Unmanned forklift with steering balancing device

Abstract

The invention relates to the technical field of unmanned forklifts, and discloses an unmanned forklift with a steering balancing device, which comprises a fixing mechanism, the fixing mechanism comprises a fixing assembly and a contact assembly, the fixing assembly is slidably arranged on the side wall of a lifting frame, and the contact assembly is fixedly arranged on the outer wall of the contact assembly; through arrangement of rotating plates, when a second contact plate is inserted into a bottom frame and lifted upwards, the rotating plates on the two sides start to rotate in the direction away from the second contact plate, rotating blocks are clamped at the bottom of the frame, and at the moment, wave peaks on the outer walls of the rotating blocks are embedded into goods or the bottom of the frame; in this way, the discrete rotating blocks can make contact with the bottom of the frame in a self-adaptive mode, and the situation that due to the fact that too large pressure stress is generated by local high points, supporting points are unstable, and cargoes obviously slip under the influence of centrifugal force when a forklift steers is avoided.

Description

Technical Field

[0001] This invention relates to the field of unmanned forklift technology, specifically to an unmanned forklift with a steering and balancing device. Background Technology

[0002] Forklifts are industrial material handling vehicles, referring to various wheeled transport vehicles used for loading, unloading, stacking, and short-distance transportation of palletized goods. Driverless forklifts are intelligent material handling vehicles that cover delivery tasks such as line-side delivery, loading and unloading, and material handling. They can solve line-side delivery and loading / unloading problems between process stages in various industries, as well as material handling problems in the later stages of product warehousing. This effectively reduces labor intensity and improves production efficiency.

[0003] When the controller directs the forklift to insert into the frame at the bottom of the cargo, the forklift contacts the frame flatly. Since the bottom frame is not perfectly flat, this causes localized contact between the frame and the forklift. Because the cargo is actually supported on several unstable "high points" rather than a flat surface, this support is extremely unstable. When the forklift starts, accelerates, brakes, or turns, the cargo is prone to swaying and swinging on these "fulcrums" formed by these high points. These minute dynamic displacements accumulate and may eventually lead to significant slippage of the cargo on the forklift, or even tipping over. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides an unmanned forklift with a steering and balancing device, including a control box, a lifting frame, a base, a balancing device, a fixing mechanism, a rotating mechanism, and a buffer mechanism. The side wall of the control box is fixedly connected to the side wall of the base, the top of the base is fixedly connected to the top of the lifting frame, the inner wall of the control box is fixedly connected to the outer wall of the balancing device, the side wall of the fixing mechanism is slidably disposed from the side wall of the lifting frame away from the control box, the outer wall of the fixing mechanism is rotatably disposed from the outer wall of the rotating mechanism, and the inner wall of the fixing mechanism is fixedly disposed from the side wall of the rotating mechanism. The invention also includes: The fixing mechanism includes a fixing component and a contact component. The fixing component is slidably disposed on the side wall of the lifting frame, and the contact component is fixedly disposed on the outer wall of the fixing component. The rotating mechanism includes a connecting component and a rotating component. The connecting component is rotatably disposed on the outer wall of the contact component, and the rotating component is fixedly disposed on the inner wall of the connecting component. The buffer mechanism includes a deceleration component and a telescopic component. The deceleration component is fixedly mounted on the inner wall of the contact component, and the telescopic component is slidably mounted on the inner wall of the deceleration component.

[0005] Preferably, the fixing component includes a sliding plate and a connecting plate. The outer wall of the sliding plate is slidably connected to the side wall of the lifting frame, and the side of the connecting plate away from the balancing device is fixedly connected to the side wall of the connecting plate.

[0006] Preferably, the contact assembly includes a first contact plate, a second contact plate, a positioning block, and a rotating rod. The side of the first contact plate near the balancing device is fixedly connected to the side of the connecting plate away from the balancing device. The top of the end of the first contact plate away from the balancing device is fixedly connected to the bottom of the positioning block. The outer wall of the rotating rod is rotatably connected to the top of the positioning block. The top of the rotating rod is fixedly connected to the bottom of the second contact plate.

[0007] Preferably, the connecting assembly includes a rotating plate and a sliding groove. The ends of the two rotating plates away from the base are rotatably connected to the side wall of the second contact plate. Several sliding grooves are provided on the outer wall of the rotating plate.

