Unmanned transportation forklift system
By designing an anti-collision unit in the unmanned transport forklift system, the shock absorbing and converting collision force during collision is used to absorb and convert collision force, the problem of unmanned transport forklifts being easily damaged during collision is solved, and effective collision force absorption and safe separation between the forklifts are achieved.
Patent Information
- Application Number
- CN202323603239.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-28
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2033-12-28
AI Technical Summary
Existing unmanned transport forklifts are prone to cause major damage when they encounter collisions, and may cause collision or scrubbing if there are blind spots in the field of vision and improper operation.
An unmanned transportation forklift system is designed, including an anti-collision unit, which consists of an outer shell, a roller and a shock absorbing spring, which is connected to the outer shell and the forklift body, and the roller is hinged to the outer shell for absorbing and converting the impact force during collision.
Through the shock absorption effect of the shock absorbing spring and the sliding conversion of the roller, the collision force is effectively avoided directly acting on the forklift body, reducing damage, and allowing the unmanned transport forklifts to disengage each other to avoid further damage.
Smart Images
Figure CN223002681U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of forklift transportation, and particularly relates to an unmanned transport forklift system. Background Art
[0002] In many industrial production logistics transports, forklifts are needed as cargo handling tools. With the development of information technology and autonomous driving technology, unmanned transport forklifts have emerged. If there are blind spots in the field of vision or improper operations of unmanned transport forklifts, collisions or scratches may occur between unmanned transport forklifts. Since unmanned transport forklifts usually have a large volume and weight, they have a large inertia during collisions, which can cause great damage to the unmanned transport forklifts. Summary of the Utility Model
[0003] In order to solve the problem that the unmanned transport forklifts in the prior art cause great damage to the forklifts after colliding with each other, an unmanned transport forklift system is proposed.
[0004] The technical solution adopted by the utility model is as follows:
[0005] An unmanned transport forklift system includes a plurality of unmanned transport forklifts. Each unmanned transport forklift includes: a forklift body, a fork arm lifting unit, a movement unit, and an anti-collision unit. The fork arm lifting unit is arranged at the front end of the forklift body and is used for carrying goods. The movement unit is arranged at the bottom end of the forklift body and is used for moving the forklift body. The anti-collision unit is arranged on at least one side of the forklift body; the anti-collision unit includes: an outer shell, a roller, and a shock-absorbing spring. The two ends of the shock-absorbing spring are respectively connected to the outer shell and the forklift body. The roller is hinged on the outer shell, and the end face of the roller extends beyond the surface of the outer shell away from the forklift body.
[0006] Further, the anti-collision units are arranged on the left and right sides and the rear end of the forklift body.
[0007] Further, the fork arm lifting unit includes a fork arm, a lifting frame, and a support frame. The fork arm is nested outside the lifting frame, and a climbing component is arranged at the connection part between the fork arm and the lifting frame. The climbing component is used for lifting and lowering the fork arm. The lifting frame is nested outside the support frame, and a lifting hydraulic component is arranged at the top end inside the lifting frame. The lifting hydraulic component is used for lifting and lowering the lifting frame. The bottom end of the support frame is fixedly connected to the front end of the forklift body.
[0008] Further, a row of card slots is longitudinally arranged at the contact part between the lifting frame and the climbing component. The climbing component includes a fixed buckle, a climbing gear, and a climbing motor. The output end of the climbing motor is fixedly connected to the climbing gear. The climbing gear cooperates with the card slots of the lifting frame. Anti-slip rubbers are provided on the surfaces of both the climbing gear and the card slots. The fixed buckle is arranged on the side of the climbing gear away from the lifting frame, and an electromagnetic mechanism is provided at the control end of the fixed buckle. The electromagnetic mechanism is used to control the fixed buckle to fall towards the climbing gear.
