Self-adaptive vehicle-mounted transfer machine

Abstract

The invention belongs to the technical field of logistics transfer equipment, and particularly relates to a self-adaptive vehicle-mounted transfer machine which comprises a pallet fork, a lifting mechanism, a walking mechanism, a self-adaptive adjusting mechanism and a power module. The upper end of the fork is hinged to the upper end of the lifting mechanism; the lifting mechanism is arranged on the walking mechanism; the walking mechanism is arranged on the lower portion of the transfer machine and comprises a traveling driving mechanism, a driven wheel and a shuttling support; the self-adaptive adjusting mechanism comprises a control unit and an adjusting driving part and is used for adjusting the posture of the pallet fork according to the downward-bending angle of the pallet fork, so that the pallet fork is kept parallel to the horizontal plane; one end of the adjusting driving part is hinged to the lifting mechanism, and the other end is hinged to the lower end of the fork; the power module is arranged on the lifting mechanism, electrically connected with the lifting mechanism and the walking mechanism and used for providing power for the transfer machine. The invention aims to solve the safety problems that a large amount of manpower and time are consumed in the material transfer process, personnel injury and material damage are easily caused and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics transfer equipment, and particularly relates to an adaptive vehicle-mounted transfer machine. Background Art

[0002] The transfer of materials from a site to a truck or from a truck to a site is an important link in the logistics transportation process, and usually requires the use of a supporting forklift machine to complete the above transfer work. However, in a temporary freight yard or an area with limited conditions, it is very difficult to equip a forklift machine for transfer. Therefore, for the transfer of materials under the above conditions, manual or manual mechanical equipment is usually adopted; this will undoubtedly cause the consumption of manpower and time, and even safety problems such as personnel injuries and material damage may occur.

[0003] In view of the above situation, there is an urgent need for a vehicle-mounted material transfer device that can be transported together with the goods, and can independently get on and off the transport vehicle after arriving at the destination, as well as load and unload the goods. However, for the convenience of vehicle mounting, this transfer device needs to be small in size, light in weight and flexible in movement. Therefore, its own frame (such as a forklift fork and a forklift fork frame) will be relatively slender, and it is very easy for the transfer device to deform and lean forward when lifting and carrying the goods, resulting in the goods falling and being damaged or even personnel being injured. Therefore, the transfer device needs to have an adaptive adjustment function, which can automatically adjust the posture according to the load size or the forward inclination angle of the forklift fork, so that the forklift fork always remains horizontal or slightly lifted upward, thereby avoiding the above situation. Summary of the Invention

[0004] An adaptive vehicle-mounted transfer machine provided by the present invention can realize the transfer of goods and vehicle-mounted transportation while being able to independently get on and off the truck, thereby saving a large amount of manpower; and when lifting the load, it can automatically adjust the forklift fork to always be parallel to the horizontal plane in real time according to the downward inclination angle of the forklift fork, thereby preventing the goods from leaning forward and falling, causing property losses and personnel injuries. The specific content is as follows:

[0005] An adaptive vehicle-mounted transfer machine includes a forklift fork, a lifting mechanism, a traveling mechanism, an adaptive adjustment mechanism and a power module;

[0006] The upper end of the forklift fork is hinged to the upper end of the lifting mechanism and is used for fork-lifting goods;

[0007] The lifting mechanism is arranged on the traveling mechanism and is used for driving the forklift fork to move up and down;

[0008] The traveling mechanism is arranged at the lower part of the transfer machine and includes a traveling driving mechanism, a driven wheel and a shuttle bracket;

[0009] The traveling driving mechanism is arranged at the lower end of the lifting mechanism and is used for driving the transfer machine to travel;

[0010] The driven wheel is arranged at the front end of the shuttle bracket; the shuttle bracket is arranged at the lower end of the lifting mechanism in a manner that can shuttle back and forth;

[0011] The adaptive adjustment mechanism includes a control unit arranged on one side of the power module, an accelerometer and a pressure sensor arranged on the forklift and electrically connected to the control unit, and an adjustment drive part electrically connected to the control unit; the adaptive adjustment mechanism is used to automatically adjust the posture of the forklift according to the downward angle of the forklift to keep the forklift parallel to the horizontal plane; one end of the adjustment drive part is hinged to the lifting mechanism, and the other end is hinged to the lower end of the forklift;

[0012] The power module is arranged on the lifting mechanism and is electrically connected to the lifting mechanism, the adaptive adjustment mechanism and the traveling mechanism respectively, and is used to provide power for the transfer machinery.

[0013] Further, the lifting mechanism includes a frame, a lifting transmission mechanism and a lifting drive part; the traveling mechanism is arranged at the lower end of the frame; the lifting transmission mechanism is arranged on the frame and can move up and down along the frame; the power output end of the lifting drive part is matched with the power input end of the lifting transmission mechanism.

