the platform gap, causing train delays and dangers. At the same time, during the driving process of the existing unmanned forklifts, the extendable support forks and the loaded goods will be exposed outside the forklift, and the front end of the existing forklift steel fork body is sharp and hard, and no protection and impact buffer components are designed and installed. If it is used for the loading and unloading operations of current high-speed rail express freight, it will interfere with the regular passenger flow on the platform. Once an impact accident occurs, it will even cause serious damage to passengers and station vehicle equipment. Secondly, the current unmanned forklifts need to operate in a relatively fixed environmental scenario. In high-speed rail logistics loading and unloading, the door positions and widths of high-speed rails of different models and formations are different, and at the same time, there are errors in the parking positions of EMUs. The existing unmanned forklifts cannot flexibly dock with the high-speed rail doors and complete goods transfer in the repeatedly changing platform environment.
[0004] In summary, the existing unmanned forklifts on the market cannot be used for the logistics loading and unloading operations on high-speed rail express platforms. Based on this, it is necessary to provide an unmanned forklift with strong adaptability to special restricted use terrains and human-cargo mixed transportation scenarios, safe and reliable operation, little impact on regular passengers, capable of operating in a repeatedly changing environment and with higher operation efficiency. Summary of the Invention
[0005] (1) Technical problems to be solved
[0006] Aiming at the deficiencies of the prior art, the present invention provides an intelligent loading and unloading unmanned forklift for high-speed rail logistics, which solves the problems that the existing unmanned forklift's stretching and supporting structure is immovable, has high requirements for the working space and ground terrain conditions, and the layout of the operating environment is fixed and single.
[0007] (2) Technical solutions
[0008] To achieve the above objectives, the present invention is realized through the following technical solutions: An intelligent loading and unloading unmanned forklift for high-speed rail logistics, comprising:
[0009] A vehicle frame;
[0010] A traveling mechanism, installed on the vehicle frame, for driving the movement of the forklift;
[0011] A mobile gantry type cargo unit, integrally installed on the vehicle frame, for the forward extension, retraction, lifting, fork picking, dropping and transportation of goods during loading and unloading, and is also equipped with a visual recognition device for docking with the high-speed rail door;
[0012] A position-variable auxiliary support mechanism, installed on the vehicle frame, for when the cargo fork of the mobile gantry type forklift cargo system extends to pick up and place goods, it extends together with the fork gantry, moves the outer fulcrum, and prevents the unmanned forklift from tipping forward due to the outward shift of the center of gravity;
[0013] An obstacle avoidance and navigation unit, installed on the vehicle frame, for positioning, navigation and obstacle recognition of the unmanned forklift;
[0014] An interactive control system, installed on the vehicle frame, for operations such as the status display of the unmanned forklift, the processing of fault information, and the setting of program status and basic parameters.
[0015] The traveling mechanism includes a hub motor 1, a hub motor 2, a universal wheel 1, a universal wheel 2, and a spring suspension mechanism. The hub motor 1 and the hub motor 2 are respectively installed on a set of diagonals at the bottom of the vehicle frame, and the universal wheel 1 and the universal wheel 2 are respectively installed on another set of diagonals at the bottom of the vehicle frame. The hub motors and the universal wheels are all connected to the vehicle frame through the spring suspension mechanism.
[0016] The mobile gantry type cargo unit includes a forklift mast support linear guide groove frame, an electric cylinder, a scissor type telescopic structure, a forklift mast, and a cargo-carrying forklift. The electric cylinder is installed on the middle short crossbar at the rear side of the vehicle frame through a sheet metal part. The head end of the electric cylinder push rod is connected to the scissor type telescopic structure through a pin shaft. One side of the scissor type telescopic structure is fixed on the upper short crossbar at the rear side of the vehicle frame and the lower short crossbar at the rear side of the vehicle frame, and the other side is respectively fixed on the middle part at the rear side of the upper crossbar of the forklift mast and the lower crossbar of the forklift mast. On both sides inside the U-shaped space of the vehicle frame, forklift mast support linear guide groove frames are welded. The forklift mast is installed on the forklift mast support linear guide groove frame through hard track wheels at both ends of the upper crossbar of the forklift mast and the lower crossbar of the forklift mast, and can slide back and forth along the linear guide groove on the forklift mast support linear guide groove frame. The lead screw is connected to the cargo-carrying forklift through a lead screw nut. The guiding optical axes on both sides of the mast are connected to the cargo-carrying forklift through two linear bearings sleeved on them.
