Unmanned forklift

Abstract

The utility model provides an unmanned forklift and belongs to the technical field of logistics, the unmanned forklift is used for forking trays and comprises a chassis and a telescopic fork, the telescopic fork comprises a door frame and a pallet fork, the door frame is installed on the chassis, the pallet fork is arranged on the door frame, a notch is formed in the chassis, the pallet fork is configured to move in the notch in the goods taking and placing direction, and the telescopic fork is arranged on the chassis. Mecanum wheels are arranged on the chassis.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to an unmanned forklift. Background Art

[0002] At present, the traditional ground handling tools are jack-up AGVs and unmanned forklifts. The jack-up AGV can enter under the shelf, lift the goods by jacking, and complete the handling of the goods. For the goods carried on pallets, there is currently no suitable ground autonomous vehicle for handling. Unmanned forklifts are often used in the prior art to transport goods carried on pallets. Common unmanned forklifts have a fork that can fork the goods at the front end and a corresponding counterweight facility at the rear end, which results in a very large turning radius. A relatively wide aisle needs to be reserved for such unmanned forklifts, which wastes a lot of space and reduces the storage density. Utility Model Content

[0003] The purpose of the present application is to provide an unmanned forklift to solve the technical problem in the prior art that the handling and storage density of pallets cannot be taken into account at the same time.

[0004] The present application provides an unmanned forklift for picking up pallets, comprising a chassis and a telescopic fork, wherein the telescopic fork comprises a gantry and a fork, wherein the gantry is mounted on the chassis, and the fork is arranged on the gantry, a slot is provided on the chassis, and the fork is configured to be movable in the slot in a direction of picking up and placing goods, and a Mecanum wheel is provided on the chassis.

[0005] In one embodiment, the chassis is provided with four Mecanum wheels; or, the chassis is provided with two Mecanum wheels and two universal wheels.

[0006] In one embodiment, the fork is configured to move up and down along the door frame, and the door frame is configured to move in the slot along the direction of picking up and placing goods;

[0007] The slot has a bottom plate, and the bottom plate at the opening end of the slot is shaped as a ramp, and the ramp is inclined downward toward the opening end;

[0008] A guide wheel and a load-bearing wheel are provided at the lower end of the gantry, the guide wheel comprising a first guide wheel, the first guide wheel and the load-bearing wheel being mounted on the same mounting component, and being configured such that when the first guide wheel moves uphill on the ramp, the load-bearing wheel is gradually lifted off the ground, and when the first guide wheel moves downhill on the ramp, the load-bearing wheel is gradually moved downward to contact the ground; the guide wheel also comprises a second guide wheel, the second guide wheel being on the bottom plate of the slot to serve as a moving support guide for the gantry; the guide wheel comprises a third guide wheel, the third guide wheel being on the side wall of the slot to serve as a moving guide for the gantry.

[0009] In one embodiment, a driving mechanism for driving the gantry to move horizontally in the notch is installed on the gantry. The driving mechanism includes a motor, a transmission component, and a gear. A rack meshing with the gear is arranged on the chassis of the driverless forklift. The motor drives the gear to rotate through the transmission component, and the gear meshes with the rack, thereby driving the gantry to move horizontally in the notch.

[0010] In one embodiment, the transmission component includes a reducer, a universal joint, a transmission shaft, a gear shaft, and a bearing seat. The reducer is installed on the gantry, the motor shaft of the motor is connected to the reducer, and the reducer drives the gear to rotate through the universal joint and the transmission shaft. The gear shaft is sleeved in the bearing seat, and the bearing seat is installed on the gantry.

[0011] In one embodiment, a driving sprocket and a driven sprocket are arranged on the gantry. The driving sprocket and the driven sprocket are respectively arranged at two ends of the gantry in the up-and-down direction. A chain bypasses the driving sprocket and the driven sprocket, and the chain drives the fork to move up and down. The gantry also includes a sprocket driving motor for driving the driving sprocket to rotate.

[0012] In one embodiment, a telescopic assembly is arranged on the gantry, and the fork extends and retracts along the goods picking and placing direction under the action of the telescopic assembly;

[0013] The telescopic assembly is arranged between the gantry and the fork. When the telescopic assembly controls the fork to extend and retract, the relative position between the gantry and the chassis remains unchanged; or,

[0014] An installation rack is further arranged on the chassis, the telescopic assembly is arranged between the installation rack and the gantry, and the fork is arranged on the gantry. When the telescopic assembly extends or retracts, it drives the gantry and the fork to move together.