[0009] Further, the lifting hydraulic component is arranged inside the top end of the lifting frame. The lifting hydraulic component includes a hydraulic motor, a lifting fixed rod, and a lifting movable rod. The hydraulic motor is arranged at the top end of the lifting fixed rod. The top end of the lifting movable rod is nested inside the lifting fixed rod, and the bottom end of the lifting movable rod is fixedly connected to the top end of the support frame.
[0010] Further, the unmanned transport forklift further includes a counterweight block, which is arranged on the forklift body.
[0011] Further, the unmanned transport forklift system further includes: a plurality of high-rise racks, an edge computing gateway, and a monitoring center. The plurality of high-rise racks are arranged inside the warehouse, and each high-rise rack is provided with a goods label. The edge computing gateway is arranged at the inner top end of the warehouse, and the edge computing gateway is respectively communicatively connected to the plurality of unmanned transport forklifts and the monitoring center. Each unmanned transport forklift further includes a vision unit, and each unmanned transport forklift is communicatively connected to other unmanned transport forklifts. The vision unit cooperates with the goods label
[0012] Further, the unmanned transport forklift further includes a main control unit, an operation detection unit, and a battery unit. The main control unit and the battery unit are both arranged inside the forklift body. The main control unit is respectively electrically connected to the vision unit, the operation detection unit, the fork arm lifting unit, and the movement unit, and the main control unit is communicatively connected to the edge computing gateway. The vision unit is arranged at the front end of the fork arm lifting unit. The operation detection unit is arranged inside the forklift body. The battery unit is respectively electrically connected to the main control unit, the vision unit, the operation detection unit, the fork arm lifting unit, and the movement unit.
[0013] Further, the vision unit is a moving camera.
[0014] Further, the high-rise rack includes a plurality of longitudinally arranged storage layers, and a goods label is arranged on the outside of each storage layer;
[0015] The unmanned transport forklift system further includes a charging pile, which is arranged at a fixed position in the warehouse. The input end of the charging pile is electrically connected to the mains line, and a charging plug is arranged at the output end of the charging pile. The battery unit of the unmanned transport forklift is provided with a charging slot, and the charging slot cooperates with the charging plug.
[0016] The beneficial effects of the present utility model are as follows:
[0017] In the unmanned transport forklift system provided by the present utility model, when a collision occurs between unmanned transport forklifts, the anti-collision units can come into contact with each other. At this time, the shock-absorbing springs can play a very good shock-absorbing role, avoiding the impact force of the collision from directly acting on the forklift body, thereby preventing the forklift body and the mechanisms fixed on the forklift body from being damaged due to a large impact. In addition, since rollers are also provided on the outer housing, when a collision occurs between unmanned transport forklifts, the rollers on one unmanned transport forklift will come into contact with the outer housing or rollers on another unmanned transport forklift. At this time, the rollers will convert the impact force of the collision into a sliding force, and enable the unmanned transport forklifts to separate from each other, thereby preventing the impact force from continuing to act on the forklift body and causing further damage to it.
[0018] Other beneficial effects of the present utility model will be further described in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 is the structural block diagram of the unmanned transport forklift system in Embodiment 1.
[0020] Figure 2 is the structural schematic diagram of the unmanned transport forklift in Embodiment 1.
[0021] Figure 3 is the enlarged view of part A-1 in Embodiment 1.
[0022] Figure 4 is the enlarged view of part A-2 in Embodiment 1.
[0023] Figure 5 is the structural block diagram of the main control unit in Embodiment 1.
[0024] Figure 6 is the structural block diagram of the edge computing gateway in Embodiment 1.
[0025] Figure 7 is the structural schematic diagram of the high-rise vertical rack in Embodiment 1.