[0017] The position-variable auxiliary support mechanism includes a movable extension support fork, an extension support fork guide, and an extension support fork retracting mechanism. The extension support fork guide is installed under the long crossbar at the front bottom of the vehicle frame through bolts. The movable extension support fork passes through the middle cavity of the extension support fork guide. The extension support fork retracting mechanism is installed on the outer side of the rear frame of the vehicle frame through bolts. The traction cable of the retracting mechanism hooks the traction ring at the rear end of the movable extension support fork.
[0018] The obstacle avoidance and navigation unit includes two lidar sensors, which are respectively installed at a set of diagonals on the top of the aforementioned vehicle frame.
[0019] The interactive control system includes an industrial control touch screen and a touch screen bracket. The touch screen bracket is installed on the left half of the top of the vehicle frame through hexagon socket head cap screws. The industrial control touch screen is installed on the touch screen bracket through snap-in clamping.
[0020] Further, the forklift mast support linear guide groove frame includes a linear guide groove, a column, and a hard track wheel outermost position limit sheet metal stop. The two linear guide grooves are respectively welded at the upper and lower ends of the column. Hard track wheel outermost position limit sheet metal stops are installed at the front ends of the linear guide grooves through bolts to block the aforementioned hard track wheels.
[0021] Furthermore, the forklift mast includes a stepper motor, a lead screw, the upper cross beam of the forklift mast, a wheel row sheet metal, a hard track wheel, a guiding optical axis, a linear bearing, and the lower cross beam of the forklift mast. At both ends of the upper cross beam and the lower cross beam of the forklift mast, a set of two hard track wheels are installed through the wheel row sheet metal. The stepper motor is installed on the top of the upper cross beam of the forklift mast, and the output shaft of the stepper motor is connected to the lead screw. On the left and right sides of the forklift mast, guiding optical axes are vertically installed respectively to connect the upper cross beam and the lower cross beam of the forklift mast. A linear bearing that can slide up and down is sleeved on each guiding optical axis. The bottom of the lower cross beam of the forklift mast is installed with a position-variable auxiliary support mechanism propulsion plate through bolts.
[0022] Furthermore, the load-carrying forklift tine includes a vision camera, a forklift tine body, an infrared sensor, a rubber buffer block, and a buffer baffle. The vision camera is installed inside the connecting cross beam at the rear of the forklift tine body. The camera of the vision camera faces the outside of the notch opened on the forklift tine body and is installed facing the front of the load-carrying forklift tine. Round holes are opened on the upper sides of the two tines of the forklift tine body, and infrared sensors are installed externally in the holes. Rubber buffer blocks are installed at the front ends of the two tines of the forklift tine body, and the buffer baffle is installed at the front end of the rubber buffer block through a mortise and tenon structure.
[0023] Furthermore, the movable extended support fork includes a support fork innermost position limiting sheet metal, a movable extended support fork body, an L-shaped pushed sheet metal, a traction pull ring, and an extended support fork supporting wheel. The L-shaped pushed sheet metal is bolted to the rear part of the upper side of the extended support fork body. The support fork innermost position limiting sheet metal is bolted to the front part of the upper side of the extended support fork body. Three extended support fork supporting wheels are sequentially installed at the front, middle, and rear of the lower part of the extended support fork body. The traction pull ring is installed at the rear end of the extended support fork body.
[0024] Furthermore, the extended support fork guide includes an anti-tip-over load upper pressure plate, a guide fixed bolt, a U-shaped plate, and a guide wheel. Two guide wheels are installed at the front and rear on each vertical surface on both sides inside the U-shaped plate. The anti-tip-over load upper pressure plate is installed at the top of the front end of the U-shaped plate. The guide fixed bolt fixes the extended support fork guide as a whole to the front side bottom long cross bar of the vehicle frame.