[0015] In one embodiment, the telescopic assembly includes a telescopic arm, which is composed of multiple groups of cross-set support rods. The cross joints of each group of support rods are movably connected, and the ends of adjacent two groups of support rods are movably connected. A hydraulic push rod is arranged on the telescopic arm to control the telescopic state of the telescopic arm.

[0016] In one embodiment, a hydraulic push rod is arranged on the gantry. When the hydraulic push rod is filled with oil, it pushes the fork to rise.

[0017] The driverless forklift provided by this application has a telescopic fork that includes a mast and forks. The forks are installed on the mast, and the overall telescopic movement of the mast is used to pick up and place the goods on the pallet. This reduces the counterweight compared to traditional driverless forklifts and decreases the chassis area. The driverless forklift provided by this application is suitable for handling work in narrow aisles, which is beneficial to increasing the storage density of pallet goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic bottom view structure diagram of the pallet handling trolley in one embodiment of this example.

[0020] Figure 2 It is a schematic right view structure diagram of the pallet handling trolley in one embodiment of this example.

[0021] Figure 3 It is a schematic bottom view structure diagram of the pallet handling trolley in another embodiment of this example.

[0022] Figure 4 It is a schematic front view structure diagram of the pallet handling trolley in another embodiment of this example.

[0023] Figure 5 It is a schematic structure diagram of the telescopic fork of the pallet handling trolley in one embodiment of this example when it is extended.

[0024] Figure 6 It is a schematic three-dimensional structure diagram of one embodiment of this example.

[0025] Figure 7 It is a schematic three-dimensional structure diagram of another embodiment of this example.

[0026] Reference numerals: 1, chassis; 11, notch; 12, inclined platform; 23, first load-bearing wheel; 231, second drive motor; 24, telescopic fork electric control box; 25, first guide wheel;

[0027] 2501, second guide wheel; 2502, third guide wheel; 101, rack; 102, camera device; 201, mast; 202, forks; 2011, sprocket drive motor; 2012, chain; 2013, fork drag chain; 2014, mast drive motor; 2016, transmission component;

[0028] 3, Mecanum wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The technical solution of the present application will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0030] For ease of understanding of this embodiment, it will be described below in conjunction with the accompanying drawings.

[0031] An unmanned forklift for picking up pallets includes a chassis 1 and a telescopic fork. The telescopic fork includes a mast 201 and a fork 202. The mast 201 is installed on the chassis 1, and the fork 202 is arranged on the mast 201. The fork 202 is configured to move up and down along the mast 201. A notch 11 is formed on the chassis, and the fork 202 is configured to move along the loading and unloading direction within the notch 11. McNamara wheels are provided on the chassis 1.

[0032] Four McNamara wheels 31 are provided on the chassis, respectively located at the four corners of the chassis; alternatively, two McNamara wheels 31 and two universal wheels are provided on the chassis. The McNamara wheels 31 drive the chassis to travel in any direction.

[0033] In one of the embodiments, the fork is configured to move up and down along the mast 201, and the mast 201 is configured to move along the loading and unloading direction within the notch 11; specifically, as Figures 1-6 described, the telescopic fork is configured to horizontally telescopically move between the inside of the notch 11 and the outside of the chassis 1. The overall contour of the pallet handling cart in this embodiment is rectangular, and the telescopic fork telescopically moves along the loading and unloading direction as a whole. When the pallet handling cart in this embodiment travels in a narrow aisle, the width of the chassis 1 contour corresponds to the width of the aisle and travels, and at this time, the width of the chassis 1 contour is substantially parallel to the width of the aisle. The telescopic fork extends to pick up and place pallet goods on one side of the traveling direction of the chassis 1. Therefore, the pallet handling cart in this embodiment is suitable for handling high storage density goods in narrow aisles.

[0034] As Figures 1-6 shown, the traveling mechanism includes a chassis 1 traveling mechanism and a telescopic fork traveling mechanism; the chassis 1 traveling mechanism includes four McNamara wheels 31, respectively located at the four corners of the chassis; alternatively, it includes two McNamara wheels 31 and two universal wheels. The pallet handling cart in this embodiment further includes a camera device 102, which is installed at the exact center of the cart chassis and is used for the pallet handling cart for two-dimensional code navigation to scan the two-dimensional code on the ground.