[0026] In the figure, 1 is an unmanned transport forklift; 11 is the forklift body; 12 is the main control unit; 13 is the vision unit; 14 is the operation detection unit; 15 is the fork arm lifting unit; 151 is the fork arm; 151-1 is the card slot; 151-2 is the fixing buckle; 151-3 is the climbing gear; 151-4 is the climbing motor; 152 is the lifting frame; 152-1 is the hydraulic motor; 152-2 is the lifting fixed rod; 152-3 is the lifting movable rod; 153 is the support frame; 16 is the movement unit; 17 is the counterweight; 18 is the anti-collision unit; 181 is the outer shell; 182 is the roller; 183 is the shock-absorbing spring; 2 is the high-rise vertical frame; 21 is the storage layer; 22 is the goods label. Detailed implementation mode
[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0028] Embodiment 1:
[0029] As Figure 1 shown, this embodiment provides an unmanned transport forklift system, including a plurality of unmanned transport forklifts 1. Each unmanned transport forklift 1 includes: a forklift body 11, a fork arm lifting unit 15, a movement unit 16, and an anti-collision unit 18. The fork arm lifting unit 15 is arranged at the front end of the forklift body 11 and is used to carry goods. The movement unit 16 is arranged at the bottom end of the forklift body 11 and is used to move the forklift body 11. The anti-collision unit 18 is arranged on at least one side of the forklift body 11. The anti-collision unit 18 includes: an outer shell 181, rollers 182, and shock-absorbing springs 183. The two ends of the shock-absorbing spring 183 are respectively connected to the outer shell 181 and the forklift body 11. The rollers 182 are hinged on the outer shell 181, and the end face of the rollers 182 extends beyond the surface of the outer shell 181 away from the forklift body 11.
[0030] When the driverless transport forklift 1 has a blind spot in vision or is operated improperly, it may collide with other driverless transport forklifts 1. When a collision occurs, the anti-collision unit 18 of the driverless transport forklift 1 will come into contact first and bear the impact force of the collision. At this time, the shock-absorbing spring 183 plays a very good shock-absorbing role, preventing the impact force of the collision from directly acting on the forklift body 11, thereby avoiding damage to the forklift body 11 and the mechanisms fixed on the forklift body 11 due to a large impact. In addition, since rollers 182 are also provided on the outer housing 181, when a collision occurs, the rollers 182 on one driverless transport forklift 1 will come into contact with the outer housing 181 or the rollers 182 of another driverless transport forklift 1. At this time, the rollers 182 will convert the impact force of the collision into a sliding force, enabling the driverless transport forklifts 1 to separate from each other and preventing the impact force from continuing to act on the forklift body 11 to cause further damage to it.
[0031] It should be noted that the rollers 182 can be embedded in the grooves of the outer housing 181 and hinged and fixed to the outer housing 181. The end face of the roller 182 is the side of the roller 182 located outside the groove. When the driverless transport forklift 1 collides, the end face of the roller 182 is located outside the groove of the outer housing 181, making it easy to come into contact with the collided driverless transport forklift 1, thereby further playing its role in converting the direction of the force.
[0032] Preferably, multiple groups of rollers 182 can be evenly arranged on the outer housing 181, which is more conducive to the separation between the driverless transport forklift 1 and the collided object. The axial direction of the rollers 182 is the vertical direction, which is also conducive to enabling the driverless transport forklift 1 to quickly separate from the collided object.
[0033] Preferably, multiple groups of shock-absorbing springs 183 can be arranged, and the multiple groups of shock-absorbing springs 183 are evenly arranged on the surface of the outer housing 181.
[0034] Preferably, the anti-collision unit 18 is provided on the left and right sides and the rear end of the forklift body 11.
[0035] In this way, the anti-collision unit 18 can provide a more comprehensive protection for the left and right sides and the rear end of the forklift body 11, preventing the driverless transport forklift 1 from rubbing against surrounding objects to a large extent on the side, or preventing the driverless transport forklift 1 from causing a large degree of collision to the objects behind it during the reverse process.
[0036] Preferably, the rollers 182 can be steel rollers, which can withstand a large impact force and prevent damage during a collision and being unable to function.
[0037] Of course, for the outer housing 181 and the shock-absorbing spring 183, the material selection can refer to that of the roller 182, so as to ensure that they have greater strength, hardness and pressure-bearing performance, and avoid being easily damaged when subjected to collision forces.