[0025] Furthermore, the extended support fork retracting mechanism includes a movable extended support fork retracting mechanism counterweight and its hollow cylinder guiding mechanism, a traction cable, and a cable pulley. One end of the traction cable is hooked to the traction pull ring of the aforementioned movable extended support fork, and after passing through three cable pulleys in sequence, the other end is hooked to the movable extended support fork retracting mechanism counterweight. The three cable pulleys are respectively bolted to the rear upper short cross bar, the rear middle short cross bar, and the rear bottom long cross bar of the rear side frame of the vehicle frame. The movable extended support fork retracting mechanism counterweight slides up and down inside its hollow cylinder guiding mechanism, and the hollow cylinder guiding mechanism is bolted to the rear side column of the vehicle frame.
[0026] Working principle:
[0027] After the goods are placed on the forklift truck forks, the stepping motor of the fork gantry drives the lead screw to rotate through the transmission component. The nut on the lead screw moves linearly, and then drives the forklift truck forks to move vertically along the guide optical axes on both sides of the gantry, realizing the lifting of the goods.
[0028] The forklift travels to the side of the platform through the obstacle avoidance and navigation unit installed on the top of the vehicle frame, and performs differential steering through the two hub motors of the traveling mechanism, so that the opening of the U-shaped space of the vehicle frame faces the direction of the high-speed train body parked at the platform. Subsequently, the forklift runs along the direction parallel to the parking direction of the high-speed train. At this time, the visual camera on the forklift truck forks starts to work. After scanning the characteristics of the target door to be reached, it starts to brake, realizing the precise docking with the high-speed train door.
[0029] The forward and backward movement of the electric cylinder push rod drives the scissor-type telescopic structure to expand and contract, and then drives the fork gantry to slide back and forth along the linear guide groove of the fork gantry support, realizing the extension and retraction of the fork gantry and the forklift truck forks. At this time, the hard track wheels at both ends of the upper and lower cross beams of the gantry roll along the linear guide groove, and the linear guide groove plays a role in supporting and guiding the fork gantry; when the fork gantry drives the forklift truck forks to move out of the U-shaped space of the vehicle frame and extend into the high-speed train door, the overall center of gravity of the forklift moves outward. After the fork gantry moves outward a certain distance, the push plate of the position-variable auxiliary support mechanism installed at the bottom of the lower cross beam of the fork gantry touches and pushes the L-shaped sheet metal pushed by the movable extended support fork, and then pushes the movable extended support fork to extend outward together with the fork gantry. The four guide wheels of the extended support fork guide limit the movable extended support fork to ensure that it is pushed forward in a direction parallel to the forklift truck forks. The forklift has a tendency to tip forward. The anti-overturning load upper pressing plate on the extended support fork guide conducts the overturning load to the movable extended support fork, and then is conducted to the ground by the extended support fork support wheel. The extended support fork support wheel plays the role of an outer moving fulcrum. At the same time, the forklift can also use its own weight to stabilize itself, preventing the forklift from tipping over due to the outward movement of the center of gravity position. After the hard track wheel collides with the outermost position limit sheet metal stop installed on the guide groove, the electric cylinder will immediately stop working to prevent the center of gravity from moving out excessively or the fork gantry from falling off the linear guide groove.
[0030] When picking up goods, the opening of the U-shaped space of the vehicle frame faces the target goods. The stepping motor works to lower the truck forks to a low position. The forklift mast and the truck forks extend. The infrared sensor on the truck forks works to determine whether the truck forks have reached directly below the goods. After the truck forks are in place, the electric cylinder stops working, and then the forklift mast stops sliding. The stepping motor starts, driving the truck forks and the goods to rise and move away from the ground by a certain height. Then the electric cylinder works to drive the forklift mast and its position-variable auxiliary support mechanism's push plate, the truck forks and the goods to retract into the U-shaped space of the vehicle frame. At this time, the counterweight of the movable extended support fork pulling-back mechanism relies on gravity to pull down, thereby pulling the traction cable of the extended support fork. The cable then automatically pulls back the movable extended support fork along with the forklift mast through the pull ring. After the limit sheet metal at the innermost position of the support fork hits the anti-overturning load upper pressure plate, the movable extended support fork stops moving, and there is no need to additionally set up an electric mechanism for the pulling-back action of the movable extended support fork.