[0008] Preferably, the rotating assembly includes rotating blocks and connecting columns, wherein the inner walls of the rotating blocks are fixedly connected to the outer walls of the connecting columns, and the outer walls of the connecting columns are fixedly connected to the inner walls of the rotating blocks.

[0009] Preferably, the deceleration assembly includes a telescopic block and a buffer shell. The outer wall of the telescopic block is fixedly connected to the inner wall of the groove of the second contact plate, the top of the telescopic block is fixedly connected to the bottom of the second contact plate, and the outer wall of the buffer shell is fixedly connected to the inner wall of the groove of the second contact plate.

[0010] Preferably, the telescopic assembly includes a push rod, a second push rod, a push block, and a spring. The side of the buffer shell near the second contact plate is fixedly connected to the outer wall of the push rod. The inner wall of the push rod is slidably connected to the outer wall of the second push rod. The end of the second push rod near the second contact plate is fixedly connected to the bottom of the second contact plate. The inner wall of the push rod is slidably connected to the outer wall of the push block. The outer wall of the push block is fixedly connected to the outer wall of the spring. The end of the spring away from the push block is fixedly connected to the push rod.

[0011] Preferably, a torsion spring is provided at the junction of the rotating plate and the second contact plate in the connecting assembly; The initial state of the contact plate is tilted, and the end of the contact plate away from the lifting frame is raised.

[0012] Preferably, a torsion spring is provided at the intersection of the rotating block and the connecting column in the rotating assembly.

[0013] Preferably, a telescopic block is provided between the two push rods in the telescopic assembly. The second push rod is attached to the outer wall of the push block. Two large holes and two small holes are opened on the outer wall of the push block. The outer wall of the push rod is provided with two large holes, which are the same as those of the push block. Liquid can pass through the holes between the push rod and the push block. The buffer housing in the deceleration assembly is filled with liquid, and the telescopic block can retract. When it is subjected to pressure from the second contact plate, it will squeeze the second spring inside the telescopic block and retract.

[0014] The present invention has the following beneficial effects: (1) By setting a rotating plate, when the second contact plate is inserted into the bottom frame and lifted upwards, the rotating plates on both sides will start to rotate away from the second contact plate, and the rotating block will also be stuck at the bottom of the frame. At this time, the peak of the outer wall of the rotating block will be embedded in the goods or the bottom of the frame. In this way, the discrete rotating blocks will adaptively contact the bottom of the frame, avoiding the instability of the support point due to excessive compressive stress generated by local high points. In this way, when the forklift turns, the goods will not slip significantly under the influence of centrifugal force.

[0015] (2) By setting a second contact plate, when the second contact plate contacts the bottom of the frame, the second contact plate will rotate around the rotating rod, so that the end of the second contact plate close to the lifting frame is attached to the surface of the first contact plate, and finally the second contact plate and the goods will tilt. In this way, the second contact plate alone is tilted, thereby shifting the center of gravity of the goods. This prevents the entire gantry from tilting when the tilting gantry is used in order to adjust the center of gravity of the goods. Because the gantry has a large inertia, it will generate a relatively obvious vibration when starting and stopping. This vibration will be directly transmitted to the goods, causing the goods inside or the upper layer of stacked goods to shake.

[0016] (3) By setting up a telescopic block, when the second contact plate is tilted, it will squeeze the second push rod, causing the second push rod to move down and change the size of the gap of the push rod, thereby increasing the tilting resistance of the second contact plate, so that the goods on the second contact plate will tilt slowly and directly absorb the kinetic energy generated when the goods tilt. In this way, it prevents the kinetic energy caused by the sudden change of the center of gravity of the goods during rapid tilting, which would lead to damage to fragile items or the falling of stacked goods.

[0017] (4) By setting up rotating blocks, when the second contact plate contacts the bottom of the frame, the rotating plate rotates so that each rotating block can contact the bottom of the frame, providing multi-point support for the frame. Then, the inclined second contact plate tilts the entire cargo. In this way, when the forklift is going downhill or braking suddenly, the cargo tends to move forward due to inertia. However, the backward tilting posture causes the bottom edge of the cargo to be stuck to the structure of the rotating block, thus counteracting the forward inertial force of the cargo and reducing the risk of the forklift tipping over. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic cross-sectional view of the overall structure of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the overall structure of the contact plate of the present invention; Figure 5 This is a schematic diagram of the overall structure of the push rod 2 of the present invention; Figure 6 This is a schematic diagram of the internal cross-sectional view of the push rod 2 of the present invention; Figure 7 This is a schematic diagram of the overall internal structure of the pusher block of the present invention; Figure 8 This is a schematic diagram showing the position of the rotating rod in this invention; Figure 9 This is a schematic diagram showing the position of the positioning block in this invention.

