Omnidirectional unmanned forklift with high traffic capacity

Abstract

The omni-directional unmanned forklift with the high traffic capacity comprises a forklift shell and a connecting frame, four sets of laser radars are arranged at the bottom of the surface of the forklift shell, omni-directional moving wheels are installed at the bottom of the forklift shell, and the connecting frame is installed on the inner side of the front surface of the forklift shell. Two sets of connecting blocks are arranged on the front surface of the connecting frame, a driving motor is arranged at the top of one set of connecting blocks, a first connecting disc is installed at the output end of the driving motor, second connecting discs are arranged on the two sides of the first connecting disc, and driving shafts are fixed to the bottoms of the second connecting discs; and a first driven shaft is mounted on one side in the other group of connecting blocks, and a second driven shaft is mounted on the other side in the other group of connecting blocks. The unmanned forklift has the advantages that good omnidirectional and high-traffic-capacity autonomous adjusting functions can be provided for the unmanned forklift, goods needing to be carried can be adjusted at the same time, and therefore the loss risk caused by goods toppling is effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of unmanned forklifts, and in particular to an omnidirectional unmanned forklift with strong traffic capability. Background Art

[0002] An unmanned forklift, or Automated Guided Vehicle (AGV), is a type of forklift that uses autonomous navigation technology to operate without human control. It can transport and stack goods in a short period of time, significantly improving logistics and warehousing efficiency. It also prevents injuries and reduces safety risks in warehousing and logistics. Furthermore, the use of unmanned driving technology reduces energy consumption and operating costs.

[0003] Regarding the above-mentioned related technologies, the inventor believes that: when traditional unmanned forklifts are stacking goods, they will encounter goods in a messy state, which will cause the weight of the left and right sides of the goods to be inconsistent during transportation, thereby posing a risk of dumping the goods and causing unnecessary losses to the goods inside. Utility Model Content

[0004] In order to improve the above-mentioned technical problems and technical defects, the present application provides an omnidirectional unmanned forklift with strong traffic capacity, which can provide the unmanned forklift with good omnidirectional and strong traffic capacity autonomous adjustment function, and at the same time can perform cargo adjustment function for the cargo to be transported, thereby effectively reducing the risk of loss caused by cargo dumping.

[0005] This application provides an omnidirectional unmanned forklift with strong traffic capacity, which adopts the following technical solutions:

[0006] An omnidirectional unmanned forklift with strong traffic capacity, comprising a forklift housing and a connecting frame;

[0007] Four groups of laser radars are arranged at the bottom of the surface of the forklift shell, and omnidirectional movable wheels are installed at the bottom of the forklift shell, a connecting frame is installed on the inner side of the front surface of the forklift shell, and two groups of connecting blocks are arranged on the front surface of the connecting frame, a driving motor is arranged on the top of one group of connecting blocks, and a first connecting disk is installed at the output end of the driving motor and is located on the inner side of the connecting block, a second connecting disk is arranged on both sides of the first connecting disk, and a driving shaft is fixed to the bottom of the second connecting disk, a first driven shaft is installed on one side of the interior of the other group of connecting blocks, and a second driven shaft is installed on the other side.

[0008] By adopting the above technical solution, the laser radar is an existing laser radar for real-time detection of the external environment, and the omnidirectional movable wheel is an omnidirectional movable wheel, which can make the forklift shell have better omnidirectional mobility and improve the passability of the forklift shell;

[0009] The connecting block is installed using existing fastening screws and a connecting frame. The drive motor is an existing drive motor, which is used to provide a rotation function for the first connecting disk. The first connecting disk drives the second connecting disk to rotate synchronously by engaging with the second connecting disk. The second connecting disk is used to provide a linked rotation function for the driving shaft. The first driven shaft and the second driven shaft are auxiliary rotating shafts inside another set of connecting blocks. The driving shaft drives the goods to move, and the first driven shaft and the second driven shaft assist in moving the other side of the goods.