[0031] During the driving process of the forklift, the goods carried and all movable parts of the forklift are retracted inside the forklift. Only when necessary, the movable extended support fork, the truck forks and the carried goods are extended outside the forklift. And when the movable extended support fork extends to the outermost position, the support wheels of the extended support fork will not fall into the gap between the train and the platform, preventing the interference of the components of the forklift and the carried goods on the normal passenger flow, trains and equipment on the platform during forklift operation.
[0032] (III) Beneficial effects
[0033] The present invention provides an intelligent loading and unloading unmanned forklift for high-speed rail logistics. It has the following beneficial effects:
[0034] 1. The mobile mast type cargo unit of the present invention realizes flexible docking with the high-speed rail car door in a dynamic operating environment through the vision camera installed on its truck forks, and completes the cargo handover with the high-speed rail carriage through standard linear telescopic movement after the docking is completed, without the need for the whole forklift to move to dock with the goods, improving the accuracy of loading and unloading; rubber buffer blocks and buffer baffles are installed at the front end of the truck forks, realizing the protection of personnel on the high-speed rail express platform and the station-car mechanical and electrical facilities and equipment when the truck forks are accidentally impacted, avoiding affecting the normal operation; at the same time, the telescopic propulsion function and the supporting and guiding function of this system are respectively decomposed into the scissor-type telescopic structure and the forklift mast supporting linear guide groove frames on both sides of the U-shaped space of the vehicle frame and the hard track wheels rolling on them, making the cargo system structure safer and more stable, with stronger load-bearing capacity, reducing the production manufacturing and installation costs, also improving the service life and reducing the operation and maintenance costs.
[0035] 2. The position-variable auxiliary support mechanism of the present invention has a deployable support fork that can move and is pushed out together with the forklift carriage mast. It bears the tipping load generated by the outward shift of the center of gravity of the forklift. When the forklift carriage forks are retracted, the deployable support fork can also be quickly and flexibly retracted by relying on the gravity of the counterweight of the movable deployable support fork pulling-back mechanism to pull the cable. The traction force of this pulling-back mechanism is constant within a reasonable range, without sudden changes, and no additional electric drive mechanism needs to be set up. The variable auxiliary support mechanism of the present invention not only ensures the stable support of the forklift carriage forks and goods in the state of extending out of the forklift body, but also does not expose outside the forklift body when not needed. Moreover, when it extends to the outermost position, its support wheels will not fall into the gap between the train and the platform, preventing interference of its components and goods with the normal passenger flow, trains and equipment on the platform during forklift operation. In addition, the structure and power source of this mechanism are simple, with strong reliability, durability, low manufacturing and processing costs, and it is also convenient for maintenance. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] Figure 1 is a schematic structural diagram of the present invention
[0037] Figure 2 is a schematic diagram of the traveling mechanism of the present invention
[0038] Figure 3 is a schematic diagram of the mobile gantry type cargo-carrying mechanism of the present invention
[0039] Figure 4 is a schematic diagram of the overall structure of the position-variable auxiliary support mechanism of the present invention
[0040] Figure 5 is a detailed drawing of the movable deployable support fork pulling-back mechanism of the present invention
[0041] Figure 6 is a detailed drawing of the deployable support fork, guide and driving mechanism of the position-variable auxiliary support mechanism of the present invention
[0042] Figure 7 is a detailed drawing of the structure of the deployable support fork and its guide of the position-variable auxiliary support mechanism of the present invention