[0014] Further, the lifting transmission mechanism includes a first-stage lifting transmission mechanism and a second-stage lifting transmission mechanism; the lifting drive part includes a first-stage lifting drive part and a second-stage lifting drive part; the frame includes a first-stage frame and a second-stage frame;

[0015] The first-stage lifting transmission mechanism is arranged on the first-stage frame, and the power output end can move up and down along the first-stage frame; the power output end of the first-stage lifting drive part is matched with the power input end of the first-stage lifting transmission mechanism; the forklift is connected to the power output end of the first-stage lifting transmission mechanism.

[0016] The second-stage frame is arranged vertically on the traveling mechanism; the second-stage lifting transmission mechanism is arranged on the second-stage frame, and the power output end can move up and down along the second-stage frame; the power output end of the second-stage lifting drive part is matched with the power input end of the second-stage lifting transmission mechanism; the first-stage frame is connected to the power output end of the second-stage lifting transmission mechanism.

[0017] Further, the traveling drive mechanism includes drive wheels and a traveling drive part; the drive wheels are arranged on both sides of the second-stage frame, and the power input end is connected to the power output end of the traveling drive part in a matching manner.

[0018] Further, it further includes a control module; the control module includes an operation panel, a remote control handle and the control unit;

[0019] The control unit and the operation panel are integrated and arranged on one side of the power module; the control unit is electrically connected to the power module, the first-level lifting drive unit, the second-level lifting drive unit, the traveling drive unit, the operation panel and the remote control handle respectively, and is used to receive the instructions of the operation panel and the remote control handle, and control the start and stop of the first-level lifting drive unit, the second-level lifting drive unit and the traveling drive unit.

[0020] Further, the shuttle bracket is arranged on both sides of the second-level frame in a manner that can shuttle back and forth and is nested at the bottom of the forklift forks, and a connecting support wheel is arranged in the middle.

[0021] Further, a trigger switch is arranged on the top of the first-level frame; the trigger switch is used to control the start and stop of the second-level lifting drive unit.

[0022] Further, the forklift forks include a forklift fork body and a forklift fork frame; the forklift fork body is arranged at the lower end of the forklift fork frame; at the upper end of the forklift fork frame, it is hinged to the upper end of the first-level lifting transmission mechanism, and an adjustment drive unit is arranged between the lower end of the forklift fork frame and the lower end of the first-level lifting transmission mechanism.

[0023] Further, lifting guide wheels are arranged between the first-level frame and the second-level frame.

[0024] Further, the transfer machine further includes a plurality of foldable and retractable connecting pads; the connecting pads include a pad body, a lower hook and a quick clamp; the lower hook is arranged at the lower end of the pad body; the quick clamp is arranged at the upper end of the pad body in a foldable manner, and the lower end passes through the pad body and is connected to the lower hook; when loading and unloading goods, the connecting pads are laid on the shoulder between the bottom plate of the freight car compartment and the lower folding door of the compartment.

[0025] The beneficial effects of the present invention are:

[0026] 1. By setting a lifting mechanism and a power module, automatic loading and unloading of goods can be carried out, saving manpower and time, and ensuring the safety of personnel and materials;

[0027] 2. By setting a traveling mechanism, automatic transportation of goods can be realized, saving manpower and time, and ensuring the safety of personnel and materials;

[0028] 3. By setting a shuttle bracket in the traveling mechanism, the transfer machine can automatically get on and off the freight car, eliminating the need for manual handling of the transfer machine to get on and off the car, making the transfer machine more convenient for on-vehicle transportation, solving the problems of a large consumption of manpower and time during the transfer of materials, as well as safety problems such as easy injury to personnel and damage to materials;

[0029] 4. An adaptive adjustment mechanism is provided, which can automatically adjust the posture of the forklift according to the downward tilt angle of the forklift when lifting the load, so that it always remains horizontal, thereby preventing the goods from tipping forward and falling, causing property losses and personal injuries. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other embodiments can be obtained based on these drawings.

[0031] Figure 1 It is a schematic diagram of the overall structure of the adaptive vehicle-mounted transfer machine in the deployed state;

[0032] Figure 2 It is a schematic diagram of the overall structure of the adaptive vehicle-mounted transfer machine;

[0033] Figure 3 It is a schematic diagram of the structure of the adaptive vehicle-mounted transfer machine in the state of getting on and off the vehicle;

[0034] Figure 4 It is a schematic diagram of the connecting plate of the adaptive vehicle-mounted transfer machine;

