Multi-degree-of-freedom coil clamping type forklift

Abstract

The invention relates to the field of material carrying equipment, in particular to a multi-degree-of-freedom coil clamping type forklift which comprises a forklift body, a walking module, a lifting module, a lateral moving module, a rotating module and a clamping module, the walking module is arranged on the forklift body to drive the forklift body to walk, the lifting module is arranged in front of the forklift body, the lateral moving module is arranged on the lifting module, and the rotating module is arranged on the clamping module. The rotating module is arranged on the lateral moving module, the clamping module comprises a clamping arm guiding assembly, clamping arms, a clamping driving part, a clamping jaw assembly and an overturning driving assembly, the clamping arm guiding assembly is arranged on the rotating module, the two clamping arms are both arranged on the clamping arm guiding assembly, the clamping driving part is arranged between the clamping arm guiding assembly and the clamping arms in a driving mode, and the overturning driving assembly is arranged on the clamping jaw assembly. The clamping jaw assemblies are rotationally arranged on the two opposite sides of the clamping and holding arm, the overturning driving assembly is arranged between the clamping jaw assemblies and the clamping and holding arm, and the flexibility and reliability of coil material carrying can be improved.

Description

Technical Field

[0001] The present application relates to the field of material handling equipment, and particularly to a multi-degree-of-freedom coiled material clamping forklift truck. Background Art

[0002] During the production and sales process of products, it is often necessary to carry materials over a short distance, such as carrying materials from a storage location to a production station, carrying materials between production stations, or carrying materials from a transportation vehicle to a storage location, etc. A forklift truck is a commonly used heavy object handling tool. The forklift truck inserts the forks under the material packaging or pallet, raises the forks to lift the material, and transports the material by the movement of the forklift truck, greatly improving the material handling efficiency.

[0003] For some materials with special shapes, special materials, or non-standard packaging, it is impossible to stably lift them using forks, or it is impossible to ensure the stability during the handling process. Therefore, it is impossible to use a conventional forklift truck with forks to carry the materials, and there is a requirement for clamping and carrying the materials. To meet such material handling needs, some clamping forklift trucks that carry materials by clamping have emerged recently.

[0004] The existing clamping forklift trucks usually can only perform the clamping and releasing and lifting of the clamping arms. A few forklift trucks can also rotate the clamping arms in a vertical plane. The degree of freedom of movement of the clamping arms is small, making it difficult to flexibly clamp and stably carry materials in different stacking states, and it is also difficult to stack materials in different forms as required. The flexibility of the material handling and stacking actions is poor. During the material handling process, the clamping of the material is usually only maintained by the friction force between the clamping jaws and the material, making it difficult to ensure the stability and safety during the material handling process. Summary of the Invention

[0005] In order to improve the flexibility and reliability of the handling of coiled materials, the present application provides a multi-degree-of-freedom coiled material clamping forklift truck.

[0006] The multi-degree-of-freedom coiled material clamping forklift truck provided by the present application adopts the following technical solutions: A multi-degree-of-freedom coiling clamping forklift, comprising a vehicle body, a traveling module, a lifting module, a side-shifting module, a rotating module and a clamping module. The traveling module is arranged on the vehicle body to drive the vehicle body to travel. The lifting module is arranged in front of the vehicle body. The side-shifting module is arranged on the lifting module and can perform a lifting motion under the drive of the lifting module. The rotating module is arranged on the side-shifting module and can move laterally under the drive of the side-shifting module. The clamping module includes a clamping arm guiding component, clamping arms, a clamping driving member, a clamping jaw component and a flipping driving component. The clamping arm guiding component is arranged on the rotating module and can rotate under the drive of the rotating module. There are two clamping arms, both of which are arranged on the clamping arm guiding component and can move relative to each other along the clamping arm guiding component under the drive of the clamping driving member. The clamping jaw component is rotatably arranged on the opposite sides of the clamping arm and can flip under the drive of the flipping driving component.

[0007] By adopting the above technical solution, by using the lifting module arranged in front of the vehicle body, the lifting motion of the clamping jaw component can be formed; by using the side-shifting module arranged on the lifting module, the left-right lateral movement of the clamping jaw component can be formed; by using the rotating module arranged on the side-shifting module, the rotation of the clamping jaw component in the coronal plane can be formed; by using the clamping arm guiding component arranged on the rotating module and the two clamping arms slidably arranged in the clamping arm guiding component, the clamping and releasing motion of the clamping jaw component can be formed; by using the clamping jaw component rotatably arranged on the clamping arm, the flipping of the clamping jaw component in the sagittal plane can be formed, thereby forming the flexible motion of the clamping jaw component with multiple degrees of freedom, forming an effective clamping, stable handling and flexible placement of the coiled material, and improving the flexibility and reliability of the coiled material handling.

[0008] In a specific feasible embodiment, the clamping arm guiding component includes a clamping arm positioning plate, a first clamping arm track and a second clamping arm track. The clamping arm positioning plate is fixed on the rotating module. The first clamping arm track and the second clamping arm track are respectively fixed on the opposite sides of the clamping arm positioning plate. Two clamping arm chutes are arranged on each of the first clamping arm track and the second clamping arm track. The clamping arm includes clamping arm sliders, a transverse arm and a forward arm. There are two clamping arm sliders, and the two clamping arm sliders are respectively slidably arranged in one of the clamping arm chutes on the first clamping arm track and the second clamping arm track. The transverse arm is fixed on the two clamping arm sliders. One end of the forward arm is fixed on the outer part of the transverse arm, and the other end extends forward. The clamping jaw component is rotatably arranged at the front end part of the forward arm.

[0009] By adopting the above technical solution, with the arrangement that both lateral arms are respectively installed in a clamping arm chute on the first clamping arm track and the second clamping arm track through two clamping arm sliders, while both lateral arms can slide left and right on the clamping arm positioning plate, the connection strength between the lateral arm and the clamping arm positioning plate is effectively improved, and the load-bearing capacity of the lateral arm is increased. With the structure that one end of the forward arm is fixed to the outer part of the lateral arm and the other end extends forward to be connected to the jaw assembly, the jaw assembly can be located at a certain distance in front of the forklift, facilitating the clamping of the coiled material by the jaw assembly and driving the coiled material to move in multiple degrees of freedom.

[0010] In a specific feasible implementation, the clamping and driving member includes a first clamping and driving cylinder, a second clamping and driving cylinder, a first synchronous rack, a second synchronous rack, a synchronous gear mounting bracket, and a clamping arm synchronous gear. The first clamping and driving cylinder and the second clamping and driving cylinder are respectively installed between the clamping arm positioning plate and the two clamping arms. The first synchronous rack and the second synchronous rack are respectively installed on the lateral arms of the two clamping arms. The synchronous gear mounting bracket is arranged in the middle of the clamping arm positioning plate. The clamping arm synchronous gear is rotatably arranged between the synchronous gear mounting bracket and the clamping arm positioning plate and meshes with the first synchronous rack and the second synchronous rack.

[0011] By adopting the above technical solution, with the first clamping and driving cylinder and the second clamping and driving cylinder arranged between the clamping arm positioning plate and the two clamping arms, the two clamping arms can be respectively driven to move towards each other to form a clamping action or move in the opposite direction to form a releasing action, improving the clamping force and clamping stability of the clamping arms. With the arrangement that the clamping arm synchronous gear meshes with the first synchronous rack and the second synchronous rack respectively installed on the two lateral arms, the clamping and releasing actions of the two lateral arms can be ensured to be synchronized, so that the center of the jaw assembly on the two clamping arms is always located at a fixed position directly in front of the middle of the vehicle body, ensuring the stability of the material center of gravity when clamping the coiled material.

[0012] In a specific feasible implementation, the jaw assembly includes a rotating mounting plate, a jaw mounting plate, jaws, and jaw positioning springs. The rotating mounting plate is rotatably installed on the inner side of the forward arm. The jaw mounting plate is arranged on the rotating mounting plate. There are two jaws, and the two jaws are respectively hinged on the opposite sides of the inner side surface of the jaw mounting plate, and the hinge axes are parallel to each other. The jaw positioning springs are respectively installed between both sides of each jaw hinge axis and the jaw mounting plate on the same side.