[0043] Among them, 1. Traveling mechanism; 111. Wheel hub motor 1; 112. Wheel hub motor 2; 121. Universal wheel 1; 122. Universal wheel 2; 13. Spring suspension mechanism; 2. Frame; 21. Rear frame of the vehicle; 211. Long horizontal bar at the bottom of the rear side; 212. Short horizontal bar at the lower part of the rear side; 213. Short horizontal bar in the middle of the rear side; 214. Rear column; 215. Short horizontal bar at the upper part of the rear side; 22. Long horizontal bar at the bottom of the front side; 3. Mobile gantry type cargo unit; 31. Fork gantry support linear guide groove frame; 311. Fork gantry support linear guide groove; 312. Column; 313. Hard track wheel outermost position limit sheet metal baffle; 32. Electric cylinder; 33. Scissor type telescopic structure; 34. Fork gantry; 341. Stepper motor; 342. Lead screw; 343. Upper cross beam of the fork gantry; 344. Wheel row sheet metal; 345. Hard track wheel; 346. Guide optical axis; 347. Linear bearing; 348. Lower cross beam of the fork gantry; 35. Cargo fork; 351. Vision camera; 352. Fork body; 353. Infrared sensor; 354. Rubber buffer block; 355. Buffer baffle; 4. Variable auxiliary support mechanism; 41. Movable extension support fork; 411. Support fork innermost position limit sheet metal; 412. Movable extension support fork body; 413. L-shaped pushed sheet metal; 414. Traction pull ring; 415. Extension support fork support wheel; 42. Extension support fork guide; 421. Anti-overturning load upper pressure plate; 422. Guide fixed bolt; 423. U-shaped plate; 424. Guide wheel; 43. Extension support fork retraction mechanism; 431. Movable extension support fork retraction mechanism counterweight; 432. Hollow cylinder guide mechanism; 433. Traction cable; 434. Cable pulley; 5. Obstacle avoidance and navigation unit; 6. Interaction control system; 61. Industrial control touch screen; 62. Touch screen bracket. Detailed implementation mode
[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0045] Embodiment:
[0046] As Figures 1-7 shown, the embodiment of the present invention provides an intelligent loading and unloading unmanned forklift for high-speed rail logistics, including:
[0047] Traveling mechanism 1, frame 2, mobile gantry type cargo unit 3, position variable auxiliary support unit 4, obstacle avoidance and navigation unit 5, and interaction control system 6;
[0048] The walking mechanism 1 includes a hub motor 111, a hub motor 112, a universal wheel 121, a universal wheel 122, and a spring suspension mechanism 13. The hub motor 111 and the hub motor 112 are respectively installed on a group of diagonals at the bottom of the frame 2 to drive the forklift to move and perform differential steering. The universal wheel 121 and the universal wheel 122 are respectively installed on another group of diagonals at the bottom of the frame 2 to support the forklift. The hub motor and the universal wheel are connected to the frame 2 through the spring suspension mechanism 13.
[0049] The mobile gantry cargo unit 3 includes a fork gantry supporting linear guide groove frame 31, an electric cylinder 32, a scissor-type telescopic structure 33, a fork gantry 34, and a cargo fork 35. The electric cylinder 32 is installed on the short cross bar 213 in the middle of the rear side of the frame through sheet metal. The push rod head end of the electric cylinder 32 is connected to the scissor-type telescopic structure 33 through a pin shaft. One side of the scissor-type telescopic structure 33 is fixed to the upper short cross bar 215 on the rear side of the frame and the lower short cross bar 212 on the rear side of the frame, and the other side is fixed to the upper cross beam 343 and the lower cross beam 348 of the fork gantry respectively. The fork gantry supporting linear guide groove frame 31 is welded on both sides of the inner side of the U-shaped space of the frame 2. The fork gantry 34 is arranged by the hard track wheels 345 at both ends of the upper cross beam 343 and the lower cross beam 348 of the fork gantry. Installed on the linear guide slot frame 31 supporting the fork mast, the push rod action of the electric cylinder 32 drives the scissor-type telescopic structure 33 to extend and retract, thereby making the fork mast 34 slide forward and backward along the linear guide slot 311 of the linear guide slot frame 31 supporting the fork mast, so as to realize the extension and retraction of the truck fork 35, and the lead screw 342 is connected to the truck fork 35 through the lead screw nut, and the guide optical axis 346 on both sides of the mast is connected to the truck fork 35 through two linear bearings 347 sleeved thereon, and the stepper motor 341 installed on the top of the crossbeam 343 on the fork mast drives the lead screw 342 to rotate through the transmission assembly, and the lead screw nut on the lead screw 342 moves linearly accordingly, thereby driving the truck fork 35 to move vertically along the guide optical axis 346 on both sides of the fork mast 34, so as to realize the lifting and lowering of the goods on the truck fork 35.