[0020] The attached diagram lists the components represented by each number as follows: In the diagram: 1. Fixed mechanism; 2. Rotating mechanism; 3. Buffer mechanism; 11. Fixed component; 12. Contact component; 13. Control box; 14. Lifting frame; 15. Base; 16. Balancing device; 21. Connecting component; 22. Rotating component; 31. Deceleration component; 32. Telescopic component; 111. Sliding plate; 112. Connecting plate; 121. Contact plate one; 122. Contact plate two; 123. Positioning block; 124. Rotating rod; 211. Rotating plate; 212. Slide groove; 221. Rotating block; 222. Connecting column; 311. Telescopic block; 312. Buffer shell; 321. Push rod; 322. Push rod two; 323. Push block; 324. Spring. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1, please refer to Figures 1-8This invention relates to an unmanned forklift with a steering and balancing device, comprising a control box 13, a lifting frame 14, a base 15, a balancing device 16, a fixing mechanism 1, a rotating mechanism 2, and a buffer mechanism 3. The side wall of the control box 13 is fixedly connected to the side wall of the base 15, and the top of the base 15 is fixedly connected to the top of the lifting frame 14. The inner wall of the control box 13 is fixedly connected to the outer wall of the balancing device 16. The side wall of the fixing mechanism 1 is slidably disposed with respect to the side wall of the lifting frame 14 away from the control box 13. The outer wall of the fixing mechanism 1 is rotatably disposed with respect to the outer wall of the rotating mechanism 2, and the inner wall of the fixing mechanism 1 is fixedly disposed with respect to the side wall of the rotating mechanism 2. The invention is characterized by further comprising: The fixing mechanism 1 includes a fixing component 11 and a contact component 12. The fixing component 11 is slidably disposed on the side wall of the lifting frame 14, and the contact component 12 is fixedly disposed on the outer wall of the fixing component 11. The rotating mechanism 2 includes a connecting component 21 and a rotating component 22. The connecting component 21 is rotatably disposed on the outer wall of the contact component 12, and the rotating component 22 is fixedly disposed on the inner wall of the connecting component 21. The buffer mechanism 3 includes a deceleration component 31 and a telescopic component 32. The deceleration component 31 is fixedly disposed on the inner wall of the contact component 12, and the telescopic component 32 is slidably disposed on the inner wall of the deceleration component 31.

[0023] Example 2, please refer to Figures 2-9 The present invention is an unmanned forklift with a steering and balancing device. Based on Example 1, the fixed component 11 includes a sliding plate 111 and a connecting plate 112. The outer wall of the sliding plate 111 is slidably connected to the side wall of the lifting frame 14, and the side of the connecting plate 112 away from the balancing device 16 is fixedly connected to the side wall of the connecting plate 112.

[0024] The contact assembly 12 includes a first contact plate 121, a second contact plate 122, a positioning block 123, and a rotating rod 124. The side of the first contact plate 121 closest to the balancing device 16 is fixedly connected to the side of the connecting plate 112 furthest from the balancing device 16. The top of the end of the first contact plate 121 furthest from the balancing device 16 is fixedly connected to the bottom of the positioning block 123. The outer wall of the rotating rod 124 is rotatably connected to the top of the positioning block 123. The top of the rotating rod 124 is fixedly connected to the bottom of the second contact plate 122. By setting the second contact plate 122, when the second contact plate 122 contacts the bottom of the frame, the contact... The second contact plate 122 will rotate around the rotating rod 124, causing the end of the second contact plate 122 near the lifting frame 14 to adhere to the surface of the first contact plate 121. Ultimately, both the second contact plate 122 and the cargo will tilt. In this way, the individual second contact plate 122 will tilt, thereby shifting the center of gravity of the cargo. This prevents the entire gantry from tilting when adjusting the center of gravity of the cargo when using a tilting gantry. Because the gantry has a large inertia, it will generate significant vibrations when starting and stopping. These vibrations will be directly transmitted to the cargo, causing the cargo inside or the upper stacked cargo to shake.