[0035] The notch 11 has a bottom plate, and the bottom plate at the open end of the notch 11 is in the shape of an inclined table 12, and the inclined table 12 slopes downward toward the open end;

[0036] A guide wheel and a first load-bearing wheel 23 are provided at the lower end of the gantry 201. The guide wheel includes a first guide wheel 25, and the first guide wheel 25 supports and travels on the inclined table 12. The first guide wheel 25 and the first load-bearing wheel 23 are installed on the same installation component and are configured such that when the first guide wheel 25 travels uphill on the inclined table 12, the first load-bearing wheel 23 gradually lifts off the ground, and when the first guide wheel 25 travels downhill on the inclined table 12, the first load-bearing wheel 23 gradually moves downward until it contacts the ground.

[0037] As Figure 5 shown, the telescopic fork traveling mechanism includes a load-bearing wheel and a guide wheel. The load-bearing wheel is used to contact the ground when the telescopic fork extends to the bottom of the pallet. The guide wheel includes a first guide wheel 25, and the first guide wheel 25 is used to travel uphill and lift the load-bearing wheel when the telescopic fork retracts into the notch 11 of the chassis 1. The guide wheel does not contact the ground. The bottom plate of the open end of the notch 11 is in the shape of an inclined table 12, and the inclined table 12 slopes downward in the direction of the open end. The guide wheel travels on the inclined table 12 or on the bottom plate of the notch 11 or is suspended.

[0038] As Figure 6 shown, a driving mechanism for driving the gantry to move horizontally in the notch 11 is installed on the gantry 201. The driving mechanism includes a gantry driving motor 2014, a transmission component 2016, and a gear 2015. A rack 101 meshing with the gear 2015 is provided on the chassis of the driverless forklift. The gantry driving motor drives the gear 2015 to rotate through the transmission component 2016, and the gear 2015 meshes with the rack 101, thereby driving the gantry 201 to move horizontally in the notch 11.

[0039] The telescopic fork comprises a mast 201 and a fork 202. The mast 201 is arranged on the chassis 1 and is configured to be movable in the horizontal direction in the slot 11. The fork 202 is arranged on the mast 201 and is configured to be movable up and down along the mast 201. The mast 201 is in an "L" shape and comprises a horizontal frame and a vertical frame. The telescopic fork walking mechanism is arranged at the lower end of the horizontal frame of the "L"-shaped gantry 201, and the telescopic fork walking mechanism is used to drive the gantry 201 to move. The horizontal frame of the "L"-shaped gantry 201 extends to the ground and the "川"-shaped gap between the pallet next to the ground. When the transport cart needs to transport the pallet next to the ground or the pallet and the goods, the fork 202 first drops to the lowest end, and the fork 202 and the horizontal frame of the "L"-shaped gantry 201 penetrate into the "川"-shaped gap between the pallet next to the ground, and the fork 202 moves upward to lift the pallet, so that the pallet or the pallet and the goods leave the ground, and then the gantry 201 carries the fork 202 to retract to the chassis 1 to complete the picking. After the picking is completed, the fork 202 can be lowered into the slot 11 to carry the pallet or the pallet and the goods on the chassis 1, or the fork 202 can lift the pallet or the trailer and the goods to move. When the transport trolley needs to transport goods on the shelf, the fork 202 first rises to the height corresponding to the "川"-shaped gap of the pallet to be transported, and the "L"-shaped gantry 201 then drives the fork 202 to extend together, wherein the horizontal frame of the "L"-shaped gantry 201 extends to the "川"-shaped gap between the ground and the "川"-shaped pallet adjacent to the ground, and the fork 202 extends to the "川"-shaped gap of the pallet to be transported, and the fork 202 moves upward on the vertical frame of the "L"-shaped gantry 201, thereby lifting the pallet or the pallet and goods to be transported, and then the gantry 201 carries the fork 202 and retracts to the chassis 1 to complete the picking. After the picking is completed, the fork 202 can be lowered into the slot 11 to carry the pallet or the pallet and the goods on the chassis 1, or the fork 202 can lift the pallet or the trailer and the goods to move. Figure 6 A schematic diagram of the structure of the gantry drive transmission device is shown, the gantry also includes a gantry drive motor 2014, the gantry drive motor 2014 is installed at the bottom of the vertical frame, the gantry drive motor 2014 drives the gear 2015 to rotate through the transmission component 2016, the gear 2015 is installed at the bottom of the vertical frame, a rack 101 is provided on the chassis along the extension direction of the telescopic fork, the rack 101 on the chassis is engaged with the gear 2015 on the gantry, thereby completing the extension and retraction of the telescopic fork. The unmanned forklift also includes a telescopic fork electric control box 24, and the telescopic fork electric control box 24 is installed on the gantry.