[0050] The position-variable auxiliary support mechanism 4 includes a movable extension support fork 41, an extension support fork guide 42, and an extension support fork retraction mechanism 43. The extension support fork guide 42 is installed under the long horizontal bar 22 at the bottom of the front side of the vehicle frame 2 by bolts. The movable extension support fork 41 passes through the middle cavity of the extension support fork guide 42. The extension support fork retraction mechanism 43 is installed on the outside of the rear frame 21 of the vehicle frame by bolts. The traction cable 433 of the retraction mechanism hooks the traction ring 414 at the rear end of the movable extension support fork 41. The movable extension support fork 41 can extend together with the forklift mast 34, shifting the outer fulcrum to prevent the driverless forklift from tipping forward due to the outward shift of the center of gravity, ensuring the balance of the forklift itself. When the forklift mast 34 retracts, the extension support fork 41 can also be automatically retracted by the extension support fork retraction mechanism 43, without occupying the external space of the forklift, and preventing interference with the regular passenger flow, trains, and equipment on the platform during operation.
[0051] The obstacle avoidance and navigation unit 5 includes two lidar sensors, which are respectively installed at a set of diagonals on the top of the vehicle frame 2, and can position, navigate, and identify obstacles for the driverless forklift.
[0052] In the interactive control system 6, the touch screen bracket 61 is installed on the left half of the top of the vehicle frame 2 by hexagon socket head cap screws. The industrial control touch screen 61 is installed on the touch screen bracket 62 by snap fitting, and has functions such as displaying the status of the driverless forklift, processing fault information, and setting program status and basic parameters.
[0053] At the front ends of the upper and lower linear guide grooves 311 of the forklift mast support linear guide groove frame 31, hard track wheel outermost position limit sheet metal stoppers 313 are installed to block the hard track wheels 345 and prevent the forklift mast 34 from falling off the linear guide grooves 311.
[0054] The forklift mast 34 includes a stepper motor 341, a lead screw 342, an upper cross beam 343 of the forklift mast, a wheel row sheet metal 344, a hard track wheel 345, a guide optical axis 346, a linear bearing 347, and a lower cross beam 348 of the forklift mast. Guide optical axes 346 are vertically installed on the left and right sides of the forklift mast 34 to connect the upper cross beam 343 and the lower cross beam 348 of the forklift mast. At the bottom of the lower cross beam 348 of the forklift mast, a position-variable auxiliary support mechanism push plate 36 is installed by bolts, which can reach and outwardly push the L-shaped pushed sheet metal 413 of the movable extension support fork 41 to provide power for the extension of the movable extension support fork 41.
[0055] The truck fork 35 includes a vision camera 351, a fork body 352, an infrared sensor 353, a rubber buffer 354, and a buffer baffle 355. The vision camera 351 is installed inside the connecting crossbeam at the rear of the fork body 352, and the camera of the vision camera 351 faces the outside of the notch opened on the fork body 352. By scanning the features on the high-speed train in real time, it provides support for the motion control during the flexible docking of the forklift with the high-speed train door. Round holes are opened on the upper sides of the front ends of the two forks of the fork body 352, and infrared sensors 353 are externally installed in the holes to determine the position of the truck fork 35 relative to the target goods when the forklift picks up and places the goods. Rubber buffers 354 are installed at the front ends of the two forks of the fork body 352, and the buffer baffle 355 is installed at the front end of the rubber buffer 354 through a mortise and tenon structure, which can absorb the energy generated when the truck fork 35 undergoes an accidental impact and ensure the safety of the station and vehicle equipment and personnel.
[0056] The movable extension support fork 41 includes a limit sheet metal at the innermost position of the support fork 411, a movable extension support fork body 412, an L-shaped pushed sheet metal 413, a traction ring 414, and an extension support fork bearing wheel 415. The L-shaped pushed sheet metal 413 is bolted to the rear part of the upper side of the extension support fork body 412 to receive the driving force provided by the propulsion plate 36 of the position-variable auxiliary support mechanism. The limit sheet metal at the innermost position of the support fork 411 is bolted to the front part of the upper side of the extension support fork body 412. After the limit sheet metal at the innermost position of the support fork 411 hits the anti-overturning load upper pressing plate 421, the movable extension support fork can stop moving at the innermost position. Three extension support fork bearing wheels 415 are sequentially installed at the front, middle, and rear parts of the lower part of the extension support fork body 412. The traction ring 414 is installed at the rear end of the extension support fork body 412 to transmit the traction force of the traction cable 433 to the movable extension support fork 41.