[0025] The connecting assembly 21 includes a rotating plate 211 and a sliding groove 212. The ends of the two rotating plates 211 away from the base 15 are rotatably connected to the side wall of the second contact plate 122. Several sliding grooves 212 are provided on the outer wall of the rotating plate 211.

[0026] The rotating assembly 22 includes rotating blocks 221 and connecting columns 222. The inner walls of several rotating blocks 221 are fixedly connected to the outer walls of the connecting columns 222, and the outer walls of the connecting columns 222 are fixedly connected to the inner walls of several rotating blocks 221. By setting rotating plates 211, when the contact plate 222 is inserted into the bottom frame and lifted upward, the rotating plates 211 on both sides will start to rotate away from the contact plate 222. The rotating blocks 221 will also be stuck at the bottom of the frame. At this time, the peak of the outer wall of the rotating blocks 221 will be embedded in the goods or the bottom of the frame. In this way, the discrete rotating blocks 221 will adaptively contact the bottom of the frame, avoiding the instability of the support point due to excessive compressive stress generated at local high points, which would cause the goods to slip significantly under the influence of centrifugal force when the forklift is turning.

[0027] The deceleration assembly 31 includes a telescopic block 311 and a buffer shell 312. The outer wall of the telescopic block 311 is fixedly connected to the inner wall of the groove of the second contact plate 122. The top of the telescopic block 311 is fixedly connected to the bottom of the second contact plate 122. The outer wall of the buffer shell 312 is fixedly connected to the inner wall of the groove of the second contact plate 122.

[0028] The telescopic assembly 32 includes a push rod 321, a second push rod 322, a push block 323, and a spring 324. The side of the buffer shell 312 near the second contact plate 122 is fixedly connected to the outer wall of the push rod 321. The inner wall of the push rod 321 is slidably connected to the outer wall of the second push rod 322. The end of the second push rod 322 near the second contact plate 122 is fixedly connected to the bottom of the second contact plate 122. The inner wall of the push rod 321 is slidably connected to the outer wall of the push block 323. The outer wall of the push block 323 is fixedly connected to the outer wall of the spring 324. The end of the spring 324 away from the push block 323 is fixedly connected to the push rod 321.

[0029] The connecting assembly 21 includes a torsion spring at the junction of the rotating plate 211 and the contact plate 122; The initial state of the contact plate 121 is tilted, and the end of the contact plate 121 away from the lifting frame 14 is raised.

[0030] A torsion spring is provided at the intersection of the rotating block 221 and the connecting column 222 in the rotating assembly 22.

[0031] In the telescopic assembly 32, a telescopic block 311 is provided between the two push rods 321. The second push rod 322 is attached to the outer wall of the push block 323. Two large holes and two small holes are opened on the outer wall of the push block 323. The outer wall of the push rod 321 is provided with two large holes similar to those of the push block 323. Liquid can pass through the hole between the push rod 321 and the push block 323. The buffer shell 312 in the deceleration assembly 31 is filled with liquid, and the telescopic block 311 can retract. When it is subjected to pressure from the second contact plate 122, it will squeeze the second spring inside the telescopic block 311 and retract.

[0032] A specific application of this embodiment is as follows: At the start of operation, the device is activated by turning on the power supply inside the control box 13. When the forklift contacts the frame at the bottom of the cargo, contact plate 122 extends into the bottom frame, ensuring that both contact plate 121 and contact plate 122 are inside the frame. At this time, the sliding plate 111 begins to slide on the lifting frame 14 via the control box 13. As the lifting frame 14 moves upward, the surface of contact plate 122 contacts the surface of the bottom frame. The tops of the rotating plates 211 on both sides of contact plate 122 begin to rotate away from contact plate 122, and the rotating blocks 221 on the rotating plates 211 adjust according to the shape of the bottom frame, ensuring the rotating plates 211 fit snugly against the bottom of the frame. As contact plate 122 and contact plate 121 move upward, they are subjected to the reaction force of the cargo's own weight. This causes contact plate 122 to rotate around the rotating rod 124, bringing one end of contact plate 122 closer to the control box 13. At the inclined surface of the outer wall of contact plate 121, when contact plate 122 rotates, multiple telescopic blocks 311 will also begin to retract. The springs inside each telescopic block 311 begin to accumulate potential energy. As the telescopic blocks 311 retract, push rod 322 will also begin to move downwards. The downward movement of push rod 322 will compress push block 323, causing it to move in the direction of compressing spring 324. During this movement, the original push block 323 and the push rod 324 will... The holes of rods 321 are staggered, which reduces the gap between push block 323 and push rod 321. This slows down the tilting speed of contact plate 122. When the cargo is heavy, this causes push rod 322 to fall to the bottom, so that the center of the small hole on push block 323 is aligned with the center of the large hole on the outer wall of push rod 321. As the diameter of the hole in push block 323 is constantly decreasing, the sliding speed of push rod 321 on the inner wall of buffer shell 312 also begins to decrease, thereby reducing the tilting speed of cargo and bottom frame.