[0040] The first guide wheel 25 and the first load-bearing wheel 23 are installed on the same mounting component and are configured such that when the first guide wheel 25 travels uphill on the inclined platform 12, the first load-bearing wheel 23 gradually lifts off the ground, and when the first guide wheel 25 travels downhill on the inclined platform 12, the first load-bearing wheel 23 gradually moves downward to contact the ground.

[0041] As Figure 5 shown, in this embodiment, there are two first guide wheels 25, and there is one inclined platform 12 below each corresponding first guide wheel 25. The inclined surfaces of the two inclined platforms 12 are parallel. When the two first guide wheels 25 travel uphill on the inclined platform 12 at the same time, the first load-bearing wheel 23 gradually lifts off the ground, and when the two first guide wheels 25 travel downhill on the inclined platform 12 at the same time, the first load-bearing wheel 23 gradually moves downward to contact the ground. The fork 202 moves up and down along the mast 201 and is driven by a sprocket chain 2012 structure or a lead screw nut structure. As Figure 6 shown in the pallet handling truck, the fork 202 moves up and down along the mast 201 and is driven by a sprocket chain 2012 structure. Its specific detailed structure diagram is not shown in the figure and includes a driving sprocket and a driven sprocket. The sprocket drive motor 2011 is used to drive the driving sprocket to rotate. The chain 2012 bypasses the driving sprocket and the driven sprocket. The chain 2012 is connected to the fork 202 through the fork 202 mounting plate. The rotation of the sprocket chain 2012 drives the fork 202 to move up and down. Guide wheels are provided on the fork 202 mounting plate, and the guide wheels slide on the vertical frame of the mast 201. In addition to the sprocket chain 2012 structure, a lead screw nut structure can also be selected. The driverless forklift also includes a lead screw nut structure. The lead screw is parallel to the vertical frame of the mast. The fork 202 is fixedly connected to the nut. By driving the lead screw to rotate, the fork 202 is driven to move up and down along the mast. Specifically, the lead screw is parallel to the vertical frame of the mast 201, the fork 202 is fixedly connected to the nut, and by driving the lead screw to rotate, the fork 202 is enabled to move up and down along the vertical frame of the mast 201.

[0042] In one of the embodiments, a driverless forklift provided by the present application includes a chassis 1 and a mast 201 provided on the chassis 1. A fork 202 for picking up goods is provided on the mast 201. A telescopic assembly is provided on the mast 201. The fork 202 expands and contracts along the goods picking and placing direction under the action of the telescopic assembly. A control module, a power supply assembly, and a driving assembly are provided inside the chassis 1. The control assembly receives a goods picking instruction and realizes goods picking and placing by controlling the operation of the driving assembly.

[0043] During the process of picking up goods, the telescopic component extends, pushing the forklift 202 to extend forward for picking up goods. After picking up the goods, the telescopic component retracts, driving the forklift 202 to retreat. The goods are placed on the chassis 1. Since the size of the goods does not exceed the width of the roadway, it ensures that the handling robot drives out along the roadway. The telescopic component includes a telescopic arm, which is composed of multiple groups of cross-set support rods. The cross-section of each group of support rods is movably connected, and the ends of adjacent two groups of support rods are movably connected. A hydraulic push rod is arranged on the telescopic arm to control the telescopic state of the telescopic arm.

[0044] The telescopic component is arranged between the gantry 201 and the forklift 202. When the telescopic component extends, it directly acts on the forklift 202, causing the forklift 202 to extend forward. At this time, since the gantry 201 does not move and there are no drag chains and pulleys arranged between the forklift 201 and the chassis 1, it avoids jamming during the extension process.