[0038] Preferably, as Figure 4 shown, the unmanned transport forklift system further includes: a plurality of high-rise racks 2, an edge computing gateway and a monitoring center. The plurality of high-rise racks 2 are arranged inside the warehouse, and each high-rise rack 2 is provided with a goods label 22. The edge computing gateway is arranged at the top inside the warehouse, and the edge computing gateway is respectively communicatively connected with a plurality of unmanned transport forklifts 1 and the monitoring center. Each unmanned transport forklift 1 further includes a vision unit 13, and each unmanned transport forklift 1 is communicatively connected with other unmanned transport forklifts 1. The vision unit 13 cooperates with the goods label 22.
[0039] The edge computing gateway matches the unmanned transport forklift 1 according to the goods transportation task information sent by the monitoring center and performs path planning. The unmanned transport forklift 1 uses the vision unit 13 to collect real-time motion videos for path finding and obstacle avoidance, identifies the goods label 22 of the high-rise rack 2 to obtain goods information, and the height of the fork arm 151 of the unmanned transport forklift 1 is adjustable, capable of handling goods on the upper floors of the high-rise rack 2.
[0040] Preferably, as Figure 1 shown, the unmanned transport forklift 1 further includes a main control unit 12, an operation detection unit 14 and a battery unit. The main control unit 12 and the battery unit are both arranged inside the forklift body 11. The main control unit 12 is respectively electrically connected to the vision unit 13, the operation detection unit 14, the fork arm lifting unit 15 and the motion unit 16, and the main control unit 12 is communicatively connected to the edge computing gateway. The vision unit 13 is arranged at the front end of the fork arm lifting unit 15. The operation detection unit 14 is arranged inside the forklift body 11. The battery unit is respectively electrically connected to the main control unit 12, the vision unit 13, the operation detection unit 14, the fork arm lifting unit 15 and the motion unit 16.
[0041] The main control unit 12 realizes data transmission with the edge computing gateway and controls the normal operation of other units. The motion unit 16 provides power for the forklift body 11. The vision unit 13 collects real-time motion video data and goods label data. The operation detection unit 14 detects the operation data of the unmanned transport forklift 1 in real time, and timely discovers the faults and abnormal conditions of the unmanned transport forklift 1. The height of the fork arm lifting unit 15 is adjustable, realizing the handling operation of goods on the upper floors of the high-rise rack 2. The battery unit provides the working voltage for the forklift body 11 and each unit.
[0042] Preferably, the driverless transport forklift 1 further includes a counterweight 17, which is arranged on the forklift body 11. In this way, the counterweight 17 is used to ensure the gravity balance of the forklift during the handling operation.
[0043] Preferably, the fork arm lifting unit 15 includes a fork arm 151, a lifting frame 152 and a support frame 153. The fork arm 151 is nested outside the lifting frame 152, and a climbing component is arranged at the connecting part of the fork arm 151 and the lifting frame 152. The climbing component is used to lift and lower the fork arm 151. The climbing component is electrically connected to the main control unit 12 and the battery unit respectively. The lifting frame 152 is nested outside the support frame 153, and a lifting hydraulic component is arranged at the top end inside the lifting frame 152. The lifting hydraulic component is used to lift and lower the lifting frame 152. The lifting hydraulic component is electrically connected to the main control unit 12 and the battery unit respectively. The bottom end of the support frame 153 is fixedly connected to the front end of the forklift body 11.
[0044] The fork arm lifting unit 15 adopts a split and hollow structure, which reduces the weight of the fork arm lifting unit 15 as much as possible. The fork arm 151 moves longitudinally on the lifting frame 152 through the climbing component, and the lifting frame 152 moves longitudinally on the support frame 153 through the lifting hydraulic component, realizing adjustable height. Moreover, the height adjustment range is larger than that of the existing forklifts, which is applicable to the high-rise rack 2 and improves the practicability of the driverless transport forklift 1.