[0033] By setting the rotating plate 211, when the contact plate 222 is inserted into the bottom frame and lifted upwards, the rotating plates 211 on both sides will start to rotate away from the contact plate 222. The rotating block 221 will also be stuck at the bottom of the frame. At this time, the peak of the outer wall of the rotating block 221 will be embedded in the goods or the bottom of the frame. In this way, the discrete rotating blocks 221 will adaptively contact the bottom of the frame, avoiding the instability of the support point due to excessive compressive stress at local high points, so that the goods will slip significantly under the influence of centrifugal force when the forklift turns.

[0034] By setting contact plate 2 122, when contact plate 2 122 contacts the bottom of the frame, contact plate 2 122 will rotate around the rotating rod 124, so that the end of contact plate 2 122 near the lifting frame 14 is attached to the surface of contact plate 1 121, and finally the contact plate 2 122 and the cargo will tilt. In this way, the individual contact plate 2 122 is tilted, thereby shifting the center of gravity of the cargo. This prevents the entire gantry from tilting when using a tilting gantry in order to adjust the center of gravity of the cargo. Because the gantry has a large inertia, it will generate obvious vibrations when starting and stopping. This vibration will be directly transmitted to the cargo, causing the cargo inside or the upper stacked cargo to shake.

[0035] By setting the telescopic block 311, when the contact plate 2 122 is tilted, it will squeeze the push rod 2 322, causing the push rod 2 322 to move down. This will cause the push block 323 to change the size of the gap in the push rod 321, thereby increasing the tilting resistance of the contact plate 2 122. This will cause the goods on the contact plate 2 122 to tilt slowly and directly absorb the kinetic energy generated when the goods tilt. In this way, it will prevent the goods from shaking or overturning due to the sudden change in the center of gravity when tilting rapidly, which could lead to damage to fragile items or the falling of stacked goods.

[0036] By setting up rotating blocks 221, when the second contact plate 122 contacts the bottom of the frame, the rotation of the rotating plate 211 allows each rotating block 221 to contact the bottom of the frame, providing multi-point support for the frame. Then, the tilted second contact plate 122 tilts the entire cargo. In this way, when the forklift is going downhill or braking suddenly, the cargo tends to move forward due to inertia. However, the backward tilting posture causes the bottom edge of the cargo to be locked by the structure of the rotating block 221, which counteracts the forward inertial force of the cargo and reduces the risk of the forklift tipping over.

[0037] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An unmanned forklift with a steering and balancing device, comprising a control box (13), a lifting frame (14), a base (15), a balancing device (16), a fixing mechanism (1), a rotating mechanism (2), and a buffer mechanism (3), wherein the side wall of the control box (13) is fixedly connected to the side wall of the base (15), the top of the base (15) is fixedly connected to the top of the lifting frame (14), the inner wall of the control box (13) is fixedly connected to the outer wall of the balancing device (16), the side wall of the fixing mechanism (1) is slidably disposed with respect to the side wall of the lifting frame (14) away from the control box (13), the outer wall of the fixing mechanism (1) is rotatably disposed with respect to the outer wall of the rotating mechanism (2), and the inner wall of the fixing mechanism (1) is fixedly disposed with respect to the side wall of the rotating mechanism (2); characterized in that, Also includes: The fixing mechanism (1) includes a fixing component (11) and a contact component (12). The fixing component (11) is slidably disposed on the side wall of the lifting frame (14), and the contact component (12) is fixedly disposed on the outer wall of the fixing component (11). The rotating mechanism (2) includes a connecting component (21) and a rotating component (22). The connecting component (21) is rotatably disposed on the outer wall of the contact component (12), and the rotating component (22) is fixedly disposed on the inner wall of the connecting component (21). The buffer mechanism (3) includes a deceleration component (31) and a telescopic component (32). The deceleration component (31) is fixedly disposed on the inner wall of the contact component (12), and the telescopic component (32) is slidably disposed on the inner wall of the deceleration component (31).