[0013] By adopting the above technical solution, with two jaws hinged on the opposite faces of the jaw mounting plate, when the jaws come into contact with the coiled material, the jaws can rotate, enabling the clamping surfaces of the jaws to fit the material, thus forming a better clamping of the material. By using the jaw positioning springs installed between the two sides of the hinge shaft and the jaw mounting plate, the jaws can be in a fixed position when not in contact with the material, preventing the free swaying of the jaws in the no-load state.

[0014] In a specific feasible implementation, an anti-detachment mechanism is provided between the jaw mounting plate and the rotary mounting plate. The anti-detachment mechanism includes a first anti-detachment shaft, a first anti-detachment hook claw, a first anti-detachment shaft gear, a second anti-detachment shaft, a second anti-detachment hook claw, a second anti-detachment shaft gear, an anti-detachment motor, and an anti-detachment motor gear. An installation support plate perpendicular to the hinge shaft of the jaw is provided on the jaw mounting plate. The first anti-detachment shaft and the second anti-detachment shaft are rotatably connected to the installation support plate. The first anti-detachment hook claw and the second anti-detachment hook claw are respectively fixed at the opposite ends of the first anti-detachment shaft and the second anti-detachment shaft. The anti-detachment motor is fixed between the jaw mounting plate and the rotary mounting plate, and the drive shaft is arranged parallel to the first anti-detachment shaft and the second anti-detachment shaft. The first anti-detachment shaft gear, the second anti-detachment shaft gear, and the anti-detachment motor gear are respectively fixed on the first anti-detachment shaft, the second anti-detachment shaft, and the drive shaft of the anti-detachment motor, and the first anti-detachment shaft gear, the second anti-detachment shaft gear, and the anti-detachment motor gear are meshed with each other.

[0015] By adopting the above technical solution, with the first anti-detachment hook claw and the second anti-detachment hook claw respectively fixed at the two ends of the first anti-detachment shaft and the second anti-detachment shaft, after the jaws complete the clamping of the coiled material, they can rotate to both ends of the coiled material, forming the protection and support for the ends of the coiled material, preventing the sliding and detachment between the coiled material and the jaws. By using the first anti-detachment shaft gear, the second anti-detachment shaft gear, and the anti-detachment motor gear meshed with each other and respectively fixed on the drive shafts of the first anti-detachment shaft, the second anti-detachment shaft, and the anti-detachment motor, the first anti-detachment shaft and the second anti-detachment shaft can be driven to rotate synchronously by the anti-detachment motor, driving the first anti-detachment hook claw and the second anti-detachment hook claw to rotate synchronously to both ends of the coiled material or move away from both ends of the coiled material.

[0016] In a specific feasible implementation, the flipping drive assembly includes a flipping drive cylinder, a T-shaped flipping frame, and a flipping push rod. The T-shaped flipping frame is hinged on the clamping arm. The two ends of the flipping drive cylinder are respectively hinged on the clamping arm and one side of the T-shaped flipping frame. The two ends of the flipping push rod are respectively hinged on the other side of the T-shaped flipping frame and the jaw assembly.

[0017] By adopting the above technical solution, by using a tilting drive cylinder hinged at one end to one side of the T-shaped tilting frame and the clamping arm respectively, and a tilting push rod hinged at the other end to the other side of the T-shaped tilting frame and the jaw assembly respectively, the jaw assembly can be driven to tilt in a plane parallel to the inner side surface of the forward arm by the telescopic movement of the tilting drive cylinder, so that the jaw assembly can clamp coil materials in different placement states, and place the coil materials in different storage positions or feeding positions in different position states, improving the flexibility of clamping and placing the coil materials.

[0018] In a specific feasible implementation scheme, the rotation module includes a rotation module mounting plate, an outer slewing bearing, an inner gear ring slewing bearing and a hydraulic motor. The rotation module mounting plate is fixed on the side shifting module. The outer slewing bearing is fixed on the rotation module mounting plate. The inner gear ring slewing bearing is rotatably connected to the inner side of the outer slewing bearing, and an inner gear ring is arranged on the inner side. The hydraulic motor is fixed on the rotation module mounting plate, and a rotation gear is arranged on the output shaft. The rotation gear meshes with the inner gear ring, and the arm guiding assembly is fixed on the inner gear ring slewing bearing.

[0019] By adopting the above technical solution, by using the outer slewing bearing and the inner gear ring slewing bearing fixedly connected to the rotation module mounting plate and the arm guiding assembly respectively and rotatably connected to each other, while ensuring the connection strength between the arm guiding assembly and the rotation module mounting plate, the arm guiding assembly can rotate relative to the rotation module mounting plate in the coronal plane, improving the motion dimension of the jaw assembly. By setting the rotation gear on the output shaft of the hydraulic motor to mesh with the inner gear ring on the inner side of the inner gear ring slewing bearing, the inner gear ring slewing bearing can be driven to rotate by the hydraulic motor, ensuring the driving force and smoothness of the rotation.

[0020] In a specific feasible implementation scheme, the side shifting module includes a side shifting mounting frame, side shifting guide rails, side shifting sliders, side shifting clamping blocks and a side shifting hydraulic cylinder. The side shifting mounting frame is mounted on the lifting module. The side shifting guide rails are fixed on the upper side of the side shifting mounting frame. The side shifting sliders are slidably mounted on the side shifting guide rails. The side shifting clamping blocks are clamped on the lower side of the side shifting mounting frame and can slide on the side shifting mounting frame. The rotation module mounting plate is fixedly connected to the side shifting sliders and the side shifting clamping blocks. The side shifting hydraulic cylinder is arranged between the rotation module mounting plate and the side shifting mounting frame.

[0021] By adopting the above technical solution, by using the side shift slider slidably mounted on the side shift guide rail on the upper side of the rotary module mounting plate and the side shift block slidably clamped on the lower side of the rotary module mounting plate, the rotary module mounting plate can be connected and mounted, ensuring the sliding connection strength between the rotary module mounting plate and the side shift mounting frame. By using the side shift hydraulic cylinder arranged between the rotary module mounting plate and the side shift mounting frame, the rotary module mounting plate can be driven to move smoothly on the side shift mounting frame, improving the motion dimension and positioning accuracy of the jaw assembly.

[0022] In a specific feasible embodiment, the lifting module includes a lifting hydraulic cylinder, a lifting cross beam, a lifting sprocket, a lifting chain, a lifting mounting frame and a lifting groove rail. The lifting hydraulic cylinder is arranged between the vehicle body and the lifting cross beam. The lifting sprocket is fixed on the lifting cross beam. One end of the lifting chain is fixed on the vehicle body, and the other end passes over the lifting sprocket and is connected to the lifting mounting frame. The lifting mounting frame is slidably mounted in the lifting groove rail, and the side shift mounting frame is fixedly connected to the lifting mounting frame.

[0023] By adopting the above technical solution, using the lifting hydraulic cylinder to push the lifting cross beam to rise and fall, and then using the lifting sprocket fixed on the lifting cross beam to drive the lifting chain to pull the lifting of the lifting mounting frame, the lifting of the lifting mounting frame and the jaw assembly connected thereto can be formed, conveniently forming the lifting of the coiled material, which is beneficial to improving the driving load for driving the material to rise and fall. By the setting that the lifting mounting frame is slidably mounted in the lifting groove rail, it is beneficial to improve the position stability of the lifting movement of the lifting mounting frame.

[0024] In a specific feasible embodiment, the traveling module includes load-bearing universal casters, traveling drive wheels, forward support wheels, navigation sensors, obstacle avoidance sensors, material positioning sensors and material distance sensors. The load-bearing universal casters are arranged at the bottom of the vehicle body. The traveling drive wheels are installed at the bottom of the vehicle body through a steering mechanism and can rotate under the drive of a traveling drive mechanism. The forward support wheels are installed on the front bottom plate of the vehicle body. The navigation sensors are arranged on the top of the vehicle body. A plurality of obstacle avoidance sensors are provided, and the plurality of obstacle avoidance sensors are respectively arranged at different positions at the bottom of the vehicle body. The material positioning sensors and the material distance sensors are arranged in front of the clamping drive member to be able to detect the position and distance of the material relative to the jaw assembly.