[0045] In another embodiment, an installation frame is further arranged on the chassis 1. The telescopic component is arranged between the installation frame and the gantry 201. The forklift 202 is arranged on the gantry 201. When the telescopic component extends or retracts, it drives the gantry 201 and the forklift 202 to move together, taking and placing goods by extending and retracting forward and backward.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned forklift, characterized in that: Used for forking pallets, comprising a chassis and a telescopic fork, wherein the telescopic fork comprises a gantry and a fork, wherein the gantry is mounted on the chassis, and the fork is arranged on the gantry, and a notch is provided on the chassis, wherein the fork is configured to be movable in the notch along a direction of picking up and placing goods, and wherein a Mecanum wheel is provided on the chassis; The slot has a bottom plate, and the bottom plate at the opening end of the slot is shaped as a ramp, and the ramp is inclined downward toward the opening end; A guide wheel and a load-bearing wheel are provided at the lower end of the portal frame, wherein the guide wheel comprises a first guide wheel, and the first guide wheel and the load-bearing wheel are mounted on the same mounting component and are configured such that when the first guide wheel moves uphill on the ramp, the load-bearing wheel is gradually lifted off the ground, and when the first guide wheel moves downhill on the ramp, the load-bearing wheel gradually moves downward to touch the ground.

2. The unmanned forklift according to claim 1, characterized in that: The chassis is provided with four Mecanum wheels; or, The chassis is provided with two Mecanum wheels and two universal wheels.

3. The unmanned forklift according to claim 2, characterized in that: The fork is configured to move up and down along the door frame, and the door frame is configured to move in the slot along the direction of picking up and placing goods; The guide wheel also includes a second guide wheel, which is on the bottom plate of the slot to support and guide the movement of the gantry; the guide wheel includes a third guide wheel, which is on the side wall of the slot to guide the movement of the gantry.

4. The unmanned forklift according to claim 3, characterized in that: A driving mechanism for driving the gantry to move in the horizontal direction within the slot is installed on the gantry, and the driving mechanism includes a motor, a transmission component and a gear. A rack meshing with the gear is provided on the chassis of the unmanned forklift. The motor drives the gear to rotate through the transmission component, and the gear meshes with the rack, thereby driving the gantry to move in the horizontal direction within the slot.

5. The unmanned forklift according to claim 4, characterized in that: The transmission components include a reducer, a universal joint, a transmission shaft, a gear shaft, and a bearing seat. The reducer is installed on the portal frame, and the motor shaft of the motor is connected to the reducer. The reducer is connected to the gear shaft through the universal joint and the transmission shaft, thereby driving the gear to rotate. The gear shaft is sleeved in the bearing seat, and the bearing seat is installed on the portal frame.

6. The unmanned forklift according to claim 3, characterized in that: The gantry is provided with a driving sprocket and a driven sprocket, and the driving sprocket and the driven sprocket are respectively arranged at two ends of the gantry in the up and down directions. A chain passes around the driving sprocket and the driven sprocket, and the chain drives the fork to move up and down. The gantry also includes a sprocket drive motor for driving the driving sprocket to rotate.

7. The unmanned forklift according to claim 2, characterized in that: The gantry is provided with a telescopic assembly, and the fork is telescopically extended along the direction of picking up and placing goods under the action of the telescopic assembly; The telescopic assembly is disposed between the mast and the fork, and when the telescopic assembly controls the fork to be telescoped, the relative position of the mast and the chassis remains unchanged; or, The chassis is also provided with a mounting frame, the telescopic assembly is arranged between the mounting frame and the door frame, and the fork is arranged on the door frame. When the telescopic assembly is extended or retracted, the door frame and the fork are driven to move together.

8. The unmanned forklift according to claim 7, characterized in that: The telescopic assembly comprises a telescopic arm, which is composed of a plurality of groups of cross-arranged support rods, each group of support rods being movably connected at their intersections, and the ends of two adjacent groups of support rods being movably connected. The telescopic arm is provided with a hydraulic push rod (6) for controlling the telescopic state of the telescopic arm.

9. The unmanned forklift according to claim 7, characterized in that: The gantry is provided with a hydraulic push rod, which pushes the fork to rise when oil is supplied to the hydraulic push rod.

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