[0045] Preferably, as Figure 2 shown, the height of the support frame 153 is only an example. In actual situations, the height of the support frame 153 is generally not lower than the overall height of the driverless transport forklift 1. A row of card slots 151-1 is longitudinally arranged at the contact part of the lifting frame 152 and the climbing component. The climbing component includes a fixed buckle 151-2, a climbing gear 151-3 and a climbing motor 151-4 with a specific model of AKM2G. The output end of the climbing motor 151-4 is fixedly connected to the climbing gear 151-3, and the climbing motor 151-4 is electrically connected to the main control unit 12 and the battery unit respectively. The climbing gear 151-3 cooperates with the card slot 151-1 of the lifting frame 152, and anti-slip rubber is arranged on the surfaces of both the climbing gear 151-3 and the card slot 151-1. The fixed buckle 151-2 is arranged on the side of the climbing gear 151-3 away from the lifting frame 152, and an electromagnetic mechanism is arranged at the control end of the fixed buckle 151-2. The electromagnetic mechanism is used to control the fixed buckle 151-2 to fall towards the climbing gear 151-3, and the electromagnetic mechanism is electrically connected to the main control unit 12.
[0046] The climbing motor 151-4 provides power for the climbing assembly. The climbing gear 151-3 and the slot 151-1 of the lifting frame 152 cooperate with each other to achieve the climbing operation. When the climbing motor 151-4 stops, the electromagnetic mechanism is energized, driving the fixed buckle 151-2 to fall towards the climbing gear 151-3 and catch the convex teeth of the climbing gear 151-3. Due to gravity, the climbing gear 151-3, the fixed buckle 151-2 and the slot 151-1 form a stable structure to prevent the fork arm 151 from falling. And a return spring is arranged on the side of the fixed buckle 151-2 away from the climbing gear 151-3, always giving the climbing gear 151-3 a pulling force to return to the original position. When the climbing motor 151-4 starts again, it provides upward power for the climbing gear 151-3 to offset the gravity, and the fixed buckle 151-2 returns.
[0047] Preferably, as Figure 3 shown, the lifting hydraulic assembly is arranged inside the top of the lifting frame 152. The lifting hydraulic assembly includes a hydraulic motor 152-1 with the specific model AKM2G, a lifting fixed rod 152-2 and a lifting movable rod 152-3. The hydraulic motor 152-1 is arranged at the top of the lifting fixed rod 152-2, and the hydraulic motor 152-1 is electrically connected to the main control unit 12 and the battery unit respectively. The top of the lifting movable rod 152-3 is nested inside the lifting fixed rod 152-2, and the bottom of the lifting movable rod 152-3 is fixedly connected to the top of the support frame 153; the length of the lifting fixed rod 152-2 in the figure is only for illustration. In actual situations, the length of the lifting fixed rod 152-2 is not less than the length of the lifting movable rod 152-3, and the length of the lifting fixed rod 152-2 is generally equal to half of the height of the support frame 153, realizing the adjustment of the height of the fork arm 151 within the range of 0 to 2 times the height of the support frame 153. When the hydraulic motor 152-1 starts to work, it extends the lifting movable rod 152-3, driving the lifting fixed rod 152-2 to lift the lifting frame 152 to achieve height adjustment.
[0048] Preferably, as Figure 5As shown in the figure, the main control unit 12 includes a main control module with the specific model of STM32f103c8t6, an A / D conversion module with the specific model of ADC0809, a goods label recognition module, a moving image recognition module, a communication module with the specific model of WG233, a first storage module, and a motor drive module with the specific model of SGM7G-1EAFC61. The main control module is electrically connected to the battery unit, the vision unit 13, the A / D conversion module, the goods label recognition module, the moving image recognition module, the communication module, the first storage module, and the motor drive module respectively. The communication module of the current unmanned transport forklift 1 is communicatively connected to the edge computing gateway and the communication modules of other unmanned transport forklifts 1 respectively. The motor drive module is electrically connected to the power motor of the moving unit 16, the climbing motors 151-4, and the hydraulic motor 152-1 respectively. The goods label recognition module is provided with a goods label recognition model established based on a neural network. The moving image recognition module is provided with a moving image recognition module established based on a neural network. The A / D conversion module is electrically connected to the operation detection unit 14.