[0025] By adopting the above technical solutions, by using the load-bearing universal casters arranged at the bottom of the vehicle body and the forward support wheels arranged on the forward bottom plate of the vehicle body, the load during the walking of the vehicle body and the walking stability after clamping and holding the coiled material can be improved, and the material handling ability can be enhanced. By using the navigation sensors, obstacle avoidance sensors, material positioning sensors and material distance sensors arranged at different positions of the vehicle body, it helps to form a reasonable running path for the forklift, and is conducive to the convenient and effective clamping of the coiled material by the jaw assembly, as well as the safe and reliable handling.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: By providing a lifting module, a side-shifting module, a rotating module and a clamping module, the multi-degree-of-freedom movement ability of the clamping module can be formed, enabling the clamping module to clamp and handle the coiled materials at different positions and in different placement states in front of the forklift, improving the flexibility and reliability of handling the coiled materials; By rotatably arranging the jaw assembly on the clamping arm and using the flipping drive assembly to drive the flipping of the jaw assembly, the jaw assembly can form a flipping action on a plane perpendicular to the clamping action direction, clamp the coiled materials in different position states, and place and store the coiled materials or use them for feeding in different position states, further improving the degree of freedom of clamping and placing the coiled materials and enhancing the flexibility of handling the coiled materials; By slidingly connecting the upper and lower sides of the transverse arm of the clamping arm to the first clamping arm track and the second clamping arm track respectively, and meshing the clamping arm synchronous gear with the synchronous racks on the two transverse arms, a stable and reliable synchronous movement of the two clamping arms on the clamping arm guiding assembly can be formed, improving the stability and reliability of the jaw assembly when clamping the coiled materials while ensuring the load-bearing capacity of the jaw assembly; By pivotally connecting two jaws in parallel on both sides of the jaw mounting plate and arranging anti-dropping hook claws on both sides between the two jaws, the position of the coiled material can be restricted at both ends of the coiled material clamped by the jaws, effectively improving the stability of the coiled material clamped by the jaws, preventing the coiled material from slipping off the jaws, enhancing the reliability of the clamped state of the coiled material, and the safety during the material handling process. Description of the Drawings

[0027] Figure 1 It is a schematic diagram of an embodiment of the present application.

[0028] Figure 2 It is a schematic diagram of another perspective of an embodiment of the present application.

[0029] Figure 3 It is a partial schematic diagram of the clamping module in an embodiment of the present application.

[0030] Figure 4 Schematic diagram of a partial structure of the jaw assembly in an embodiment of the present application.

[0031] Figure 5 Schematic diagram of the anti - detachment mechanism in an embodiment of the present application.

[0032] Figure 6 Schematic diagram of the flipping drive assembly in an embodiment of the present application.

[0033] Figure 7 Schematic diagram of a partial structure of the rotation module in an embodiment of the present application.

[0034] Figure 8 Schematic diagram of a partial structure of the side - shifting module in an embodiment of the present application.

[0035] Figure 9 Schematic diagram of the side - shifting mounting bracket in an embodiment of the present application.

[0036] Figure 10 Schematic diagram of the lifting module (with one side of the lifting mounting bracket shown transparently) in an embodiment of the present application.

[0037] Figure 11 Schematic diagram of a part of the walking module in an embodiment of the present application.

[0038] Description of the reference numerals: 1, vehicle body; 11, forward bottom plate; 2, traveling module; 21, load-bearing universal caster; 22, traveling drive wheel; 23, forward support wheel; 24, navigation sensor; 25, obstacle avoidance sensor; 26, material positioning sensor; 27, material distance sensor; 28, safety edge; 3, lifting module; 31, lifting hydraulic cylinder; 32, lifting cross beam; 33, lifting sprocket; 34, lifting chain; 35, lifting mounting bracket; 351, mounting bracket side plate; 352, lifting limit wheel; 36, lifting chute rail; 37, pipe winding and unwinding wheel; 38, cable winding and unwinding wheel; 4, side shift module; 41, side shift mounting bracket; 411, upper horizontal plate; 412, lower horizontal plate; 413, side support; 414, internal support; 42, side shift guide rail; 43, side shift slider; 431, slider cushion block; 44, side shift clamping block; 441, clamping block cushion block; 45, side shift hydraulic cylinder; 5, rotation module; 51, rotation module mounting plate; 52, outer slewing bearing; 53, internal gear ring slewing bearing; 531, internal gear ring; 54, hydraulic motor; 541, rotation gear; 6, clamping module; 61, clamping arm guiding assembly; 611, clamping arm positioning plate; 612, first clamping arm track; 613, second clamping arm track; 614, clamping arm chute; 62, clamping arm; 621, clamping arm slide bar; 622, transverse arm; 623, forward arm; 624, front arm protective cover; 63, clamping driving member; 631, first clamping driving cylinder; 632, second clamping driving cylinder; 633, first synchronous rack; 634, second synchronous rack; 635, synchronous gear mounting bracket; 636, clamping arm synchronous gear; 64, jaw assembly; 641, rotation mounting plate; 642, jaw mounting plate; 6421, mounting support plate; 643, jaw; 6431, cylindrical clamping plate; 6432, anti-slip rubber plate; 644, jaw positioning spring; 645, anti-detachment mechanism; 6451, first anti-detachment shaft; 6452, first anti-detachment hook; 6453, first anti-detachment shaft gear; 6454, second anti-detachment shaft; 6455, second anti-detachment hook; 6456, second anti-detachment shaft gear; 6457, anti-detachment motor; 6458, anti-detachment motor gear; 65, flipping driving assembly; 651, flipping driving cylinder; 652, T-shaped flipping frame; 653, flipping push rod; 7, coiled material. Detailed implementation manners

[0039] The following will describe in detail the detailed implementation manners of the present application with reference to the accompanying drawings. It should be understood that the detailed implementation manners described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0040] In this application, unless otherwise stated, the orientation or positional relationship indicated by orientation words such as "front, rear, left, right" is based on the orientation or positional relationship during the actual use of the multi-degree-of-freedom coil clamping forklift of this application. Among them, the orientation word "front" refers to the direction in which the multi-degree-of-freedom coil clamping forklift of this application approaches the material when clamping the material. The orientation words "left" and "right" are directions relative to the orientation "front", and the description of the orientation or positional relationship of the multi-degree-of-freedom coil clamping forklift and its components of this application is consistent with the actual orientation during its use.

[0041] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "set" and "connected" 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 direct connection, or an indirect connection through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] In this specification, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features.

[0043] An embodiment of the multi-degree-of-freedom coil clamping forklift of this application, as Figure 1 and Figure 2 shown, includes a vehicle body 1, a traveling module 2, a lifting module 3, a side-shifting module 4, a rotating module 5, and a clamping module 6. The vehicle body 1 is used to carry other structural modules of the forklift and the clamped material, and ensures the stability of the forklift when clamping the material and traveling through configuration. The traveling module 2 is arranged on the vehicle body 1, and generally includes a traveling driving mechanism and a traveling control mechanism, uses the traveling driving mechanism to drive the vehicle body 1 to travel, and uses the traveling control mechanism to control the traveling direction of the vehicle body 1.

[0044] The lifting module 3 is arranged in front of the vehicle body 1. A lifting driving mechanism is arranged in the lifting module 3. The side-shifting module 4 is arranged on the lifting driving mechanism of the lifting module 3 and can perform a lifting movement under the drive of the lifting driving mechanism. A side-shifting driving mechanism is arranged in the side-shifting module 4. The rotating module 5 is arranged on the side-shifting driving mechanism of the side-shifting module 4 and can move laterally under the drive of the side-shifting driving mechanism. A rotating driving mechanism is arranged in the rotating module 5. The rotating driving mechanism can generate a rotating movement and drive the clamping module 6 installed on the rotating module 5 to rotate.