[0035] In the figure: 1. Forklift; 101. Forklift main body; 102. Forklift frame; 2. Lifting mechanism; 201. First-level lifting transmission mechanism; 202. Second-level lifting transmission mechanism; 203. First-level lifting drive part; 204. Second-level lifting drive part; 205. First-level frame; 206. Second-level frame; 207. Rack; 208. Gear; 209. First-level support; 210. Second-level support; 211. Lifting guide wheel; 3. Traveling mechanism; 301. Travel drive mechanism; 3001. Drive wheel; 3002. Travel drive part; 302. Driven wheel; 303. Shuttle support; 304. Connecting support wheel; 4. Power module; 401. Spiral cable; 5. Operation panel; 6. Trigger switch; 7. Connecting plate; 701. Plate main body; 702. Lower hook; 703. Quick clamp; 8. Adjustment drive part; 9. Accelerometer; 10. Gravity sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0038] It should be noted that when an element is referred to as being "fixed to", "placed with", "provided with", "equipped with", "set on", "arranged on" or "connected to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0039] It should be noted that unless otherwise clearly defined and limited, the terms "install", "connect", "join" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] Please refer to Figures 1 to 4 so as to better understand the specific structure of the present invention. An adaptive vehicle-mounted transfer machine, as Figure 1 shown, includes a forklift 1, a lifting mechanism 2, a traveling mechanism 3, an adaptive adjustment mechanism, and a power module 4;

[0041] As Figure 2 shown, the upper end of the forklift 1 is hinged to the upper end of the lifting mechanism 2 and is used for fork-lifting goods;

[0042] The lifting mechanism 2 is arranged on the traveling mechanism 3 and is used for driving the forklift 1 to move up and down;

[0043] The traveling mechanism 3 is arranged at the lower part of the transfer machine and includes a traveling drive mechanism 301, a driven wheel 302, and a shuttle bracket 303;

[0044] The traveling drive mechanism 301 is arranged at the lower end of the lifting mechanism 2 and is used for driving the transfer machine to travel;

[0045] The driven wheel 302 is arranged at the front end of the shuttle bracket 303; the shuttle bracket 303 is arranged at the lower end of the lifting mechanism 2 in a manner that can shuttle back and forth;

[0046] The adaptive adjustment mechanism includes a control unit arranged on one side of the power module 4, an accelerometer 9 arranged on the forklift 1 and electrically connected to the control unit, and an adjustment driving part 8 electrically connected to the control unit; the adaptive adjustment mechanism is used to automatically adjust the posture of the forklift 1 according to the downward angle of the forklift 1 so that the forklift 1 remains parallel to the horizontal plane; one end of the adjustment driving part 8 is hinged to the lifting mechanism 2, and the other end is hinged to the lower end of the forklift 1;

[0047] The power module 4 is arranged on the lifting mechanism 2 and is electrically connected to the lifting mechanism 2, the adaptive adjustment mechanism and the traveling mechanism 3 respectively, and is used to provide power for the transfer machinery.

[0048] It should be noted that the power module 4 preferably uses a lithium battery for power supply and is equipped with conventional electrical equipment for controlling the current and voltage in the circuit; the power module 4 is integrated in an electrical box and fixed on the first-level frame 205 mentioned later.

[0049] It should be noted that the control unit preferably uses a PLC (the English abbreviation of Programmable Logic Controller, that is, a programmable logic controller) control circuit, or can also be a circuit including at least one processor, or can also be a circuit including at least one single-chip microcomputer, or can also be a combined form of multiple circuits or chips, as long as the corresponding functions can be realized; it can be understood that for those skilled in the art, the control circuit can also be a common circuit composed of an amplifier, a comparator, a triode, a MOS tube, etc. to realize the corresponding functions in a pure hardware manner.

[0050] It should be noted that the adjustment driving part 8 preferably adopts a structure of 2 linear electric cylinders; one end of the piston rod of each electric cylinder is hinged to the forklift 1, and one end of the cylinder body is hinged to the lifting mechanism 2.

[0051] It should be noted that the accelerometer 9 preferably uses a single-axis acceleration sensor, which can measure the angle between the front and back directions of the forklift 1 and the horizontal plane, that is, the downward and upward angles.

[0052] In specific implementation, a lifting mechanism 2 and a power module 4 are provided, which can perform automatic loading and unloading of goods, saving manpower and time and ensuring the safety of personnel and materials; a traveling mechanism 3 is provided, which can realize automatic transportation of goods, saving manpower and time and ensuring the safety of personnel and materials; a shuttle bracket 303 is arranged in the traveling mechanism 3, which can realize the automatic loading and unloading of the transfer machine onto and off the truck, eliminating the need for manual handling of the transfer machine onto and off the truck, making the transfer machine more convenient for on-vehicle transportation, and solving the problems of a large consumption of manpower and time during the process of transferring materials, as well as safety problems such as easy injury to personnel and damage to materials; an adaptive adjustment mechanism is provided, which can automatically adjust the posture of the forklift 1 according to the downward inclination angle of the forklift 1 when lifting a load, so that it always remains in a horizontal state, thereby preventing the goods from tipping forward and falling, causing property losses and personal injuries.