[0049] The main control module controls the normal operation of other modules. The goods label recognition module is used for the recognition of the goods label 22. Based on a large number of images containing goods labels, training is carried out based on a neural network. The established goods label recognition model can locate, extract, and recognize the goods label 22, obtain the goods information in the goods electronic label, and realize the information collection of the target goods. Based on a large number of moving images of the path finding and handling operations of the unmanned transport forklift 1, training is carried out based on a neural network to establish a moving image recognition module, which can accurately recognize obstacles and the placement of goods, and realize the moving vision recognition during driving and handling. The communication module realizes the data transmission with the edge computing gateway. The motor drive module drives the motors of the forklift arm lifting unit 15 to realize the automatic control to obtain the handling operation.
[0050] Preferably, the operation detection unit 14 includes a positioning sensor with the specific model Q560G-TTL, a vehicle speed sensor WHT_003_858 with the specific model Q560G-TTL, a temperature sensor with the specific model E52-THE5A, an inclination sensor with the specific model BWS2700E, an angular velocity sensor with the specific model XV7001BB, an infrared ranging sensor with the specific model TF02-Pro, a collision sensor with the specific model ARIZON-6012, a displacement sensor with the specific model LWH-600, a pressure sensor with the specific model LPS25HBTR, a height sensor with the specific model 3C0412522B, a power sensor with the specific model TLI4970-D050T4, a current sensor with the specific model MIK-DZI, and a voltage sensor with the specific model AHKC-EKA. All of them are electrically connected to the A / D conversion module. The infrared ranging sensor is arranged at the front end of the fork arm 151, the pressure sensor and the height sensor are both arranged at the top end of the fork arm 151, the temperature sensor, the power sensor, the current sensor and the voltage sensor are all arranged at the battery unit, and the power sensor, the current sensor and the voltage sensor are all electrically connected to the output end of the battery unit. The collision sensor is arranged at the corner of the forklift body 11.
[0051] The operation detection unit 14 collects data such as the position, vehicle speed, displacement, steering angle of the vehicle head, inclination degree of the vehicle body, whether a collision occurs, battery temperature, power, current and voltage of the unmanned transport forklift 1, as well as the height, pressure received by the fork arm 151, and the distance from the goods, etc., and real-time detects the operation condition of the unmanned transport forklift 1, which is convenient for the edge computing gateway to perform path planning and handling task monitoring.
[0052] Preferably, as Figure 6 shown, the edge computing gateway includes a microprocessor with the specific model SEP3203, a second storage module, a network module, a transport task receiving module, and a path planning module. The microprocessor is respectively communicatively connected to the communication module, the second storage module, the network module, the transport task receiving module, and the path planning module of the unmanned transport forklift 1, and the network module is communicatively connected to the monitoring center.
[0053] The transport task receiving module receives the transport tasks sent by the monitoring center. The microprocessor uses the path planning module to match a suitable unmanned transport forklift 1 for remote control and path planning according to the operation detection data such as the position and power of the unmanned transport forklift 1.
[0054] Preferably, the vision unit 13 is a motion camera with the specific model HY-UN330, which is used to collect the motion video during the transportation process.
[0055] Preferably, as Figure 7As shown in the figure, the high-level vertical rack 2 includes a plurality of vertically arranged storage layers 21, and a goods label 22 is arranged on the outer side of each storage layer 21.
[0056] The unmanned transport forklift system further includes a charging pile, which is arranged at a fixed position in the warehouse. The input end of the charging pile is electrically connected to the mains power line, and a charging plug is arranged at the output end of the charging pile. A charging slot is arranged in the battery unit of the unmanned transport forklift 1, and the charging slot cooperates with the charging plug; when the operation detection unit 14 detects that the power of the unmanned transport forklift 1 is insufficient, the edge computing gateway uses the path planning module to plan a path with the position of the charging pile as the destination.