[0045] The clamping module 6 includes a clamping arm guiding component 61, clamping arms 62, a clamping driving member 63, jaw components 64, and a flipping driving component 65. The clamping arm guiding component 61 can be various suitable structures for restricting the clamping action trajectory of the clamping arms 62. The clamping arm guiding component 61 is fixed on the rotating module 5 and can rotate under the drive of the rotating module 5. There are two clamping arms 62, and both clamping arms 62 are arranged on the clamping arm guiding component 61, relatively arranged on the opposite sides of the clamping arm guiding component 61, and can slide along the clamping arm guiding component 61. The clamping driving member 63 is arranged between the two clamping arms 62 and the clamping arm guiding component 61 and can drive the two clamping arms 62 to move relatively along the clamping arm guiding component 61. There are two jaw components 64, and the two jaw components 64 are respectively rotatably arranged on the opposite sides of the clamping arms 62, so as to be able to move correspondingly in the same direction with the two clamping arms 62 to form a clamping action on the coiled material 7. There are also two flipping driving components 65, and the two flipping driving components 65 are respectively arranged between one clamping arm 62 and the corresponding jaw component 64 and can drive the jaw component 64 to perform a flipping movement on the clamping arm 62.

[0046] The two jaw components 64 can not only move relatively with the two clamping arms 62 to form the clamping movement of the jaw components 64, but also flip under the drive of the flipping driving component 65 to form a flipping movement in a plane perpendicular to the clamping movement direction. They can also rotate in the left-right vertical plane, that is, the coronal plane, under the drive of the rotating module 5 to form a rotating movement, move laterally under the drive of the side-shifting module 4 to form a lateral movement, and move up and down under the drive of the lifting module 3 to form a lifting movement. In this way, the jaw components 64 can form movements in five degrees of freedom, namely clamping movement, flipping movement, rotating movement, lateral movement, and lifting movement, greatly improving the flexibility of the actions of the jaw components 64, enabling the jaw components 64 to flexibly clamp the coiled material 7 in different position states, such as an aluminum pipe coil, and transporting the coiled material 7 to the material storage place in different position states, storing it in different position states, or placing it at the loading position in various set position states, such as hanging it vertically on the tensioning shaft of the loading mechanism, improving the flexibility and reliability of the transportation of the coiled material 7.

[0047] In some embodiments of the multi-degree-of-freedom coiled material clamping forklift of the present application, such as Figure 2 and Figure 3As shown in the figure, the gripper arm guiding assembly 61 includes a gripper arm positioning plate 611, a first gripper arm track 612, and a second gripper arm track 613. The gripper arm positioning plate 611 is a generally square positioning and mounting plate, which is fixedly installed on the rotating module 5 and can make a rotational movement in the coronal plane under the drive of the rotating module 5. The first gripper arm track 612 and the second gripper arm track 613 are respectively fixed on the edge parts on the opposite sides of the gripper arm positioning plate 611, and two gripper arm chutes 614 are respectively arranged on the first gripper arm track 612 and the second gripper arm track 613.

[0048] Each clamping gripper arm 62 includes a gripper arm slide bar 621, a transverse arm 622, and a forward arm 623. The transverse arm 622 can be set as an integral plate-like structure or a fork-like structure formed by connecting one ends of two transverse rods. The transverse arm 622 is horizontally arranged in the left-right direction. Two gripper arm slide bars 621 are arranged on each clamping gripper arm 62, and the two gripper arm slide bars 621 are respectively fixed on the upper and lower sides of the transverse arm 622 or respectively fixed on one transverse rod of the transverse arm 622. The side of the gripper arm slide bar 621 away from the transverse arm 622 is set as a T shape, and is respectively slidably connected to a gripper arm chute 614 on the first gripper arm track 612 and the second gripper arm track 613 through the T-shaped structure, so that both clamping gripper arms 62 can slide left and right along the first gripper arm track 612 and the second gripper arm track 613.

[0049] The forward arms 623 of the two clamping gripper arms 62 are respectively fixed at the ends of a transverse arm 622, and are respectively fixed at the opposite ends of the two forward arms 623, so that the two clamping gripper arms 62 form a symmetric structure in the left-right direction. One end of the forward arm 623 is fixed at the end of the transverse arm 622, and the other end extends forward away from the vehicle body 1. The gripper jaw assembly 64 is rotatably installed inside the front end part of the forward arm 623, so that the gripper jaw assembly 64 can be located in front of the vehicle body 1 at a certain distance, which is convenient for the gripper jaw assembly 64 to grip and carry the coiled material 7 at a certain distance from the vehicle body 1.

[0050] The clamping driving member 63 is arranged on the gripper arm guiding assembly 61 and is respectively connected to the two forward arms 623. Through the clamping driving member 63, the two forward arms 623 can be respectively driven to slide towards each other along the first gripper arm track 612 and the second gripper arm track 613, so that the gripper jaw assemblies 64 respectively fixed on the inner sides of the two forward arms 623 approach each other to form a grip on the coiled material; or the two forward arms 623 are respectively driven to slide away from each other along the first gripper arm track 612 and the second gripper arm track 613, so that the gripper jaw assemblies 64 respectively fixed on the inner sides of the two forward arms 623 move away from each other, and the coiled material is placed at a predetermined position.

[0051] In a preferred embodiment of the multi-degree-of-freedom coiled material clamping forklift of the present application, asFigure 3 As shown, the clamping driving member 63 includes a first clamping driving cylinder 631, a second clamping driving cylinder 632, a first synchronous rack 633, a second synchronous rack 634, a synchronous gear mounting bracket 635 and an arm synchronous gear 636. Both the first clamping driving cylinder 631 and the second clamping driving cylinder 632 are hydraulic cylinders. The cylinder bodies of the first clamping driving cylinder 631 and the second clamping driving cylinder 632 are respectively fixed on the left and right sides of the arm positioning plate 611, and the piston rods are respectively connected to one end where the other lateral arm 622 is connected to the forward arm 623. When the first clamping driving cylinder 631 and the second clamping driving cylinder 632 shorten, they can respectively push the two clamping arms 62 to move towards each other, driving the two jaw assemblies 64 to approach each other to form a clamping of the coiled material 7; when the first clamping driving cylinder 631 and the second clamping driving cylinder 632 extend, they can respectively push the two clamping arms 62 to move away from each other, driving the two jaw assemblies 64 to move away from each other, releasing the coiled material 7 being clamped, or enabling the two jaw assemblies 64 to be respectively in the relative positions on both sides of the coiled material, facilitating the clamping of the coiled material.

[0052] The first synchronous rack 633 and the second synchronous rack 634 are respectively installed on the lateral arms 622 of the two clamping arms, usually respectively fixed on the opposite sides of the lateral arms 622 of the two clamping arms. The synchronous gear mounting bracket 635 is fixed in the middle of the arm positioning plate 611, and is connected to the arm positioning plate 611 at both the upper and lower ends. The two ends of the rotation shaft of the arm synchronous gear 636 are respectively rotationally connected to the middle of the synchronous gear mounting bracket 635 and the corresponding position of the arm positioning plate 611 through bearings, so that the arm synchronous gear 636 is located in the gap between the synchronous gear mounting bracket 635 and the arm positioning plate 611. The upper and lower sides of the arm synchronous gear 636 are respectively meshed with the first synchronous rack 633 and the second synchronous rack 634, so that the movement of any one of the first synchronous rack 633 and the second synchronous rack 634 can be transmitted to the other through the arm synchronous gear 636, enabling the two to maintain strict reverse synchronous movement. In this way, it can be ensured that when the clamping arms 62 make a clamping movement, the midpoint position between the jaw assemblies 64 on the two clamping arms 62 always remains unchanged, ensuring the force stability when the jaw assemblies 64 clamp the coiled material 7 and the position stability between the jaw assemblies 64 and the coiled material 7.

[0053] In some embodiments of the multi-degree-of-freedom coiled material clamping forklift of the present application, such as Figure 3 and Figure 4As shown, the jaw assembly 64 includes a rotary mounting plate 641, a jaw mounting plate 642, jaws 643, and a jaw positioning spring 644. The rotary mounting plate 641 is rotatably mounted on the inner side of the forward arm 623, that is, on the side where the two forward arms 623 approach each other. The rotation axis of the rotary mounting plate 641 is generally parallel to the transverse arm 622.