[0053] In one embodiment, the control unit obtains the inclination angle value of the forklift 1 measured by the accelerometer 9, processes the inclination angle value by using an adaptive adjustment model to obtain an objective function; the control unit processes the objective function to obtain an output power, controls the adjustment driving part 8 to operate according to the output power, and adjusts the inclination angle value to be parallel to the horizontal plane; the expression of the adaptive adjustment model is:

[0054]

[0055] Where: t is time; U T (t) is the objective function, and the relational expression with the output power P m (t) is P m (0) is the initial output power; δ(t) is the angle error, δ(t) = θ target -θ(t), θ target is the set inclination angle value, θ(t) is the inclination angle value of the forklift 1 at time t; L, M, N are the second-order gain coefficient, first-order gain coefficient and constant gain coefficient respectively; δ sync is the double-drive synchronization error δ sync = S1 - S2, S1 and S2 are the moving distances per unit time of the left adjustment driving part 8 and the right adjustment driving part 8 respectively, and K sync is the synchronization gain coefficient.

[0056] It should be noted that the initial value of P m (0) is preferably set to 0; θ target, it is set to 0°, that is, the included angle between the fork 1 and the horizontal plane is 0°; θ(t) can be measured in real time by the accelerometer 9; L, M, and N are determined through simulation experiments, and the preferred values in this system are: 2.0, 1.2, and 0.3 respectively; S1 and S2 are obtained according to the parameters of different types of motors or can also be obtained through actual measurement; K sync The value of is determined by the transmission ratio, and the preferred value in this system is 0.2; in the above control process, the accelerometer 9 continuously measures the inclination angle, and the adaptive adjustment model is cyclically used to calculate the output power and continuously control and adjust the operation of the drive unit 8; until the inclination angle measured by the accelerometer 9 converges to the set inclination angle, that is, the included angle between the front and rear directions of the fork 1 and the horizontal plane is 0°, then this control process ends.

[0057] In specific implementation, when the transfer machinery is connected to the carriage and carries goods, due to the gravity of the goods and the excessive lifting height, the situation of the goods tipping forward is likely to occur. The present invention uses the adaptive adjustment model to control the adaptive adjustment mechanism, which can quickly adjust the fork 1 to the horizontal state in an extremely short time, avoiding the danger of material damage and personal injury; the adopted adaptive adjustment mechanism has a simple structure, low cost, and can achieve a relatively accurate adjustment effect; using the adaptive adjustment model to implement automatic control, the algorithm is simple, only need to control the combination of three parameters L, M, and N, without complex model derivation or a large amount of computing resources, and is suitable for real-time operation of embedded systems (such as STM32); good hardware compatibility, seamless integration with linear electric cylinder drivers and sensor interfaces (such as PWM, encoder), and closed-loop control can be achieved through a simple feedback loop; for example, when the platform encounters external interference suddenly, the adaptive adjustment model passes the current error term cumulative error term (Nδ(t)) and the change trend term quickly generates the control quantity to drive the electric cylinder to adjust the output power; strong robustness, adapting to nonlinearity and disturbances, the gaps and mechanical friction in mechanical transmission will introduce nonlinearity, and the adaptive adjustment model gradually eliminates the steady-state error through the cumulative error term, and the change trend term suppresses overshoot, and the combined synchronous compensation can significantly improve the robustness; high precision and fast response, the first-order gain coefficient directly amplifies the current error to ensure the fast response of the system to the inclination change; the predictability of the change trend term can predict the future error trend through the angle change, suppress overshoot and oscillation, and ensure smooth convergence; the cumulative error term eliminates the steady-state error, and by continuously accumulating small errors, long-term deviation is avoided and the static accuracy is improved; this adaptive adjustment model in the system, with its advantages of simple structure, strong robustness, high precision and flexible parameter tuning, becomes an ideal control choice; by combining synchronous compensation, it further overcomes the mechanical nonlinearity and the problem of multi-electric cylinder coordination, and realizes fast and stable horizontal holding.

[0058] In one embodiment, the adaptive adjustment mechanism further includes a gravity sensor 10 disposed on the lifting mechanism 2 and electrically connected to the control unit; the control unit obtains the total weight value of the forklift 1 and the goods measured by the gravity sensor 10 and the output power, and processes them using a dynamic torque balance model to obtain the cosine value of the predicted tilt angle value of the forklift 1; the expression of the dynamic torque balance model is:

[0059]

[0060] where: Δθ is the predicted tilt angle value; Δt is the time increment; m is the total weight value; g is the acceleration due to gravity; L is the length of the forklift 1;

[0061] The control unit obtains the cosine value of the predicted tilt angle value and processes it to obtain the predicted tilt angle value; uses an error correction formula to obtain the corrected angle error at time t + 1, and the expression of the error correction formula is:

[0062] δ total (t + 1) = θ target -θ(t + 1) + λ(θ target -Δθ)

[0063] where: δ total (t + 1) is the corrected angle error at time t + 1; θ(t + 1) is the tilt angle value at time t + 1; λ is the weight coefficient;

[0064] The control module obtains the corrected angle error at time t + 1, uses the adaptive adjustment model, replaces the angle error with the corrected angle error at time t + 1 to obtain the corrected objective function, uses the relationship expression between the objective function and the output power to obtain the output power, and controls the adjustment drive unit 8 to operate according to the output power so as to adjust the tilt angle of the forklift 1 to 0°.