[0057] The unmanned transport forklift system provided by the present utility model uses an unmanned transport forklift to automatically identify goods labels and perform automatic operation and remote control through an edge computing gateway and a monitoring center, greatly improving the intelligent level of the unmanned transport forklift. The unmanned transport forklift with adjustable height meets the requirements of the high-level vertical rack and can greatly improve the practicality of the unmanned transport forklift.
[0058] The present utility model is not limited to the above optional embodiments, and anyone can obtain other various forms of products under the inspiration of the present utility model. The above specific embodiments should not be construed as limiting the protection scope of the present utility model. The protection scope of the present utility model should be defined by the claims, and the description can be used to interpret the claims.
Claims
1. An unmanned transport forklift system, characterized in that: It includes multiple unmanned transport forklifts (1), and each unmanned transport forklift (1) includes: a forklift body (11), a fork arm lifting unit (15), a movement unit (16), and an anti-collision unit (18). The fork arm lifting unit (15) is arranged at the front end of the forklift body (11) and is used to carry goods. The movement unit (16) is arranged at the bottom end of the forklift body (11) and is used to move the forklift body (11). The anti-collision unit (18) is arranged on at least one side of the forklift body (11). The anti-collision unit (18) includes: a housing (181), rollers (182), and shock-absorbing springs (183). The two ends of the shock-absorbing spring (183) are respectively connected to the housing (181) and the forklift body (11). The roller (182) is hinged on the housing (181), and the end face of the roller (182) extends beyond the surface of the side of the housing (181) away from the forklift body (11).
2. The unmanned transport forklift system according to claim 1, characterized in that: The anti-collision unit (18) is arranged on the left and right sides and the rear end of the forklift body (11).
3. The unmanned transport forklift system according to claim 2, characterized in that: The fork arm lifting unit (15) includes a fork arm (151), a lifting frame (152), and a support frame (153). The fork arm (151) is nested outside the lifting frame (152), and a climbing component is arranged at the connection part between the fork arm (151) and the lifting frame (152). The climbing component is used to lift and lower the fork arm (151). The lifting frame (152) is nested outside the support frame (153), and a lifting hydraulic component is arranged at the top end inside the lifting frame (152). The lifting hydraulic component is used to lift and lower the lifting frame (152). The bottom end of the support frame (153) is fixedly connected to the front end of the forklift body (11).
4. The unmanned transport forklift system according to claim 3, characterized in that: A row of card slots (151-1) is longitudinally arranged at the contact part between the lifting frame (152) and the climbing component. The climbing component includes a fixed buckle (151-2), a climbing gear (151-3), and a climbing motor (151-4). The output end of the climbing motor (151-4) is fixedly connected to the climbing gear (151-3). The climbing gear (151-3) cooperates with the card slot (151-1) of the lifting frame (152), and anti-slip rubbers are arranged on the surfaces of the climbing gear (151-3) and the card slot (151-1). The fixed buckle (151-2) is arranged on the side of the climbing gear (151-3) away from the lifting frame (152), and an electromagnetic mechanism is arranged at the control end of the fixed buckle (151-2). The electromagnetic mechanism is used to control the fixed buckle (151-2) to fall towards the climbing gear (151-3).
5. The unmanned transport forklift system according to claim 4, characterized in that: The lifting hydraulic component is arranged inside the top end of the lifting frame (152). The lifting hydraulic component includes a hydraulic motor (152-1), a lifting fixed rod (152-2), and a lifting movable rod (152-3). The hydraulic motor (152-1) is arranged at the top end of the lifting fixed rod (152-2). The top end of the lifting movable rod (152-3) is nested inside the lifting fixed rod (152-2), and the bottom end of the lifting movable rod (152-3) is fixedly connected to the top end of the support frame (153).
6. The unmanned transport forklift system according to claim 1, characterized in that: The unmanned transport forklift (1) further includes a counterweight (17), and the counterweight (17) is arranged on the forklift body (11).