[0054] The jaw mounting plate 642 is mounted on the rotary mounting plate 641 and is generally arranged parallel to the rotary mounting plate 641. The jaws 643 are generally arranged in a partial cylindrical shape and include a cylindrical clamping plate 6431 provided on the outer side of the cylinder and a non-slip rubber plate 6432 provided on the inner side of the cylinder. The cylindrical clamping plate 6431 is generally made of a hard metal material, which can maintain the shape of the jaws 643 and form sufficient clamping force on the coiled material 7; the non-slip rubber plate 6432 can prevent the cylindrical clamping plate 6431 from damaging the coiled material 7 and increase the friction between the jaws 643 and the coiled material 7 to prevent the coiled material 7 from slipping off the jaws 643. Generally, two jaws 643 are provided on each jaw mounting plate 642. An articulated structure, such as spaced-apart articulated protrusions, is provided on the outer side of each jaw 643. Corresponding articulated structures, such as corresponding articulated protrusions, are provided at corresponding positions on both sides of the jaw mounting plate 642. The jaws 643 are articulated on the jaw mounting plate 642 by passing an articulated shaft through the articulated structures on the jaws 643 and the articulated structures on the jaw mounting plate 642 respectively, and the articulated shafts of the two jaws 643 are parallel to each other.

[0055] When the two jaw assemblies 64 approach each other to clamp the coiled material 7, generally one side of the jaws 643 first contacts the coiled material 7. The further approach of the jaw assembly 64 pushes the jaws 643 to rotate along the articulated shaft, so that a surface contact is formed between the non-slip rubber plate 6432 on the inner side of the jaws 643 and the coiled material 7. The four jaws 643 on the two jaw assemblies 64 respectively form a clamp on the coiled material 7 from different positions around the coiled material 7, improving the clamping stability of the coiled material 7. The partial cylindrical jaws 643 can better adapt to the peripheral shape of the coiled material 7; the mutual articulation between the jaws 643 and the jaw mounting plate 642 enables the two jaws 643 on the jaw mounting plate 642 to adapt to coiled materials 7 with different diameters, facilitating the stable clamping of coiled materials 7 with different diameters.

[0056] On both sides of the hinge axis of each jaw 643, a jaw positioning spring 644 is provided. One end of the jaw positioning spring 644 is connected to the cylindrical clamping plate 6431, and the other end is connected to the jaw mounting plate 642 on the same side. The two jaw positioning springs 644 pull the cylindrical clamping plate 6431 from both sides of the hinge axis, forming a balancing force to stabilize the cylindrical clamping plate 6431 at a fixed rotational position. When clamping the coiled material 7, the expansion and contraction of the jaw positioning springs 644 on both sides ensure the rotation of the cylindrical clamping plate 6431, ensuring a larger area of stable contact between the anti-slip rubber plate 6432 and the coiled material 7.

[0057] In a preferred embodiment of the multi-degree-of-freedom coiled material clamping forklift of the present application, as Figure 4 and Figure 5 shown, an anti-detachment mechanism 645 is provided between the jaw mounting plate 642 and the rotary mounting plate 641. The anti-detachment mechanism 645 includes a first anti-detachment shaft 6451, a first anti-detachment hook 6452, a first anti-detachment shaft gear 6453, a second anti-detachment shaft 6454, a second anti-detachment hook 6455, a second anti-detachment shaft gear 6456, an anti-detachment motor 6457, and an anti-detachment motor gear 6458. On both sides of the jaw mounting plate 642 in the direction of the hinge axis of the jaw 643, mounting support plates 6421 perpendicular to the hinge axis of the jaw 643 are provided. The jaw mounting plate 642 is fixed to the rotary mounting plate 641 through the mounting support plates 6421, forming a space for installing the anti-detachment mechanism 645 between the jaw mounting plate 642 and the rotary mounting plate 641.

[0058] Both the first anti-detachment shaft 6451 and the second anti-detachment shaft 6454 are rotatably connected to the two mounting support plates 6421 through bearings and are arranged parallel to each other on the mounting support plates 6421. One end of the first anti-detachment shaft 6451 extends to the outside of the edge of one end of the jaw 643 in the direction of the cylindrical axis and is fixedly connected to the first anti-detachment hook 6452; the other end of the second anti-detachment shaft 6454 extends to the outside of the edge of the other end of the jaw 643 in the direction of the cylindrical axis and is fixedly connected to the second anti-detachment hook 6455. The first anti-detachment hook 6452 and the second anti-detachment hook 6455 are respectively perpendicular to the first anti-detachment shaft 6451 and the second anti-detachment shaft 6454, and the ends thereof can extend to the corresponding positions inside the inner side of the inner surface of the jaw 643.

[0059] The anti-drop motor 6457 is arranged in the installation space between the jaw mounting plate 642 and the rotary mounting plate 641 and is usually fixedly connected to the jaw mounting plate 642. The drive shaft of the anti-drop motor 6457 is parallel to the first anti-drop shaft 6451 and the second anti-drop shaft 6454, and the end passes through the mounting support plate 6421 on one side and is fixedly connected to the anti-drop motor gear 6458. The first anti-drop shaft gear 6453 and the second anti-drop shaft gear 6456 are respectively fixed on the first anti-drop shaft 6451 and the second anti-drop shaft 6454 outside the same mounting support plate 6421. The anti-drop motor gear 6458 meshes with the second anti-drop shaft gear 6456, and at the same time, the second anti-drop shaft gear 6456 meshes with the first anti-drop shaft gear 6453.

[0060] The anti-drop motor gear 6458, the second anti-drop shaft gear 6456 and the first anti-drop shaft gear 6453 have the same number of teeth. When the anti-drop motor 6457 rotates, it can drive the first anti-drop shaft 6451 and the second anti-drop shaft 6454 to rotate synchronously and in opposite directions, driving the first anti-drop hook 6452 and the second anti-drop hook 6455 to rotate in opposite directions. After the jaws 643 complete the clamping of the coiled material 7, the anti-drop motor 6457 drives the first anti-drop hook 6452 and the second anti-drop hook 6455 to rotate to both ends of the coiled material 7 respectively, forming a limit on both ends of the coiled material 7 to prevent the coiled material 7 from slipping off the jaws 643; before the jaws 643 release the coiled material 7, the anti-drop motor 6457 drives the first anti-drop hook 6452 and the second anti-drop hook 6455 to rotate to the relative positions on both sides of the mounting support plate 6421, so that the first anti-drop hook 6452 and the second anti-drop hook 6455 leave the inner positions of the jaws 643, facilitating the release of the coiled material 7 from the jaws 643 and clamping the coiled material 7 again when needed.

[0061] In some embodiments of the multi-degree-of-freedom coiled material clamping forklift of the present application, as Figure 6 shown, the flipping drive assembly 65 includes a flipping drive cylinder 651, a T-shaped flipping frame 652 and a flipping push rod 653. The flipping drive cylinder 651 usually uses a hydraulic cylinder. The T-shaped flipping frame 652 includes a cross bar and a vertical bar integrally connected. One end of the vertical bar is connected to the middle of the cross bar, and the other end of the vertical bar is hinged to the clamping arm 62, usually the front arm 623. One end of the flipping drive cylinder 651 is hinged to the front arm 623, and the other end is hinged to one end of the cross bar of the T-shaped flipping frame 652. The other end of the cross bar of the T-shaped flipping frame 652 is hinged to the flipping push rod 653, and the other end of the flipping push rod 653 is hinged to the jaw assembly 64. Usually, an articulated connection block is provided on one side of the rotating shaft on the rotating mounting plate 641 of the jaw assembly 64, and the other end of the flipping push rod 653 is hinged to the articulated connection block.