[0010] Optionally, sliders are provided on both sides of the connecting frame, and two sets of fixed blocks are provided on both sides of the slider, and pulleys are installed inside the fixed blocks, and the pulleys fit into the groove structure opened on the inner side of the forklift shell for the slider to slide.

[0011] By adopting the above technical solution, the slider is slidably connected to the forklift shell and the auxiliary frame respectively, which is used to assist in stabilizing the rising of the connecting frame. The pulley inside the fixed block is respectively fitted with the groove structure for sliding of the slider provided inside the forklift shell and the auxiliary frame, which is used to assist the slider in sliding, making the sliding state of the slider smoother and more stable.

[0012] Optionally, forklift shovels are fixed to the bottom of the surfaces of the two groups of connecting blocks, and the bottom of the forklift shovel is provided with an inclined surface structure.

[0013] By adopting the above technical solution, the forklift shovel is used to fork and lift the goods, and the forklift shovel forms an integrated structure with the connecting frame through the connecting block.

[0014] Optionally, an electric push rod is fixed to the front side of the forklift shell, and toothed discs are provided on both sides of the top of the electric push rod. A chain is connected to the outer side of the toothed disc, and one end of the chain is fixed to the top of the forklift shell through a first fixing bolt, and the other end of the chain is fixed to the top of the connecting frame through a second fixing bolt.

[0015] By adopting the above technical solution, the electric push rod is an existing telescopic rod, which is used to drive the two sets of gear discs on the top to rise. The gear disc is an existing gear disc, which is adapted to be connected with the chain. One end of the chain is connected to the first fixing bolt through a rotating shaft and is fixed to the top of the forklift shell. The two ends are connected to the second fixing bolt through the existing rotating shaft and are fixed to the top of the connecting frame.

[0016] Optionally, a groove structure for placing the power push rod is provided on the back of the connecting frame.

[0017] By adopting the above technical solution, the groove structure on the back of the connecting frame can prevent the electric push rod from interfering with the connecting frame during installation.

[0018] Optionally, an auxiliary frame is fixed to the top front side of the forklift shell, and a groove structure for the slider to slide is provided inside the auxiliary frame, and is adapted to the groove structure provided inside the forklift shell.

[0019] By adopting the above technical solution, the auxiliary frame is fixedly connected to the forklift shell using the existing installation method, and the groove structure provided inside the auxiliary frame can assist the slider in lifting and extending.

[0020] Optionally, two sets of protective doors are connected to one side of the forklift housing via hinges, and a handle is provided on the surface of one set of protective doors, and a locking mechanism is installed on the surface of the other set of protective doors.

[0021] By adopting the above technical solution, the protective door is used to provide protection for the electronic components inside the forklift casing, the handle facilitates the operator to open and close the protective door, and the locking mechanism can provide a locking function for the protective door.

[0022] Optionally, a base platform is fixed to the top rear side of the forklift shell, a support column is fixed to the top of the base platform, and a touch control screen is provided on the top of the support column. A warning light is provided on the back of the forklift shell, and a charging port is provided on the side of the forklift shell away from the protective door.

[0023] By adopting the above technical solution, the base platform is a stable placement base for the support column, the touch control screen is an existing touch control screen, the support column is used to provide a support rod for the touch control screen, the charging port is the charging port of the smart forklift, and the warning light is the reversing warning light of the smart forklift.

[0024] In summary, this application has the following beneficial technical effects:

[0025] 1. This utility model provides a good omnidirectional high-pass function for the forklift shell by setting up several sets of laser radars and four sets of omnidirectional movable wheels, which are electrically connected to the control center and the outside;

[0026] 2. The utility model can drive two sets of second connecting plates to rotate in the same direction through the first connecting plate, thereby enabling the driving shaft fixed at the bottom of the second connecting plate to properly adjust the misaligned cargo on the forklift shovel, thereby preventing the cargo from tipping over and causing losses. The first driven shaft and the second driven shaft can provide auxiliary movement function for the other side of the cargo;

