Unmanned forklift for high-position goods shelf

Abstract

The utility model relates to the field of unmanned forklifts, and discloses an unmanned forklift for a high-position goods shelf, which comprises an intelligent moving base and a primary motor fixed on the intelligent moving base, and further comprises a supporting vertical frame rotationally mounted on the intelligent moving base, and the supporting vertical frame is mutually connected with the output end of the primary motor. A threaded rod is rotationally installed in the supporting vertical frame, the threaded rod is sleeved with an inner threaded seat in a threaded mode, a sliding rail is fixedly installed on the supporting vertical frame, a sliding seat is slidably connected to the sliding rail, and the sliding seat is fixedly connected with the inner threaded seat. The sliding seat is provided with an inserting rod assembly capable of forking goods in a direction-variable mode. A supporting assembly for reinforcing the rotating position of the supporting vertical frame is arranged on the intelligent moving base; according to the unmanned forklift, the supporting vertical frame can be rotated, the overall gravity center of the unmanned forklift is adjusted, and the situation that when the unmanned forklift forks goods on a high-position goods shelf, the gravity center is not stable, and rollover occurs is avoided.

Description

Technical Field

[0001] The utility model relates to the field of unmanned forklifts, and particularly to an unmanned forklift for high-level shelves. Background Technique

[0002] Unmanned forklifts achieve autonomous navigation and intelligent control through technologies such as lidar, cameras, sensors, and control algorithms. They can complete cargo handling tasks without manual intervention, operate continuously, significantly improve production efficiency, reduce labor costs, and achieve multi-vehicle scheduling and path planning through a central control and dispatching system.

[0003] Chinese Patent CN220334689U discloses an unmanned forklift applicable to high-level shelves, which relates to the field of unmanned forklifts and includes a mechanism box. The outer surface of the mechanism box is equipped with an AGV unmanned forklift body. A parking mechanism is arranged outside the mechanism box, and the parking mechanism includes a fixed seat. An adjusting mechanism is arranged inside the mechanism box, and the adjusting mechanism includes a moving frame and two fork plates. Rack teeth are fixedly connected to the outer surfaces of the two fork plates, and two motors are fixedly connected to the outer surface of the mechanism box.

[0004] Through the setting of the adjusting mechanism, the above patent controls the protruding length of the fork plates, which is convenient for turning and U-turning in narrow areas of the forklift, improving the flexibility of the forklift. However, for an unmanned forklift for picking up goods on high-level shelves, the insertion rods need to move to a high position to obtain goods. If the goods are heavy, the center of gravity of the forklift is prone to imbalance and roll over after picking up the goods, which is not conducive to the safe and stable operation of the forklift. In addition, the sizes of the cargo boxes vary, and the distance between the two sets of insertion rods affects the size of the goods that the forklift can pick up. Some existing insertion rods on unmanned forklifts cannot be adjusted, which is not conducive to stably picking up cargo boxes of various sizes. Content of the Utility Model

[0005] Aiming at the above problems, an unmanned forklift for high-level shelves is provided. By means of a rotating support stand and cooperating with a support assembly to reinforce the rotating position of the support stand, the center of gravity of the goods picked up by the unmanned forklift can be adjusted, solving the problem that when the goods are heavy, the center of gravity of the forklift is prone to imbalance and roll over after picking up the goods, which is not conducive to the safe and stable operation of the forklift.

[0006] To solve the problems of the prior art, the utility model provides an unmanned forklift for high-level shelves, which includes an intelligent mobile base and a first-stage motor fixed on the intelligent mobile base. The unmanned forklift further includes a support stand rotatably installed on the intelligent mobile base. The support stand is connected to the output end of the first-stage motor. A threaded rod is rotatably installed in the support stand, and an internally threaded seat is threadedly sleeved on the threaded rod. A slide rail is fixedly installed on the support stand, and a slide seat is slidably connected to the slide rail. The slide seat is fixedly connected to the internally threaded seat; a rod assembly for variably picking up goods is provided on the slide seat; and a support assembly for reinforcing the rotating position of the support stand is provided on the intelligent mobile base.

[0007] Preferably, the support assembly includes a driven bracket rotatably mounted on the intelligent mobile base. A lateral support rod is fixedly connected to the driven bracket. A driving bracket is rotatably connected to the support vertical frame. The driving bracket is rotatably connected to the lateral support rod.