[0062] By controlling the telescopic movement of the tipping drive cylinder 651, the T-shaped tipping frame 652 can be driven to rotate on the front arm 623, and the rotary mounting plate 641 can be driven to rotate on the front arm 623 through the tipping push rod 653 hinged thereto, forming the tipping action of the jaw 643. Through the tipping of the jaw 643, the jaw 643 can grip the coil material 7 in different directions, so that the jaw 643 grips the side wall of the coil material 7 placed in different position states; or change the position state of the coil material 7 gripped on the jaw 643, improve the position stability of the coil material 7 on the jaw 643, and stack the coil material 7 in different position states, or clamp it to different loading positions in different position states.

[0063] In some embodiments of the multi-degree-of-freedom coil-gripping forklift of the present application, as Figure 7 shown, the rotation module 5 includes a rotation module mounting plate 51, an outer slewing support 52, an inner gear ring slewing support 53, and a hydraulic motor 54. The rotation module mounting plate 51 is fixed on the side-shifting module 4 and can move laterally under the drive of the side-shifting module 4. The outer slewing support 52 is arranged in a circular ring shape, and a rotation connection structure is arranged on the inner side surface of the outer slewing support 52. The inner gear ring slewing support 53 is in a circular ring shape, and a rotation connection structure adapted to the outer slewing support 52 is arranged on the outer side surface of the inner gear ring slewing support 53, and an inner gear ring 531 is arranged on the inner side surface. The inner gear ring slewing support 53 is rotationally connected to the inside of the outer slewing support 52 through the rotation connection structure on the outer side surface, and the outer slewing support 52 is fixed on the rotation module mounting plate 51, limiting the inner gear ring slewing support 53 between the outer slewing support 52 and the rotation module mounting plate 51.

[0064] The hydraulic motor 54 is fixed on the rotation module mounting plate 51, usually on the side where the side-shifting module 4 is located on the upper side of the rotation module mounting plate 51. The end of the output shaft of the hydraulic motor 54 passes through the rotation module mounting plate 51 and is located inside the inner gear ring slewing support 53. A rotation gear 541 is fixedly connected to the output shaft of the hydraulic motor 54, and the rotation gear 541 meshes with the inner gear ring 531. By controlling the rotation of the hydraulic motor 54, the inner gear ring slewing support 53 can be driven to rotate on the rotation module mounting plate 51.

[0065] The jaw guiding assembly 61, specifically, the jaw positioning plate 611 is fixed on the inner gear ring slewing support 53. When the inner gear ring slewing support 53 rotates, the jaw positioning plate 611 can be driven to rotate, thereby driving the gripping arm 62 mounted on the jaw positioning plate 611 to rotate in the coronal plane, so that the jaw 643 grips the coil material 7 in different rotation positions in different position states, or changes the position state of the coil material 7 gripped on the jaw 643.

[0066] A rotation angle sensor may also be provided between the clamping arm positioning plate 611 and the rotation module mounting plate 51. Through the rotation angle sensor, the rotation state of the clamping arm positioning plate 611 can be feedback, so that the rotation angle of the clamping arm positioning plate 611 can be accurately controlled, and the rotation of the clamping arm positioning plate 611 can be accurately controlled by the controller.

[0067] In a preferred embodiment of the multi-degree-of-freedom coiling clamping forklift of the present application, as Figure 8 and Figure 9 shown, the side shift module 4 includes a side shift mounting frame 41, a side shift guide rail 42, a side shift slider 43, a side shift clamping block 44 and a side shift hydraulic cylinder 45. The side shift mounting frame 41 is set in a frame shape. A specific side shift mounting frame includes an upper transverse plate 411, a lower transverse plate 412, side supports 413 and internal supports 414. The upper transverse plate 411 and the lower transverse plate 412 are arranged parallel to each other. The two side supports 413 are respectively fixedly connected between the two side ends of the upper transverse plate 411 and the lower transverse plate 412. The two internal supports 414 are arranged at intervals between the two side supports 413, and both ends are respectively fixedly connected to the upper transverse plate 411 and the lower transverse plate 412. Both of the two internal supports 414 are fixedly connected to the lifting module 3, and the side shift guide rail 42 is fixed on the upper transverse plate 411.

[0068] The side shift slider 43 is fixed to the upper part of the rotation module mounting plate 51 through a slider cushion block 431, and the side shift clamping block 44 is fixed to the lower part of the rotation module mounting plate 51 through a clamping block cushion block 441. The rotation module mounting plate 51 is slidably connected to the side shift guide rail 42 through the side shift slider 43, and the side shift clamping block 44 is engaged with the lower edge of the lower transverse plate 412 to form a sliding connection with the side shift mounting frame 41.

[0069] The side shift hydraulic cylinder 45 uses a double-headed hydraulic cylinder. The cylinder body of the side shift hydraulic cylinder 45 is installed and fixed on the upper transverse plate 411 through an installation structure. The piston rods on both sides of the side shift hydraulic cylinder 45 are respectively fixedly connected to both sides of the rotation module mounting plate 51 through a connection structure. By controlling the oil supply direction of the side shift hydraulic cylinder 45, the moving direction of the piston inside the side shift hydraulic cylinder 45 can be controlled, so that the piston rods on both sides of the side shift hydraulic cylinder 45 move in the same direction, driving the rotation module mounting plate 51 to move laterally on the side shift mounting frame 41.

[0070] A displacement sensor such as a resistance ruler may also be provided between the rotation module mounting plate 51 and the side shift mounting frame 41. Through the displacement sensor, the moving distance of the rotation module mounting plate 51 can be detected, so that the lateral moving position of the rotation module mounting plate 51 can be accurately controlled, and the lateral movement of the rotation module mounting plate 51 can be automatically controlled by the controller.

[0071] As a specific embodiment of the multi-degree-of-freedom coiling and clamping forklift of the present application, as shown in Figure 9 and Figure 10 shown, the lifting module 3 includes a lifting hydraulic cylinder 31, a lifting cross beam 32, lifting sprockets 33, lifting chains 34, a lifting mounting bracket 35, and a lifting groove rail 36. Usually, two lifting hydraulic cylinders 31 are provided. The cylinder bodies of the two lifting hydraulic cylinders 31 are respectively fixed on both sides of the vehicle body 1. The two ends of the lifting cross beam 32 are respectively fixedly connected to the ends of the piston rods of the two lifting hydraulic cylinders 31. By controlling the lifting of the piston rods of the lifting hydraulic cylinders 31, the lifting of the lifting cross beam 32 can be controlled.

[0072] Usually, two lifting sprockets 33 are also provided. The two lifting sprockets are usually respectively fixed on the two side portions of the lifting cross beam 32. The lifting chains 34 usually use plate chains to improve the load-bearing capacity of the lifting chains 34. One end of the lifting chain 34 is fixed on the vehicle body 1, usually fixed on the vehicle body 1 through a chain adjusting screw. The end fixing height of the lifting chain 34 can be adjusted through the chain adjusting screw, thereby controlling the lifting accuracy of the lifting module 3. The other end of the lifting chain 34 passes over the lifting sprocket 33 and is connected to the lifting mounting bracket 35, and the lifting chain 34 meshes with the lifting sprocket 33. The lifting sprocket 33 can lift with the lifting of the lifting cross beam 32, thereby driving the lifting mounting bracket 35 connected to the lifting chain 34 to lift at a speed twice that of the lifting cross beam 32.

[0073] Two lifting groove rails 36 are provided. The two lifting groove rails 36 are respectively fixed on both sides of the vehicle body 1, usually respectively arranged adjacent to the two lifting hydraulic cylinders 31. An installation bracket side plate 351 is provided above each of the two ends of the lifting mounting bracket 35. A lifting limit wheel 352 is provided on the outer side of each of the two ends of the lifting mounting bracket 35 or the lower ends of the two installation bracket side plates 351. A lifting limit wheel 352 is also provided on the outer side of the upper ends of the two installation bracket side plates 351. The two ends of the lifting mounting bracket 35 are respectively slidably mounted in a corresponding lifting groove rail 36 through the two lifting limit wheels 352, so that the lifting mounting bracket 35 can perform a lifting movement along the lifting groove rail 36 under the drive of the lifting hydraulic cylinder 31.