[0057] The extension support fork guide 42 includes an anti-overturning load upper pressing plate 421, a guide fixed bolt 422, a U-shaped plate 423, and a guide wheel 424. Two guide wheels 424 are installed on each of the two vertical inner sides of the U-shaped plate 423, one in front and one behind, to ensure that the movable extension support fork 43 is pushed forward in a direction parallel to the truck fork. The anti-overturning load upper pressing plate 421 is installed at the top of the front end of the U-shaped plate 423, which can conduct the overturning load to the movable extension support fork 43. The guide fixed bolt 422 fixes the U-shaped plate 423 to the front bottom long crossbar 22 of the vehicle frame 2.
[0058] The stretching support fork pulling-back mechanism 43 includes a movable stretching support fork pulling-back mechanism counterweight 431, its hollow cylinder guiding mechanism 432, a traction cable 433, and a cable pulley 434. One end of the traction cable 433 is hooked to the traction ring 414 of the aforementioned movable stretching support fork 41, and after passing through three cable pulleys 434 in sequence, the other end is hooked to the movable stretching support fork pulling-back mechanism counterweight 431 that provides power for the automatic pulling-back action by gravity. The three cable pulleys 434 are respectively installed on the upper short crossbar 215 at the rear side, the middle short crossbar 213 at the rear side, and the long crossbar 211 at the bottom rear side of the rear frame 21 of the vehicle frame by bolts. The movable stretching support fork pulling-back mechanism counterweight 431 slides up and down within its hollow cylinder guiding mechanism 432, and the hollow cylinder guiding mechanism 432 is installed on the rear column 214 of the vehicle frame 2 by bolts.
[0059] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An intelligent unmanned forklift for loading and unloading high-speed rail logistics, characterized in that: include: Traveling mechanism, frame, mobile gantry cargo unit, position-variable auxiliary support unit, obstacle avoidance and navigation unit and interactive control system; The walking mechanism includes a wheel hub motor 1, a wheel hub motor 2, a universal wheel 1, a universal wheel 2, and a spring suspension mechanism. The wheel hub motor 1 and the wheel hub motor 2 are respectively mounted on a set of diagonal corners at the bottom of the frame, and the universal wheel 1 and the universal wheel 2 are respectively mounted on another set of diagonal corners at the bottom of the frame. The wheel hub motor and the universal wheel are connected to the frame through the spring suspension mechanism. The mobile gantry cargo unit comprises a fork gantry supporting linear guide slot frame, an electric cylinder, a scissor-type telescopic structure, a fork gantry, and a cargo fork. The electric cylinder is installed on a short cross bar in the middle of the rear side of the frame through a sheet metal part. The head end of the electric cylinder push rod is connected to the scissor-type telescopic structure through a pin shaft. One side of the scissor-type telescopic structure is fixed to the short cross bar on the upper part of the rear side of the frame and the short cross bar on the lower part of the rear side of the frame, and the other side is respectively fixed to the middle of the rear side of the upper crossbeam of the fork gantry and the lower crossbeam of the fork gantry. A fork mast support linear guide groove frame is welded on both the left and right sides of the inner side of the U-shaped space of the frame. The fork mast is installed on the fork mast support linear guide groove frame through hard track wheels at both ends of the fork mast upper crossbeam and the fork mast lower crossbeam, and can slide forward and backward along the linear guide groove on the fork mast support linear guide groove frame. The lead screw of the fork mast is connected to the truck fork through the lead screw nut, and the guide optical axis on both sides of the mast is connected to the truck fork through two linear bearings sleeved thereon; The position-variable auxiliary support mechanism comprises a movable extension support fork, an extension support fork guide, and an extension support fork pull-back mechanism. The extension support fork guide is installed under the long horizontal bar at the bottom of the front side of the frame by bolts. The movable extension support fork passes through the middle cavity of the extension support fork guide. The extension support fork pull-back mechanism is installed on the outer side of the frame at the rear side of the frame by bolts. The traction cable of the pull-back mechanism is hooked to the traction pull ring at the rear end of the movable extension support fork. The obstacle avoidance and navigation unit includes two laser radars, which are installed at a set of opposite corners on the top of the frame; The interactive control system comprises an industrial control touch screen and a touch screen bracket. The touch screen bracket is installed on the left half of the top of the frame through hexagon socket bolts, and the industrial control touch screen is installed on the touch screen bracket through buckles and embedded cards.