[0065] It should be noted that the gravity sensor 10 is preferably a piezoelectric gravity sensor 10 for measuring the total weight of the loaded goods and the forklift 1.

[0066] It should be noted that Δt is the time increment, and the set value in this system is 0.01 s; λ is the weight coefficient, and the value can be selected according to specific conditions. The set value in this system is preferably 0.8; θ(t + 1) is the tilt angle value at time t + 1, which is measured by the accelerometer 9.

[0067] It should be noted that at the initial moment when the system starts adaptive adjustment, the tilt angle values are all the measured values of the accelerometer 9. Therefore, at this time, the angle error value in the adaptive control model only needs to consider the set tilt angle and the measured tilt angle, and the initial output torque can be obtained accordingly. Then, using the dynamic torque balance model, the cosine value of the predicted tilt angle at time t + 1 is obtained, and further the predicted tilt angle value at time t + 1 is obtained. At this time, the predicted tilt angle value at time t + 1 is substituted into the error correction formula and the adaptive adjustment model, and then the output power at time t + 1 is obtained. The calculation is cycled in turn until the tilt angle of the forklift 1 is adjusted to 0°.

[0068] In specific implementation, the output power calculated by combining the dynamic torque balance model and the adaptive control model enables the current tilt angle value of the forklift 1 to converge stably to the set tilt angle according to the corrected angle error at time t + 1 with the weight of the predicted tilt angle at time t + 1, thus avoiding overshoot caused by too rapid change of the tilt angle or phenomena such as slow angle adjustment. Especially in the field environment, external interferences such as wind, temperature, and humidity often occur, which easily reduce the measurement accuracy of the accelerometer 9. If the current tilt angle measured by the acceleration sensor alone is used for adjustment, it is easy to cause overshoot due to too rapid change of the angle or the angle change is too slow to reach the standard quickly. By predicting the tilt angle at the next moment through the dynamic torque balance model, the corrected angle error at time t + 1 can be weighted, and then the output power can be precisely adjusted by the adaptive control model, reducing the occurrence probability of the above situations.

[0069] In the embodiment provided by the present invention, as Figure 1 shown, the lifting mechanism 2 includes a frame, a lifting transmission mechanism, and a lifting drive part; the traveling mechanism 3 is arranged at the lower end of the frame; the lifting transmission mechanism is arranged on the frame and can move up and down along the frame; the power output end of the lifting drive part is matched with the power input end of the lifting transmission mechanism.

[0070] The lifting transmission mechanism includes a primary lifting transmission mechanism 201 and a secondary lifting transmission mechanism 202; the lifting drive part includes a primary lifting drive part 203 and a secondary lifting drive part 204; the frame includes a primary frame 205 and a secondary frame 206;

[0071] The primary lifting transmission mechanism 201 is arranged on the primary frame 205, and the power output end can move up and down along the primary frame 205; the power output end of the primary lifting drive part 203 is matched with the power input end of the primary lifting transmission mechanism 201; the forklift 1 is connected to the power output end of the primary lifting transmission mechanism 201.

[0072] The secondary frame 206 is vertically arranged on the traveling mechanism 3; the secondary lifting transmission mechanism 202 is arranged on the secondary frame 206, and the power output end can move up and down along the secondary frame 206; the power output end of the secondary lifting drive part 204 is matched with the power input end of the secondary lifting transmission mechanism 202; the primary frame 205 is connected to the power output end of the secondary lifting transmission mechanism 202.

[0073] It should be noted that both the primary lifting transmission mechanism 201 and the secondary lifting transmission mechanism 202 are preferably gear-rack transmission mechanisms; both the primary lifting drive part 203 and the secondary lifting drive part 204 are preferably stepper motors as drive components; both the primary frame 205 and the secondary frame 206 are preferably made of channel steel structures.

[0074] It should be noted that the rack 207 of the primary lifting transmission mechanism 201 is fixed on the channel steel columns on both sides of the primary frame 205, preferably fixed by welding; a primary support 209 is made between the channel steel columns on both sides of the primary frame 205; both sides of the primary support 209 are provided with lifting guide wheels 211, and the middle part is fixedly connected to the forklift 1; the lifting guide wheels 211 are embedded in the grooves of the channel steels on both sides; the primary lifting drive part 203 is preferably fixedly installed on the primary support 209 by screws; the output end of the primary lifting drive part 203, that is, the output shaft of the stepper motor, is matched with the gear 208 of the primary lifting transmission mechanism 201 and drives the gear 208 to rotate; the gear 208 meshes with the rack 207, and under the drive of the primary lifting drive part 203, the primary support 209, the primary lifting drive part 203 and the gear 208 move up and down along the rack 207 together; the primary support 209, as the output end of the primary lifting transmission mechanism 201, drives the forklift 1 to move up and down together.