[0074] The side shift mounting bracket 41 is fixedly connected to the lifting mounting bracket 35. Usually, the fixed connection between the internal support 414 and the installation bracket side plate 351 is used to form a fixed connection with the lifting mounting bracket 35. Through the lifting movement of the lifting mounting bracket 35, the side shift module 4 is driven to perform a lifting movement, so that the clamping module 6 and its clamping jaws 643 can perform a lifting movement.

[0075] A pipe take-up and pay-out wheel 37 and a cable take-up and pay-out wheel 38 are further arranged on the lifting cross beam 32. The hydraulic pipe bypasses the pipe take-up and pay-out wheel 37 and is connected between the vehicle body 1 and the side-shifting module 4, ensuring the reliable transmission of hydraulic oil between the vehicle body 1 and the side-shifting module 4 in different lifting states of the lifting cross beam 32; the cable is wound around the cable take-up and pay-out wheel 38 and connected between the vehicle body 1 and the side-shifting module 4, ensuring the reliable transmission of electric power and control electrical signals between the vehicle body 1 and the side-shifting module 4 in different lifting states of the lifting cross beam 32.

[0076] A wire-pulling encoder can also be arranged between the lifting mounting frame 35 and the vehicle body 1. The lifting distance of the lifting mounting frame 35 is detected by the wire-pulling encoder, so as to accurately control the lifting height of the lifting mounting frame 35, and the lifting of the lifting mounting frame 35 can be automatically controlled through a controller.

[0077] In some embodiments of the multi-degree-of-freedom coiling and clamping forklift of the present application, as Figure 11 shown, the traveling module 2 includes load-bearing universal casters 21, traveling drive wheels 22, forward support wheels 23, navigation sensors 24, obstacle avoidance sensors 25, material positioning sensors 26 and material distance sensors 27. Usually, two load-bearing universal casters 21 are provided, and the two load-bearing universal wheels are arranged on both sides of the bottom of the vehicle body 1 and are rotatably connected to the bottom of the vehicle body 1. In order to increase the stability of the vehicle body 1 in the loaded and traveling states, the vehicle body 1 usually has a relatively large self-weight. The two load-bearing universal wheels arranged at the bottom of the vehicle body 1 can disperse the pressure of the vehicle body 1 on the ground and can reduce the gravity borne by the traveling drive wheels 22.

[0078] The traveling drive wheels 22 are installed at the bottom of the vehicle body 1 through a steering mechanism and can change the direction of the traveling drive wheels 22 under the control of the steering mechanism, so that the rotation of the traveling drive wheels 22 can drive the vehicle body 1 to travel in different directions. A traveling drive mechanism connected to the traveling drive wheels 22 is arranged on the vehicle body 1, and the traveling drive mechanism is drivingly connected to the traveling drive wheels 22 and is used to drive the traveling drive wheels 22 to rotate to form the power for driving the vehicle body 1 to travel.

[0079] Two forward bottom plates 11 are arranged in front of the vehicle body 1. The rear end of the forward bottom plate 11 is integrally connected to the bottom of the vehicle body 1, and the front end extends forward of the vehicle body 1 and usually extends to a position adjacent to the lower part of the jaws 643 of the clamping module 6. Two forward support wheels 23 are arranged at the front end of each forward bottom plate 11. The forward support wheels 23 support on the ground, so that the support center of gravity of the vehicle body 1 moves forward, improving the stability of the vehicle body 1 when the jaws 643 clamp the coiled material 7.

[0080] A navigation sensor 24 is provided on the top of the vehicle body 1. The navigation sensor 24 usually uses a 3D Slam navigation sensor. The navigation sensor 24 is connected to a controller provided inside the vehicle body 1. It periodically detects the environmental information around the vehicle body 1 through a lidar and compares it with the map information stored in the controller, so as to determine the position of the vehicle body 1 and the direction in which the vehicle body 1 travels.

[0081] A plurality of obstacle avoidance sensors 25 are provided at different positions around the vehicle body 1. The obstacle avoidance sensors 25 usually also use lidars. Through different obstacle avoidance sensors 25, it is possible to detect whether there are obstacles in different directions around the vehicle body 1. When an obstacle is detected on the traveling path of the vehicle body 1, the controller can automatically adjust the traveling direction of the vehicle body 1 to avoid collision with the obstacle.

[0082] A safety edge 28 can also be provided on the outer side of the bottom of the vehicle body 1. The safety edge 28 can sense contact with surrounding objects. When the safety edge 28 comes into contact with an external object due to reasons such as the obstacle avoidance sensor 25 not detecting an obstacle, the safety edge 28 can transmit the contact signal to the controller connected to it, and the controller controls the vehicle body 1 to change the traveling direction so that the vehicle body 1 is separated from the external object.

[0083] In front of the vehicle body 1, usually in front of the clamping drive member 63 of the clamping module 6, a material positioning sensor 26 and a material distance sensor 27 are provided. The material positioning sensor 26 usually uses an image recognition sensor. Through the material positioning sensor 26, the position state of the coil material 7 and the relative position between the coil material and the clamping module 6 can be detected. Thus, by controlling the traveling direction of the vehicle body 1, or by controlling the movement of the side shift module 4 and by controlling the movement of the lifting module 3, the coil material 7 can be located at the relative position of the centers of the two front arms 623; by controlling the movement of the rotation module 5 and the movement of the flipping drive assembly, the position state of the clamping jaw 643 is changed so that the position of the clamping jaw 643 corresponds to the side wall position of the coil material 7, ensuring that the clamping jaw 643 can clamp on the side wall of the coil material 7 in a state where the axial direction is the same as the axial direction of the coil material 7, ensuring the stability of clamping the coil material 7.

[0084] The material distance sensor 27 usually uses a laser ranging sensor. The material distance sensor 27 is provided below the material positioning sensor 26 at a position opposite to the middle of the clamping jaw 643. The material distance sensor 27 can detect the distance of the coil material 7 and control the forward distance of the vehicle body 1 according to this distance, ensuring that the central position of the clamping jaw 643 corresponds to the central position of the coil material 7, so that the clamping jaw 643 can form a stable clamp on the coil material 7, ensuring the stability and safety of clamping the coil material 7.

[0085] Other structures such as a driving recorder, warning lights, a touch screen, a charging interface, etc. can also be provided on the vehicle body 1. The driving recorder can record the driving process of the forklift; the warning lights can remind other people to make way; the working state of the forklift can be controlled through the touch screen; operations such as charging the forklift can be carried out through the charging interface. A remote controller is also provided on the forklift to control the working state of the forklift.

[0086] In the description of the present application, the description with reference to terms such as "one embodiment", "specific embodiment", "preferred embodiment", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the schematic expression of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0087] The above are all the preferred embodiments of the present application. The protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A multi-degree-of-freedom coiling clamping forklift, characterized in that: It includes a vehicle body (1), a traveling module (2), a lifting module (3), a side-shifting module (4), a rotating module (5) and a clamping module (6). The traveling module (2) is arranged on the vehicle body (1) to drive the vehicle body (1) to travel. The lifting module (3) is arranged in front of the vehicle body (1). The side-shifting module (4) is arranged on the lifting module (3) and can perform a lifting motion under the drive of the lifting module (3). The rotating module (5) is arranged on the side-shifting module (4) and can move laterally under the drive of the side-shifting module (4). The clamping module (6) includes a clamping arm guiding component (61), clamping arms (62), a clamping driving part (63), a jaw component (64) and a flipping driving component (65). The clamping arm guiding component (61) is arranged on the rotating module (5) and can rotate under the drive of the rotating module (5). There are two clamping arms (62), and both of the two clamping arms (62) are arranged on the clamping arm guiding component (61) and can move relative to each other along the clamping arm guiding component (61) under the drive of the clamping driving part (63). The jaw component (64) is rotatably arranged on the opposite sides of the clamping arms (62) and can flip under the drive of the flipping driving component (65).