[0027] 3. The utility model uses the pulleys on both sides of the connecting frame to enable the connecting frame to have an auxiliary sliding function when it is raised inside the forklift shell and the auxiliary frame, so that the connecting frame becomes smoother and more stable during the rising process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1This is a schematic diagram of the overall structure of the utility model;

[0029] Figure 2 This is a side view of the structure of the utility model;

[0030] Figure 3 This is a schematic diagram of the top view of the connection structure of the connecting frame and the connecting block of the utility model;

[0031] Figure 4 For this utility model Figure 3 A in the middle is an enlarged structural diagram;

[0032] Figure 5 This is a schematic diagram of a top cross-sectional structure of the connection between the first connecting plate and the second connecting plate of the utility model;

[0033] Figure 6 This is a schematic top-view cross-sectional structure diagram of the connecting block of the utility model being connected to the first driven shaft and the second driven shaft respectively.

[0034] Explanation of the accompanying symbols: 1. Forklift shell; 2. Omnidirectional movable wheel; 3. Laser radar; 4. Connecting frame; 5. Connecting block; 6. Forklift shovel; 71. Driving motor; 72. First connecting disk; 73. Second connecting disk; 74. Driving shaft; 81. First driven shaft; 82. Second driven shaft; 91. Slider; 92. Fixed block; 93. Pulley; 10. Electric push rod; 11. Sprocket; 12. Chain; 13. First fixing bolt; 14. Second fixing bolt; 15. Auxiliary frame; 16. Protective door; 17. Handle; 18. Locking mechanism; 19. Base platform; 20. Support column; 21. Touch control screen; 22. Warning light; 23. Charging port. DETAILED DESCRIPTION

[0035] The following is combined with Figures 1-6 This application is described in further detail.

[0036] The embodiment of the present application discloses an omnidirectional unmanned forklift with strong traffic capacity. Figure 1 、 Figure 2 、 Figure 3 , including a forklift shell 1 and a connecting frame 4, four groups of laser radars 3 are set on the bottom of the surface of the forklift shell 1, and omnidirectional movable wheels 2 are installed at the bottom of the forklift shell 1. The laser radar 3 is an existing laser radar, which is used to detect the external environment in real time. The omnidirectional movable wheels 2 are omnidirectional movable wheels, which can make the forklift shell 1 have better omnidirectional mobility and improve the passability of the forklift shell 1. The laser radar 3 and the omnidirectional movable wheels 2 are both electrically connected to the control center inside the forklift shell 1 and the outside, so as to be intelligently controlled;

[0037] A connecting frame 4 is installed on the inner side of the front surface of the forklift housing 1, and two groups of connecting blocks 5 are provided on the front surface of the connecting frame 4. In addition, a driving motor 71 is provided on the top of one group of connecting blocks 5. Figure 5 , and the output end of the drive motor 71 is equipped with a first connecting disk 72 and is located on the inner side of the connecting block 5. Second connecting disks 73 are provided on both sides of the first connecting disk 72, and a driving shaft 74 is fixed to the bottom of the second connecting disk 73. The connecting block 5 is installed with the connecting frame 4 using existing fastening screws. The drive motor 71 is an existing drive motor and is fixed to the first connecting disk 72 using an existing welding method and is fixed to the top of one group of connecting blocks 5. In addition, the drive motor 71 is used to provide a rotation function for the first connecting disk 72. The first connecting disk 72 drives the second connecting disk 73 to rotate synchronously by meshing with the second connecting disk 73. The second connecting disk 73 is used to provide a linked rotation function for the driving shaft 74, so that the driving shaft 74 can fine-tune the lateral distance of the goods to be transported;

[0038] Reference Figure 6 A first driven shaft 81 is installed on one side of the interior of the other set of connecting blocks 5, and a second driven shaft 82 is installed on the other side. Both ends of the first driven shaft 81 and the second driven shaft 82 are installed inside the other set of connecting blocks 5 with rotating shafts, and are used to assist in fine-tuning the distance of the goods to be transported. They are driven rotating shafts.