[0008] Preferably, two driven brackets are symmetrically arranged with respect to the threaded rod. A cross bar is fixedly connected between the two driven brackets. A roller is sleeved on the cross bar.

[0009] Preferably, a sliding groove is formed on one side of the driven bracket close to the ground. A support rod is rotatably connected to the intelligent mobile base. A slider is fixedly installed on the support rod. The slider is slidably connected to the sliding groove.

[0010] Preferably, the inserting rod assembly includes a fixed seat fixed on the sliding seat. Two fixed seats are symmetrically arranged with respect to the threaded rod. A rotating seat is rotatably mounted on the fixed seat. A high-position inserting rod is rotatably connected to the rotating seat. The rotation axes of the rotating seat and the high-position inserting rod are perpendicular to each other. A secondary motor is fixedly installed on the sliding seat. The output end of the secondary motor is connected to the rotating seat.

[0011] Preferably, a steering mechanism for controlling the synchronous rotation of the two high-position inserting rods is provided on the rotating seat.

[0012] Preferably, the steering mechanism includes a connecting frame fixed between the two rotating seats. A cylinder is fixedly installed on the connecting frame along the central axis direction. A positioning block is fixed at the output end of the cylinder. A push rod is rotatably connected to the positioning block. A fixed block is fixed at the bottom of the high-position inserting rod. The fixed block is rotatably connected to the push rod.

[0013] The beneficial effects of the present utility model compared with the prior art are as follows:

[0014] 1. The present utility model can control the rotation of the support vertical frame according to the height of picking up goods, operate the first-level motor to adjust the angle of the support vertical frame on the intelligent mobile base, thereby adjusting the center of gravity of the driverless forklift, making the center of gravity of the driverless forklift shift backward, and keeping the overall center of gravity stable after the inserting rod assembly on the front side of the support vertical frame picks up goods, avoiding the side roll of the forklift during movement.

[0015] 2. The present utility model strengthens the rotating position of the support vertical frame through the support assembly. After the support vertical frame rotates, the driving bracket, the driven bracket and the support rod rotate and unfold accordingly, forming an effective support for the inclined support vertical frame, maintaining the stability of the rotating position of the support vertical frame, and also improving the bearing capacity of the support vertical frame.

[0016] 3. The utility model is provided with a rotating high-position inserting rod and a rotating seat. After the supporting vertical frame rotates, the rotating direction of the rotating seat is adjusted to keep the high-position inserting rod in a horizontal state so as to fork the cargo box. Moreover, according to the size of the cargo box, two groups of high-position inserting rods can be rotated so that the high-position inserting rods are obliquely connected in front of the rotating seat, expanding the supporting range of the inserting rods, thereby enabling the inserting rods to stably fork cargo boxes of various sizes. Description of the Drawings

[0017] Figure 1 is a three-dimensional structural schematic diagram of a supporting vertical frame of an unmanned forklift for high-level shelves.

[0018] Figure 2 is a three-dimensional structural schematic diagram of an intelligent moving base of an unmanned forklift for high-level shelves.

[0019] Figure 3 is a three-dimensional structural schematic diagram of a sliding seat of an unmanned forklift for high-level shelves.

[0020] Figure 4 is a three-dimensional structural schematic diagram of a high-position inserting rod of an unmanned forklift for high-level shelves.

[0021] Figure 5 is a three-dimensional structural schematic diagram of a driving bracket of an unmanned forklift for high-level shelves.

[0022] Figure 6 is a three-dimensional structural schematic diagram of a driven bracket of an unmanned forklift for high-level shelves.

[0023] Figure 7 is a three-dimensional structural schematic diagram of a supporting rod of an unmanned forklift for high-level shelves.

[0024] Figure 8 is a three-dimensional structural schematic diagram of a push rod of an unmanned forklift for high-level shelves.