2. The multi-degree-of-freedom coil clamping forklift according to claim 1, characterized in that: The clamping arm guiding component (61) includes a clamping arm positioning plate (611), a first clamping arm track (612) and a second clamping arm track (613). The clamping arm positioning plate (611) is fixed on the rotating module (5). The first clamping arm track (612) and the second clamping arm track (613) are respectively fixed on the opposite sides of the clamping arm positioning plate (611). Two clamping arm chutes (614) are arranged on each of the first clamping arm track (612) and the second clamping arm track (613). The clamping arms (62) include clamping arm sliders (621), transverse arms (622) and forward arms (623). There are two clamping arm sliders (621), and the two clamping arm sliders (621) are respectively slidably arranged in one of the clamping arm chutes (614) on the first clamping arm track (612) and the second clamping arm track (613). The transverse arms (622) are fixed on the two clamping arm sliders (621). One end of the forward arm (623) is fixed on the outer part of the transverse arm (622), and the other end extends forward. The jaw component (64) is rotatably arranged on the front end part of the forward arm (623).

3. The multi-degree-of-freedom coil clamping forklift according to claim 2, wherein: The clamping driving member (63) includes a first clamping driving cylinder (631), a second clamping driving cylinder (632), a first synchronous rack (633), a second synchronous rack (634), a synchronous gear mounting bracket (635) and an arm synchronous gear (636). The first clamping driving cylinder (631) and the second clamping driving cylinder (632) are respectively installed between the arm positioning plate (611) and the two clamping arms (62). The first synchronous rack (633) and the second synchronous rack (634) are respectively installed on the transverse arms (622) of the two clamping arms. The synchronous gear mounting bracket (635) is arranged in the middle of the arm positioning plate (611). The arm synchronous gear (636) is rotatably arranged between the synchronous gear mounting bracket (635) and the arm positioning plate (611), and meshes with the first synchronous rack (633) and the second synchronous rack (634).

4. The multi-degree-of-freedom coiling clamping forklift according to claim 2, characterized in that: The jaw assembly (64) includes a rotary mounting plate (641), a jaw mounting plate (642), jaws (643) and jaw positioning springs (644). The rotary mounting plate (641) is rotatably installed on the inner side of the forward arm (623). The jaw mounting plate (642) is arranged on the rotary mounting plate (641). There are two jaws (643). The two jaws (643) are respectively hinged on the opposite sides of the inner surface of the jaw mounting plate (642), and the hinge axes are parallel to each other. The jaw positioning springs (644) are respectively installed between the two sides of the hinge axis of each jaw (643) and the jaw mounting plate (642) on the same side.

5. The multi-degree-of-freedom coiling clamping forklift according to claim 4, wherein: An anti-detachment mechanism (645) is provided between the jaw mounting plate (642) and the rotary mounting plate (641). The anti-detachment mechanism (645) includes a first anti-detachment shaft (6451), a first anti-detachment hook (6452), a first anti-detachment shaft gear (6453), a second anti-detachment shaft (6454), a second anti-detachment hook (6455), a second anti-detachment shaft gear (6456), an anti-detachment motor (6457) and an anti-detachment motor gear (6458). An installation support plate (6421) perpendicular to the hinge shaft of the jaw (643) is provided on the jaw mounting plate (642). The first anti-detachment shaft (6451) and the second anti-detachment shaft (6454) are rotatably connected to the installation support plate (6421). The first anti-detachment hook (6452) and the second anti-detachment hook (6455) are respectively fixed on the opposite sides of the first anti-detachment shaft (6451) and the second anti-detachment shaft (6454). The anti-detachment motor (6457) is fixed between the jaw mounting plate (642) and the rotary mounting plate (641), and the drive shaft is arranged parallel to the first anti-detachment shaft (6451) and the second anti-detachment shaft (6454). The first anti-detachment shaft gear (6453), the second anti-detachment shaft gear (6456) and the anti-detachment motor gear (6458) are respectively fixed on the drive shafts of the first anti-detachment shaft (6451), the second anti-detachment shaft (6454) and the anti-detachment motor (6457), and the first anti-detachment shaft gear (6453), the second anti-detachment shaft gear (6456) and the anti-detachment motor gear (6458) are meshed with each other.

6. The multi-degree-of-freedom coiling and clamping forklift according to claim 1, wherein: The flipping drive assembly (65) includes a flipping drive cylinder (651), a T-shaped flipping frame (652) and a flipping push rod (653). The T-shaped flipping frame (652) is hinged on the clamping arm (62). The two ends of the flipping drive cylinder (651) are respectively hinged on the clamping arm (62) and one side of the T-shaped flipping frame (652). The two ends of the flipping push rod (653) are respectively hinged on the other side of the T-shaped flipping frame (652) and the jaw assembly (64).

7. The multi-degree-of-freedom coiling and clamping forklift according to claim 1, characterized in that: The rotating module (5) includes a rotating module mounting plate (51), an outer slewing bearing (52), an internal gear ring slewing bearing (53) and a hydraulic motor (54). The rotating module mounting plate (51) is fixed on the side shifting module (4). The outer slewing bearing (52) is fixed on the rotating module mounting plate (51). The internal gear ring slewing bearing (53) is rotatably connected to the inside of the outer slewing bearing (52), and an internal gear ring (531) is arranged on the inside. The hydraulic motor (54) is fixed on the rotating module mounting plate (51), and a rotating gear (541) is arranged on the output shaft. The rotating gear (541) is meshed with the internal gear ring (531). The clamping arm guiding assembly (61) is fixed on the internal gear ring slewing bearing (53).

8. The multi-degree-of-freedom coiling clamping forklift according to claim 7, wherein: The side-shifting module (4) includes a side-shifting mounting frame (41), a side-shifting guide rail (42), a side-shifting slider (43), a side-shifting clamping block (44), and a side-shifting hydraulic cylinder (45). The side-shifting mounting frame (41) is mounted on the lifting module (3). The side-shifting guide rail (42) is fixed to the upper side of the side-shifting mounting frame (41). The side-shifting slider (43) is slidably mounted on the side-shifting guide rail (42). The side-shifting clamping block (44) is clamped to the lower side of the side-shifting mounting frame (41) and can slide on the side-shifting mounting frame (41). The rotating module mounting plate (51) is fixedly connected to the side-shifting slider (43) and the side-shifting clamping block (44). The side-shifting hydraulic cylinder (45) is disposed between the rotating module mounting plate (51) and the side-shifting mounting frame (41).

9. The multi-degree-of-freedom coil clamping forklift according to claim 8, characterized in that: The lifting module (3) includes a lifting hydraulic cylinder (31), a lifting cross beam (32), a lifting sprocket (33), a lifting chain (34), a lifting mounting frame (35), and a lifting groove rail (36). The lifting hydraulic cylinder (31) is disposed between the vehicle body (1) and the lifting cross beam (32). The lifting sprocket (33) is fixed to the lifting cross beam (32). One end of the lifting chain (34) is fixed to the vehicle body (1), and the other end passes over the lifting sprocket (33) and is connected to the lifting mounting frame (35). The lifting mounting frame (35) is slidably mounted in the lifting groove rail (36). The side-shifting mounting frame (41) is fixedly connected to the lifting mounting frame (35).

10. The multi-degree-of-freedom coiling and clamping forklift according to any one of claims 1-9, characterized in that: The traveling module (2) includes load-bearing universal casters (21), traveling drive wheels (22), forward support wheels (23), navigation sensors (24), obstacle avoidance sensors (25), material positioning sensors (26), and material distance sensors (27). The load-bearing universal casters (21) are disposed at the bottom of the vehicle body (1). The traveling drive wheels (22) are mounted on the bottom of the vehicle body (1) through a steering mechanism and can rotate under the drive of a traveling drive mechanism. The forward support wheels (23) are mounted on the front bottom plate (11) of the vehicle body (1). The navigation sensors (24) are disposed on the top of the vehicle body (1). A plurality of obstacle avoidance sensors (25) are provided, and the plurality of obstacle avoidance sensors are respectively disposed at different positions on the bottom of the vehicle body (1). The material positioning sensors (26) and the material distance sensors (27) are disposed in front of the clamping drive member (63) to be able to detect the position and distance of the material relative to the jaw assembly (64).

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