2. The unmanned forklift with a steering and balancing device according to claim 1, characterized in that: The fixing component (11) includes a sliding plate (111) and a connecting plate (112). The outer wall of the sliding plate (111) is slidably connected to the side wall of the lifting frame (14). The side of the connecting plate (112) away from the balancing device (16) is fixedly connected to the side wall of the connecting plate (112).

3. The unmanned forklift with a steering and balancing device according to claim 2, characterized in that: The contact assembly (12) includes a first contact plate (121), a second contact plate (122), a positioning block (123), and a rotating rod (124). The side of the first contact plate (121) near the balancing device (16) is fixedly connected to the side of the connecting plate (112) away from the balancing device (16). The top of the end of the first contact plate (121) away from the balancing device (16) is fixedly connected to the bottom of the positioning block (123). The outer wall of the rotating rod (124) is rotatably connected to the top of the positioning block (123). The top of the rotating rod (124) is fixedly connected to the bottom of the second contact plate (122).

4. An unmanned forklift with a steering and balancing device according to claim 3, characterized in that: The connecting assembly (21) includes a rotating plate (211) and a sliding groove (212). The two rotating plates (211) are rotatably connected at one end away from the base (15) to the side wall of the second contact plate (122). A plurality of sliding grooves (212) are provided on the outer wall of the rotating plate (211).

5. An unmanned forklift with a steering and balancing device according to claim 4, characterized in that: The rotating assembly (22) includes rotating blocks (221) and connecting columns (222). The inner walls of several rotating blocks (221) are fixedly connected to the outer walls of the connecting columns (222), and the outer walls of the connecting columns (222) are fixedly connected to the inner walls of several rotating blocks (221).

6. An unmanned forklift with a steering and balancing device according to claim 1, characterized in that: The deceleration assembly (31) includes a telescopic block (311) and a buffer shell (312). The outer wall of the telescopic block (311) is fixedly connected to the inner wall of the groove of the second contact plate (122). The top of the telescopic block (311) is fixedly connected to the bottom of the second contact plate (122). The outer wall of the buffer shell (312) is fixedly connected to the inner wall of the groove of the second contact plate (122).

7. An unmanned forklift with a steering and balancing device according to claim 6, characterized in that: The telescopic assembly (32) includes a push rod (321), a second push rod (322), a push block (323), and a spring (324). The side of the buffer shell (312) near the second contact plate (122) is fixedly connected to the outer wall of the push rod (321). The inner wall of the push rod (321) is slidably connected to the outer wall of the second push rod (322). The end of the second push rod (322) near the second contact plate (122) is fixedly connected to the bottom of the second contact plate (122). The inner wall of the push rod (321) is slidably connected to the outer wall of the push block (323). The outer wall of the push block (323) is fixedly connected to the outer wall of the spring (324). The end of the spring (324) away from the push block (323) is fixedly connected to the push rod (321).

8. An unmanned forklift with a steering and balancing device according to claim 4, characterized in that: The connecting assembly (21) includes a torsion spring at the junction of the rotating plate (211) and the second contact plate (122); Among them, the initial state of the contact plate (121) is tilted, and the end of the contact plate (121) away from the lifting frame (14) is raised.

9. An unmanned forklift with a steering and balancing device according to claim 4, characterized in that: A torsion spring is provided at the intersection of the rotating block (221) and the connecting column (222) in the rotating assembly (22).

10. An unmanned forklift with a steering and balancing device according to claim 7, characterized in that: In the telescopic assembly (32), a telescopic block (311) is provided between the two push rods (321). The second push rod (322) is attached to the outer wall of the push block (323). The outer wall of the push block (323) has two large holes and two small holes. The outer wall of the push rod (321) has two large holes that are the same as those of the push block (323). Liquid can pass through the hole between the push rod (321) and the push block (323). The buffer shell (312) in the deceleration assembly (31) is filled with liquid, and the telescopic block (311) can retract. When it is subjected to the pressure of the second contact plate (122), it will squeeze the second spring inside the telescopic block (311) and retract.

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