[0039] Reference Figure 2 、 Figure 3 and Figure 4 , sliders 91 are provided on both sides of the connecting frame 4, and two sets of fixed blocks 92 are provided on both sides of the sliders 91, and pulleys 93 are installed inside the fixed blocks 92, wherein the sliders 91 are slidably connected to the forklift shell 1 and the auxiliary frame 15 respectively, and are used to assist in stabilizing the rising of the connecting frame 4, and the pulleys 93 inside the fixed blocks 92 are respectively fitted with the groove structures provided inside the forklift shell 1 and the auxiliary frame 15 for the sliders 91 to slide;

[0040] The pulley 93 fits into a groove structure provided on the inner side of the forklift housing 1 for the slider 91 to slide, allowing the slider 91 to slide inside it, which can effectively reduce the friction between the slider 91 and the forklift housing 1 and the auxiliary frame 15, providing a smooth sliding experience.

[0041] Reference Figure 1 、 Figure 2 and Figure 3A forklift shovel 6 is fixed to the bottom of the surface of the two sets of connecting blocks 5, and a slope structure is provided at the bottom of the forklift shovel 6, wherein the forklift shovel 6 is used to fork and lift the goods. The forklift shovel 6 forms an integrated structure with the connecting frame 4 through the connecting block 5, so that the forklift shovel 6 can rise or fall synchronously with the connecting frame 4 through the connecting block 5. The slope structure provided at the bottom of the forklift shovel 6 can more conveniently fork the goods.

[0042] Reference Figure 1 and Figure 2 An electric push rod 10 is fixed to the front side of the forklift housing 1, and toothed discs 11 are provided on both sides of the top of the electric push rod 10. The outer side of the toothed disc 11 is connected to a chain 12. The electric push rod 10 is an existing telescopic rod, which is electrically connected to the control center inside the forklift housing 1 to drive the two sets of toothed discs 11 at the top to rise. The toothed disc 11 is an existing toothed disc, which is adapted to be connected with the chain 12. When the electric push rod 10 drives the toothed disc 11 to rise or fall, the toothed disc 11 will drive one end of the chain 12 to move by adapting to the chain 12.

[0043] One end of the chain 12 is fixed to the top of the forklift housing 1 by a first fixing bolt 13, and the other end of the chain 12 is fixed to the top of the connecting frame 4 by a second fixing bolt 14, wherein the first fixing bolt 13 and the second fixing bolt 14 are both connected to the end of the chain 12 using an existing rotating shaft, so that when the first fixing bolt 13 and the second fixing bolt 14 are fixed, the chain 12 can be effectively prevented from falling off the sprocket disc 11. When the sprocket disc 11 drives the chain 12 to rise, since the first fixing bolt 13 is fixed to the top of the forklift housing 1, it will drive the second fixing bolt 14, thereby allowing the connecting frame 4 to rise and fall.

[0044] Reference Figure 1 and Figure 3 The back of the connecting frame 4 is provided with a groove structure for placing the power push rod 10. The groove structure on the back of the connecting frame 4 can prevent the power push rod 10 from interfering with the connecting frame 4 during installation.

[0045] Reference Figure 1 and Figure 3 An auxiliary frame 15 is fixed to the top front side of the forklift shell 1, and a groove structure is provided inside the auxiliary frame 15 for the slider 91 to slide, and is adapted to the groove structure provided inside the forklift shell 1. The auxiliary frame 15 is fixedly connected to the forklift shell 1 using an existing installation method. The groove structure provided inside the auxiliary frame 15 can assist the slider 91 in rising and extending, so that after the slider 91 is lifted to a certain extent, the auxiliary frame 15 can limit and complement it to prevent the slider 91 from falling off from the groove structure of the forklift shell 1.

[0046] Reference Figure 2Two groups of protective doors 16 are connected to one side of the forklift shell 1 through a hinge, and a handle 17 is provided on the surface of one group of protective doors 16, and a locking mechanism 18 is installed on the surface of the other group of protective doors 16. Among them, the protective door 16 is an existing protective door. The protective door 16 can be opened and closed to provide safety and convenience. It is used to provide protection for the electronic components inside the forklift shell 1. The handle 17 makes it convenient for the operator to open and close the protective door 16, which is convenient for the operator to open and close the protective door, which not only enhances the functionality and practicality of the thickness detection device, but also the locking mechanism 18 can provide a locking function for the protective door 16, thereby improving the convenience and efficiency of the user during actual operation.