2. According to claim 1, a high-speed rail logistics intelligent loading and unloading unmanned forklift is characterized in that: The fork mast supporting linear guide groove frame comprises a linear guide groove, a column, and a hard track wheel outermost position limiting sheet metal baffle. Two linear guide grooves are respectively welded to the upper and lower ends of the column. The front end of the linear guide groove is installed with a hard track wheel outermost position limiting sheet metal baffle by bolts.
3. The high-speed rail logistics intelligent loading and unloading unmanned forklift according to claim 1 is characterized in that: The fork mast comprises a stepper motor, a lead screw, an upper cross beam of the fork mast, a wheel row sheet metal, a hard rail wheel, a guide optical axis, a linear bearing, and a lower cross beam of the fork mast. A group of two hard rail wheels are installed at both ends of the upper cross beam of the fork mast and the lower cross beam of the fork mast through the wheel row sheet metal. The stepper motor is installed on the top of the upper cross beam of the fork mast, and the output shaft of the stepper motor is connected to the lead screw. Guide optical axes are vertically installed on the left and right sides of the fork mast respectively to connect the upper cross beam of the fork mast and the lower cross beam of the fork mast, and each guide optical axis is sleeved with a linear bearing that can slide up and down, and a position-variable auxiliary support mechanism propulsion plate is installed at the bottom of the lower cross beam of the fork mast through bolts.
4. The high-speed rail logistics intelligent loading and unloading unmanned forklift according to claim 1 is characterized in that: The truck fork comprises a visual camera, a fork body, an infrared sensor, a rubber buffer block, and a buffer baffle. The visual camera is installed inside the rear connecting crossbeam of the fork body. The camera head of the visual camera faces the outside of the slot opened on the fork body and is installed facing the front of the truck fork. Round holes are opened on the upper sides of the front ends of the two forks of the fork body, and infrared sensors are installed outside the holes. Rubber buffer blocks are installed at the front ends of the two forks of the fork body, and the buffer baffle is installed at the front ends of the rubber buffer blocks through mortise and tenon structures.
5. The high-speed rail logistics intelligent loading and unloading unmanned forklift according to claim 1 is characterized in that: The movable extension support fork comprises a support fork innermost position limiting sheet metal, a movable extension support fork body, an L-shaped push sheet metal, a traction pull ring, and an extension support fork supporting wheel. The upper rear portion of the extension support fork body is connected with an L-shaped push sheet metal by bolts, the upper front portion of the extension support fork body is installed with a support fork innermost position limiting sheet metal by bolts, three extension support fork supporting wheels are installed in sequence at the front, middle and rear of the lower portion of the extension support fork body, and the traction pull ring is installed at the rear end of the extension support fork body.
6. The high-speed rail logistics intelligent loading and unloading unmanned forklift according to claim 1 is characterized in that: The extension support fork guide comprises an anti-rollover load upper pressure plate, a guide fixing bolt, a U-shaped plate, and a guide wheel. Two guide wheels are installed on each side of the vertical surfaces on both sides of the U-shaped plate, one in front and one behind. An anti-rollover load upper pressure plate is installed on the top of the front end of the U-shaped plate, and the guide fixing bolt fixes the U-shaped plate to the long cross bar at the bottom front side of the frame.
7. The high-speed rail logistics intelligent loading and unloading unmanned forklift according to claim 1 is characterized in that: The extension support fork pulling back mechanism includes a movable extension support fork pulling back mechanism counterweight and its hollow cylindrical guide mechanism, a traction cable, and a cable pulley. One end of the traction cable is hooked to the traction pull ring of the aforementioned movable extension support fork, and is hooked to the movable extension support fork pulling back mechanism counterweight at the other end after passing through three cable pulleys in sequence. The three cable pulleys are respectively installed on the rear upper short cross bar, the rear middle short cross bar and the rear bottom long cross bar of the rear side frame of the frame by bolts. The movable extension support fork pulling back mechanism counterweight is located in its hollow cylindrical guide mechanism and slides up and down. The hollow cylindrical guide mechanism is installed on the rear column of the frame by bolts.