[0075] It should be noted that the rack 207 of the secondary lifting transmission mechanism 202 is fixed on the channel steel columns on both sides of the secondary frame 206, preferably fixed by welding; a secondary support 210 is made between the channel steel columns on both sides of the secondary frame 206; both sides of the secondary support 210 are provided with lifting guide wheels 211 and are fixedly connected to the primary frame 205; the lifting guide wheels 211 are embedded in the grooves of the channel steels on both sides; the secondary lifting drive part 204 is preferably fixedly installed on the secondary support 210 by screws; the output end of the secondary lifting drive part 204, that is, the output shaft of the stepper motor, is matched with the gear 208 of the secondary lifting transmission mechanism 202 and drives the gear 208 to rotate; the gear 208 meshes with the rack 207, and under the drive of the secondary lifting drive part 204, the secondary support 210, the secondary lifting drive part 204 and the gear 208 move up and down along the rack 207 together; the secondary support 210, as the output end of the secondary lifting transmission mechanism 202, drives the primary frame 205 to move up and down together.

[0076] It should be noted that since the power module 4 moves upward with the first-level frame 205 and the distance from the second-level lifting drive unit 204 will change, it is preferably connected by a telescopic spiral cable 401 between the power module 4 and the second-level lifting drive unit 204.

[0077] In specific implementation, the present invention adopts a two-stage lifting structure, which increases the lifting height while reducing the minimum size of the whole machine; in this way, it can not only meet the requirement that the lifting height should be higher than the height of the carriage floor when loading and unloading goods, but also solve the problem of height limitation inside the carriage, so as to realize the function that this transfer machine can be transported along with the vehicle; the maximum lifting height of the present invention is 1600 mm, and the minimum overall height of the whole machine is 1450 mm; while for other transfer machines, when meeting the requirement of lifting height, the minimum overall height generally reaches about 2300 mm, and the carriage height is generally within 2000 mm, so it is very difficult to realize the function of being transported along with the vehicle.

[0078] In one embodiment, as Figure 1 shown, the traveling drive mechanism 301 includes drive wheels 3001 and a traveling drive unit 3002; the drive wheels 3001 are arranged on both sides of the second-level frame 206, and the power input end is cooperatively connected with the power output end of the traveling drive unit 3002.

[0079] It should be noted that two platforms extend outward respectively from both sides of the bottom of the second-level frame 206; the drive wheels 3001 are installed on the lower end surfaces of the platforms, and the traveling drive unit 3002 is installed on the upper end surfaces; the traveling drive unit 3002 is preferably a stepping motor structure, and the output shaft of the stepping motor, that is, the power output end of the traveling drive unit 3002, is preferably connected with the power input end, that is, the input shaft, of the drive wheel 3001 through a bevel gear 208 structure, so that the drive wheel 3001 can rotate backward and swing left and right.

[0080] In specific implementation, by setting the drive wheels 3001 and the traveling drive unit 3002, the automatic walking of the transfer machine can be realized, and the steering of the transfer machine can be realized through the differential operation of the traveling drive units 3002 on both sides, which is beneficial to the transfer work of materials and saves manpower and time.

[0081] In the embodiment provided by the present invention, as Figure 1 shown, it further includes a control module; the control module includes an operation panel 5, a remote control handle and the control unit;

[0082] The control unit and the operation panel 5 are integrated and arranged on one side of the power module 4; the control unit is electrically connected to the power module 4, the first-level lifting drive unit 203, the second-level lifting drive unit 204, the traveling drive unit 3002, the operation panel 5 and the remote control handle respectively, and is used to receive the instructions of the operation panel 5 and the remote control handle, and control the start and stop of the first-level lifting drive unit 203, the second-level lifting drive unit 204 and the traveling drive unit 3002.

[0083] It should be noted that the control module is preferably fixed at the upper end of the upper frame; the remote control handle is preferably connected to the receiver in the operation panel 5 wirelessly, and can control the actions of the operation panel 5 wirelessly; a power switch, a lifting control button, a power display screen and a charging interface are arranged on the operation panel 5.

[0084] In specific implementation, by setting the control module, the operation of the transfer machinery can be controlled directly or wirelessly, which is beneficial to the transfer work of materials.

[0085] In one embodiment, as Figure 2 shown, the shuttle bracket 303 is arranged on both sides of the second-level frame 206 in a manner that can shuttle back and forth and is nested at the bottom of the forklift fork 1, and a butt joint support wheel 304 is arranged in the middle.

[0086] It should be noted that a bottom plate is preferably fixed to the bottom of the second-level frame 206 by welding, and sliding grooves are made on both sides of the bottom plate; the shuttle bracket 303 is inserted into the sliding grooves and can move back and forth along the sliding grooves; the driven wheel 302 arranged at the front end of the shuttle bracket 303 can bear the weight of the goods; the butt joint support wheel 304 in the middle can keep the shuttle bracket 303 moving smoothly back and forth in the bottom plate.

[0087] It should be noted that the forklift fork body 101 is of a channel steel structure, and a groove is made in the lower part. After it falls, the shuttle bracket 303 can be nested in the groove.