[0025] The reference numerals in the figure are:

[0026] 11. Intelligent moving base; 12. First-stage motor; 21. Supporting vertical frame; 22. Threaded rod; 23. Internal thread seat; 24. Slide rail; 25. Slide seat; 26. Inserting rod assembly; 261. Fixed seat; 262. Rotating seat; 263. High-position inserting rod; 264. Second-stage motor; 3. Supporting assembly; 31. Driving bracket; 32. Driven bracket; 33. Lateral support rod; 34. Cross bar; 35. Roller; 36. Chute; 37. Supporting rod; 38. Slide block; 4. Direction-changing mechanism; 41. Connecting frame; 42. Cylinder; 43. Positioning block; 44. Push rod; 45. Fixed block. Detailed Implementation Manner

[0027] To further understand the features, technical means, specific purposes, and functions achieved by the present utility model, the following further describes the present utility model in detail in conjunction with the accompanying drawings and specific embodiments.

[0028] See Figures 1-6 As shown, an unmanned forklift for high - level shelves includes an intelligent mobile base 11 and a first - stage motor 12 fixed on the intelligent mobile base 11. The unmanned forklift further includes a support upright 21 rotatably installed on the intelligent mobile base 11. The support upright 21 is connected to the output end of the first - stage motor 12. A threaded rod 22 is rotatably installed in the support upright 21, and an internally threaded seat 23 is threadedly sleeved on the threaded rod 22. A slide rail 24 is fixedly installed on the support upright 21, and a slide seat 25 is slidably connected to the slide rail 24. The slide seat 25 is fixedly connected to the internally threaded seat 23; an insertion rod assembly 26 for variably - directionally picking up goods is provided on the slide seat 25; a support assembly 3 for strengthening the rotation position of the support upright 21 is provided on the intelligent mobile base 11.

[0029] When the intelligent mobile base 11 moves to the front side of the high - level shelf, first keep the support upright 21 in a vertical state. Run the motor at the top of the support upright 21 to control the rotation of the threaded rod 22. The threaded rod 22 controls the upward movement of the internally threaded seat 23 through screw drive. The internally threaded seat 23 drives the slide seat 25 to move upward along the slide rail 24. The slide seat 25 drives the insertion rod assembly 26 to move upward to a higher position, and pick up the goods at a high position on the high - level shelf through the insertion rod assembly 26. When the intelligent mobile base 11 drives the insertion rod assembly 26 and the picked - up goods to move backward away from the high - level shelf, run the first - stage motor 12 to control the rotation of the support upright 21 and adjust the angle of the support upright 21, so that the center of gravity of the unmanned forklift moves backward, avoiding the phenomenon of the unmanned forklift tipping over due to the weight of the cargo box on the insertion rod assembly 26.

[0030] While the support upright 21 rotates, the support assembly 3 on the intelligent mobile base 11 adjusts automatically. The support assembly 3 supports behind the support upright 21 to maintain the stability of the support upright 21 after rotation on the intelligent mobile base 11.

[0031] See Figures 5-7 As shown, the support assembly 3 includes a driven bracket 32 rotatably installed on the intelligent mobile base 11. A lateral support rod 33 is fixedly connected to the driven bracket 32. A driving bracket 31 is rotatably connected to the support upright 21. The driving bracket 31 is rotatably connected to the lateral support rod 33.

[0032] The rotation of the support upright 21 drives the rotation of the driving bracket 31. The driving bracket 31 rotates relative to the lateral support rod 33, and controls the rotation of the driven bracket 32 connected to the intelligent mobile base 11 through the lateral support rod 33, so that the driven bracket 32 rotates downward to support on the ground, maintaining the stability of the support upright 21 erected on the intelligent mobile base 11 at this time.

[0033] See Figures 5-7 As shown, there are two driven brackets 32 symmetrically arranged with respect to the threaded rod 22. A cross bar 34 is fixedly connected between the two driven brackets 32, and a roller 35 is sleeved on the cross bar 34.

[0034] When the driven bracket 32 rotates downward, it drives the cross bar 34 and the roller 35 to rotate downward synchronously, controlling the roller 35 to fit on the ground. The surface of the roller 35 is rough, and its contact with the ground increases the friction force, further maintaining the rotational stability of the support upright 21.

[0035] See Figures 5-7 As shown, a chute 36 is provided on one side of the driven bracket 32 close to the ground. A support rod 37 is rotatably connected to the intelligent mobile base 11, and a slider 38 is fixedly installed on the support rod 37. The slider 38 is slidably connected to the chute 36.