[0088] It should be noted that the butt joint support wheel 304 is designed in a structure with three wheels arranged in a triangle; the middle wheel is at a lower position, and the two side wheels are at a higher position; the purpose is that when the transfer machinery gets on or off the vehicle, it is necessary to manually push the shuttle bracket 303 to slide back and forth between the carriage bottom plate and the carriage lower door; setting the butt joint support wheel 304 can reduce the friction force. Especially when crossing the shoulder, the two side wheels at the higher position can cross the shoulder more easily and play the role of a rolling fulcrum.

[0089] In specific implementation, nesting the shuttle bracket 303 at the bottom of the forklift fork 1 can save space, make the structure more compact, and contribute to on-vehicle transportation; setting the butt joint support wheel 304 can make it easier for the transfer machinery to get on and off the vehicle, and contribute to the transfer work of goods.

[0090] In the embodiments provided by the present invention, as Figure 1 shown, a trigger switch 6 is provided at the top of the first-level frame 205; the trigger switch 6 is used to control the start and stop of the second-level lifting drive unit 204.

[0091] It should be noted that the trigger switch 6 is electrically connected to the power unit; a pressing trigger structure is adopted. When the forklift forks 1 move up to the top dead center, this switch will be pressed down. At this time, the circuit of the second-level lifting drive unit 204 can be automatically connected; when the forklift forks 1 move down, this switch is released, and the circuit of the second-level lifting drive unit 204 is disconnected.

[0092] It should be noted that when the forklift forks 1 start to lift from the lowest point, under the drive of the first-level lifting drive unit 203, first the forklift forks 1 move up along the first-level frame 205. After moving to the top dead center, the control unit controls to stop running and presses down the trigger switch 6; at this time, the second-level lifting drive unit 204 starts, driving the first-level frame 205 to move up along the second-level frame 206 until it is lifted to the highest point, and the control unit controls to stop running; when the forklift forks 1 move down, the trigger switch 6 is released, and the second-level lifting drive unit 204 starts again. At this time, the forklift forks 1 and the first-level frame 205 move down together to the lowest point, and the control unit controls to stop running.

[0093] In specific implementation, by setting the trigger switch 6, the start and stop of the second-level lifting drive unit 204 can be automatically controlled, and the speed is faster during the descending process, saving time and being beneficial to the transfer work of goods.

[0094] In one embodiment, as Figure 2 shown, the forklift forks 1 include a forklift fork body 101 and a forklift fork frame 102; the forklift fork body 101 is arranged at the lower end of the forklift fork frame 102; the upper end of the forklift fork frame 102 is hinged to the upper end of the first-level lifting transmission mechanism 201, and an adjustment drive unit 8 is arranged between the lower end of the forklift fork frame 102 and the lower end of the first-level lifting transmission mechanism 201.

[0095] Lifting guide wheels 211 are arranged between the first-level frame 205 and the second-level frame 206.

[0096] It should be noted that preferably two forklift fork bodies 101 are provided, and they are both slidably connected to the forklift fork frame 102, that is, the distance between the two forklift fork bodies 101 can be adjusted; the forklift fork frame 102 can drive the forklift fork body 101 to swing around the upper hinge point; both ends of the adjustment drive unit 8 are hinged to the forklift fork frame 102 and the first-level support 209 of the first-level lifting transmission mechanism 201.

[0097] It should be noted that both the first-level frame 205 and the second-level frame 206 are made of channel steel structures, and the lifting guide wheels 211 are preferably embedded in their respective grooves.

[0098] In specific implementation, the forklift tine body 101 can be adjusted to adapt to the transfer of goods of different sizes. The lifting guide wheels 211 are provided to convert sliding friction into rolling friction, which are both beneficial to the transfer work of goods.

[0099] In the embodiments provided by the present invention, as Figure 3 , 4 shown, the transfer machinery further includes a plurality of foldable and retractable connecting pads 7. The connecting pad 7 includes a pad body 701, a lower hook 702, and a quick clamp 703. The lower hook 702 is arranged at the lower end of the pad body 701. The quick clamp 703 is foldably arranged at the upper end of the pad body 701, and the lower end passes through the pad body 701 and is connected to the lower hook 702. When loading and unloading goods, the connecting pad 7 is laid on the shoulder between the bottom plate of the freight car box and the downward-opening door of the carriage.

[0100] It should be noted that the sizes of the plurality of connecting pads 7 are all different, and the purpose is to select different-sized connecting pads 7 for different freight cars.

[0101] In specific implementation, setting connecting pads 7 of different sizes can adapt to different vehicle models. Through the connecting pad 7, the shoulder between the bottom plate of the freight car box and the downward-opening door of the carriage can be paved and converted into a plane, and the supporting surface can be extended, so that when the transfer machinery automatically gets on the vehicle, the shuttle bracket 303 can smoothly pass through the shoulder, preventing jamming and imbalance from causing the inability to get on the vehicle and the occurrence of tilting backward.

[0102] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0103] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An adaptive vehicle-mounted transport machine, characterized in that: It includes forks, lifting mechanism, walking mechanism, adaptive adjustment mechanism and power module; The cargo fork, whose upper end is hingedly connected to the upper end of the lifting mechanism, is used to fork and pick up cargo; The lifting mechanism is arranged on the walking mechanism and is used to drive the fork to move up and down; The walking mechanism is arranged at the lower part of the transfer machine, and includes a travel drive mechanism, a driven wheel and a shuttle bracket; The travel drive mechanism is arranged at the lower end of the lifting mechanism and is used to drive the transfer machine to travel; The driven wheel is arranged at the front end of the shuttle bracket; the shuttle bracket can shuttle back and forth and is arranged at the lower end of the lifting mechanism; The adaptive adjustment mechanism comprises a control unit arranged on one side of the power module, an accelerometer and a pressure sensor arranged on the fork and electrically connected to the control unit, and an adjustment drive unit electrically connected to the control unit; the adaptive adjustment mechanism is used to automatically adjust the posture of the fork according to the downward angle of the fork, so that the fork remains parallel to the horizontal plane; the adjustment drive unit has one end hingedly connected to the lifting mechanism and the other end hingedly connected to the lower end of the fork; The power module is arranged on the lifting mechanism and is electrically connected to the lifting mechanism, the adaptive adjustment mechanism and the walking mechanism respectively, so as to provide power for the transfer machine.

2. The adaptive vehicle-mounted transport machine according to claim 1, characterized in that: The lifting mechanism includes a frame, a lifting transmission mechanism and a lifting drive unit; the walking mechanism is arranged at the lower end of the frame; the lifting transmission mechanism is arranged on the frame and can move up and down along the frame; the power output end of the lifting drive unit cooperates with the power input end of the lifting transmission mechanism.

3. The adaptive vehicle-mounted transport machine according to claim 2, characterized in that: The lifting transmission mechanism includes a primary lifting transmission mechanism and a secondary lifting transmission mechanism; the lifting drive unit includes a primary lifting drive unit and a secondary lifting drive unit; the frame includes a primary frame and a secondary frame; The primary lifting transmission mechanism is arranged on the primary frame, and the power output end can move up and down along the primary frame; the power output end of the primary lifting drive unit cooperates with the power input end of the primary lifting transmission mechanism; the cargo fork is connected to the power output end of the primary lifting transmission mechanism; The secondary frame is vertically arranged on the walking mechanism; the secondary lifting transmission mechanism is arranged on the secondary frame, and the power output end can move up and down along the secondary frame; the power output end of the secondary lifting drive unit cooperates with the power input end of the secondary lifting transmission mechanism; the primary frame is connected to the power output end of the secondary lifting transmission mechanism.

4. The adaptive vehicle-mounted transport machine according to claim 3, characterized in that: The travel drive mechanism includes a driving wheel and a travel drive unit; the driving wheel is arranged on both sides of the secondary frame, and a power input end is cooperatively connected with a power output end of the travel drive unit.

5. The adaptive vehicle-mounted transport machine according to claim 4, characterized in that: It also includes a control module; the control module includes an operation panel, a remote control handle and the control unit; The control unit and the operation panel are integrated and arranged on one side of the power module; the control unit is electrically connected to the power module, the first-level lifting drive unit, the second-level lifting drive unit, the travel drive unit, the operation panel and the remote control handle respectively, and is used to receive instructions from the operation panel and the remote control handle, and control the start and stop of the first-level lifting drive unit, the second-level lifting drive unit and the travel drive unit.

6. The adaptive vehicle-mounted transport machine according to claim 3, characterized in that: The shuttle bracket can shuttle back and forth and is arranged on both sides of the secondary frame and is nested at the bottom of the fork, and a docking support wheel is arranged in the middle.

7. The adaptive vehicle-mounted transport machine according to claim 3, characterized in that: A trigger switch is arranged on the top of the primary frame; the trigger switch is used to control the start and stop of the secondary lifting drive unit.

8. The adaptive vehicle-mounted transport machine according to claim 3, characterized in that: The fork comprises a fork body and a fork frame; the fork body is arranged at the lower end of the fork frame; the fork frame has an upper end hingedly connected to the upper end of the primary lifting transmission mechanism, and the adjustment drive part is arranged between the lower end and the lower end of the primary lifting transmission mechanism.

9. The adaptive vehicle-mounted transport machine according to claim 3, characterized in that: A lifting guide wheel is arranged between the primary frame and the secondary frame.

10. The adaptive vehicle-mounted transport machine according to any one of claims 1 to 9, characterized in that: The transfer machinery also includes a number of foldable docking pads; the docking pads include a pad body, a lower hook and a quick clamp; the lower hook is arranged at the lower end of the pad body; the quick clamp is foldably arranged at the upper end of the pad body, and the lower end passes through the pad body and is connected to the lower hook; when loading and unloading goods, the docking pad is laid on the shoulder between the bottom plate of the truck box and the lower flip door of the car body.

Images