[0036] When the driven bracket 32 rotates, the support rod 37 rotates correspondingly on the intelligent mobile base 11. One end of the support rod 37 pushes the slider 38 to engage and slide in the chute 36. The support rod 37 reinforces the support on the side of the driven bracket 32, improving the support strength of the driven bracket 32 and the active bracket 31.

[0037] See Figures 1-4 and Figure 8 As shown, the inserting rod assembly 26 includes a fixed seat 261 fixed on the sliding seat 25. There are two fixed seats 261 symmetrically arranged with respect to the threaded rod 22. A rotating seat 262 is rotatably installed on the fixed seat 261, and a high-position inserting rod 263 is rotatably connected to the rotating seat 262; the rotation axes of the rotating seat 262 and the high-position inserting rod 263 are perpendicular to each other; a secondary motor 264 is fixedly installed on the sliding seat 25, and the output end of the secondary motor 264 is connected to the rotating seat 262.

[0038] Operate the secondary motor 264 to control the rotation of the rotating seat 262. The secondary motor 264 drives the rotation of the rotating seat 262 to adjust the angle of the high-position inserting rod 263. When the sliding seat 25 follows the support upright 21 and rotates and tilts, the rotating seat 262 rotates correspondingly beside the sliding seat 25 to keep the high-position inserting rod 263 in a horizontal state, so that the high-position inserting rod 263 can fork the cargo box on the high-position shelf.

[0039] After the high-position inserting rod 263 forks the goods and separates from the high-position shelf, control the high-position inserting rod 263 to rotate to be perpendicular to the sliding seat 25. At this time, the cargo box moves toward the direction close to the sliding seat 25 under the action of gravity, and the cargo box remains stable when moving downward along the support upright 21 on the high-position inserting rod 263.

[0040] See Figure 4 and Figure 8As shown, a direction-changing mechanism 4 for controlling the synchronous rotation of two high-position inserting rods 263 is provided on the rotating seat 262.

[0041] According to the size of the cargo box, the high-position inserting rods 263 are controlled to rotate by the direction-changing mechanism 4, and the range for the high-position inserting rods 263 to pick up goods is adjusted, so that the driverless forklift can stably pick up cargo boxes of various sizes.

[0042] See Figure 4 and Figure 8 As shown, the direction-changing mechanism 4 includes a connecting frame 41 fixed between two rotating seats 262. A cylinder 42 is fixedly installed on the connecting frame 41 along the central axis direction; a positioning block 43 is fixed at the output end of the cylinder 42. A push rod 44 is rotatably connected to the positioning block 43. A fixed block 45 is fixed at the bottom of the high-position inserting rod 263, and the fixed block 45 is rotatably connected to the push rod 44.

[0043] Operate the cylinder 42 to control the directional movement of the positioning block 43. The two ends of the push rod 44 connected between the positioning block 43 and the fixed block 45 rotate. The rotating push rod 44 pushes the high-position inserting rod 263 to rotate beside the rotating seat 262, and the angle between the high-position inserting rod 263 and the rotating seat 262 is adjusted.

[0044] Working principle: The intelligent mobile base 11 moves to the side of the high-position shelf. Operate the motor to control the rotation of the threaded rod 22. Under the threaded transmission of the threaded rod 22 and the internal thread seat 23, control the slide seat 25 to engage and move upward on the slide rail 24. The slide seat 25 drives the inserting rod assembly 26 to move upward synchronously. Operate the first-level motor 12 to control the rotation of the support vertical frame 21, so that the support vertical frame 21 rotates and is obliquely erected on the intelligent mobile base 11. While the support vertical frame 21 rotates, it drives the active support 31 to rotate. The active support 31 pushes the driven support 32 to rotate and be connected to the intelligent mobile base 11 through the lateral support rod 33. The driven support 32 rotates downward to control the roller 35 to rotate and fit on the ground. The support rod 37 beside the driven support 32 rotates correspondingly. The support rod 37 pushes the slider 38 to engage and slide in the chute 36. The support rod 37 strengthens the rotation position of the driven support 32. Under the supporting action of the active support 31 and the driven support 32, the support vertical frame 21 is stably erected on the intelligent mobile base 11.

[0045] Then operate the second-level motor 264 to control the rotation of the rotating seat 262, and keep the rotating seat 262 and the high-position inserting rod 263 in a horizontal state. Through the movement of the intelligent mobile base 11, the high-position inserting rod 263 is inserted into the bottom of the cargo box on the high-position shelf. The high-position inserting rod 263 is driven by the slide seat 25 to move upward to pick up the cargo box. Move the intelligent mobile base 11 in the reverse direction to control the high-position inserting rod 263 to move away from the high-position shelf. After the cargo box is separated from the shelf, control the rotating seat 262 to rotate to be perpendicular to the slide seat 25. The cargo box moves toward the slide seat 25 under the action of gravity, so that the driverless forklift can stably pick up the cargo box.

[0046] Reverse-control the rotation of the threaded rod 22 to control the downward movement of the sliding seat 25, the high-position insertion rod 263, etc. along the direction of the inclined support stand 21, move the cargo box to the lower position of the support stand 21, and then control the support stand 21 to rotate to the vertical state. The active support 31 and the driven support 32 rotate correspondingly, and the driven support 32 drives the roller 35 to rotate away from the ground so that the intelligent mobile base 11 can move on the ground for delivering goods.

[0047] The above embodiments only represent one or several implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the appended claims.

Claims

1. An unmanned forklift for high-level shelves, comprising an intelligent mobile base (11) and a first-stage motor (12) fixed on the intelligent mobile base (11), characterized in that: The driverless forklift also includes a support stand (21) rotatably mounted on the intelligent mobile base (11). The support stand (21) is connected to the output end of the first-stage motor (12). A threaded rod (22) is rotatably mounted in the support stand (21). An internally threaded seat (23) is threadedly sleeved on the threaded rod (22). A slide rail (24) is fixedly mounted on the support stand (21). A slide block (25) is slidably connected to the slide rail (24). The slide block (25) is fixedly connected to the internally threaded seat (23). An inserting rod assembly (26) for variably deflecting and picking up goods is provided on the slide block (25). A support assembly (3) for strengthening the rotation position of the support stand (21) is provided on the intelligent mobile base (11).

2. The driverless forklift for high-level shelves according to claim 1, wherein: The support assembly (3) includes a driven bracket (32) rotatably mounted on the intelligent mobile base (11). A lateral support rod (33) is fixedly connected to the driven bracket (32). A driving bracket (31) is rotatably connected to the support stand (21). The driving bracket (31) is rotatably connected to the lateral support rod (33).

3. The unmanned forklift for high-level shelves according to claim 2, characterized in that: Two driven brackets (32) are symmetrically arranged with respect to the threaded rod (22). A cross bar (34) is fixedly connected between the two driven brackets (32). A roller (35) is sleeved on the cross bar (34).

4. The unmanned forklift for high-level shelves according to claim 2, characterized in that: A chute (36) is formed on one side of the driven bracket (32) close to the ground. A support rod (37) is rotatably connected to the intelligent mobile base (11). A slider (38) is fixedly mounted on the support rod (37). The slider (38) is slidably connected to the chute (36).

5. An unmanned forklift for high-level shelves according to claim 1, characterized in that: The inserting rod assembly (26) includes a fixed seat (261) fixed on the slide block (25). Two fixed seats (261) are symmetrically arranged with respect to the threaded rod (22). A rotating seat (262) is rotatably mounted on the fixed seat (261). A high-position inserting rod (263) is rotatably connected to the rotating seat (262). The rotation axes of the rotating seat (262) and the high-position inserting rod (263) are perpendicular to each other. A second-stage motor (264) is fixedly mounted on the slide block (25). The output end of the second-stage motor (264) is connected to the rotating seat (262).

6. The driverless forklift for high-level shelves according to claim 5, characterized in that: A deflecting mechanism (4) for controlling the synchronous rotation of the two high-position inserting rods (263) is provided on the rotating seat (262).

7. An unmanned forklift for high-bay racks according to claim 6, characterized in that: The deflecting mechanism (4) includes a connecting frame (41) fixed between the two rotating seats (262). A cylinder (42) is fixedly mounted on the connecting frame (41) along the central axis direction. A positioning block (43) is fixed to the output end of the cylinder (42). A push rod (44) is rotatably connected to the positioning block (43). A fixed block (45) is fixed to the bottom of the high-position inserting rod (263). The fixed block (45) is rotatably connected to the push rod (44).

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