[0047] Reference Figure 1 and Figure 2 A base 19 is fixed to the top rear side of the forklift housing 1, and a support column 20 is fixed to the top of the base 19, and a touch control screen 21 is provided on the top of the support column 20, wherein the base 19 is a stable base for placing the support column 20, the touch control screen 21 is an existing touch control screen, and the support column 20 is used to provide a support rod for the touch control screen 21. The touch control screen 21 is electrically connected to the control center inside the forklift housing 1, so that the omnidirectional moving wheel 2, the laser radar 3, the electric push rod 10, the drive motor 71 and the warning light 22 can be controlled in real time;

[0048] A warning light 22 is provided on the back of the forklift housing 1, and a charging port 23 is provided on the side of the forklift housing 1 away from the protective door 16. The charging port 23 is the charging port of the smart forklift, which is used to provide energy replenishment for the drive mechanism inside the forklift housing 1. The warning light 22 is the reversing warning light of the smart forklift, which is electrically connected to the control center inside the forklift housing 1 to provide a reversing warning function to the outside world.

[0049] The implementation principle of an omnidirectional unmanned forklift with strong traffic capacity in the embodiment of the present application is as follows: first, the omnidirectional movable wheel 2 at the bottom of the forklift shell 1 is controlled to move through the touch control screen 21, and the trajectory for its movement is input, and the laser radar 3 is used to detect the external environment in real time. After the forklift shovel 6 forks the goods to be transported, the laser radar 3 on the auxiliary frame 15 detects whether the goods below are stable, and starts the drive motor 71 to drive the first connecting plate 72 to rotate. The first connecting plate 72 drives the second connecting plate 73 and the active shaft 74 below it to rotate through the meshing connection. The active shaft 74 fine-tunes the position of the goods, and the first driven shaft 81 and the second driven shaft 82 assist in fine-tuning, so that the goods are in the forklift shovel 6. The top has good stability, and then the electric push rod 10 is used to drive the toothed disc 11 to rise. The toothed disc 11 will drive the second fixing bolt 14 at one end of the chain 12 to rise by driving the chain 12 to rise, so that the connecting frame 4 can lift the goods on the forklift shovel 6 to a certain height through the connecting block 5. When the connecting frame 4 is rising, the pulleys 93 on both sides of the slider 91 will provide an auxiliary sliding function for the slider 91. After that, the control center inside the forklift shell 1 drives the omnidirectional movable wheel 2 to adjust the direction, and then move, and finally place the goods to the specified position. When the forklift shell 1 reverses again, the warning light 22 will flash to prompt, thereby providing a warning function to the surrounding staff, and the charging port 23 is used to provide driving energy supplement for the forklift shell 1.

[0050] The technical solution of the omnidirectional unmanned forklift with strong traffic capacity in this application has the following technical advantages:

[0051] 1. Omnidirectional mobility: The omnidirectional wheels 2 installed at the bottom of the forklift shell allow the forklift to move flexibly in all directions, improving its ability to pass through narrow spaces and adapting to complex warehousing and logistics environments.

[0052] 2. Real-time environment detection: LiDAR 3 is used to detect the external environment in real time, providing accurate obstacle perception capabilities, improving the forklift's autonomous navigation capabilities and operational safety.

[0053] 3. Intelligent control system: The touch control screen 21 is electrically connected to the control center inside the forklift shell to control the omnidirectional moving wheels, laser radar, electric push rod, drive motor and warning lights in real time, realizing intelligent operation and simplifying the user's operating process.

[0054] 4. Stable cargo handling: The forklift shovel 6, the connecting block 5 and the connecting frame 4 form an integrated structure to achieve stability of the cargo during lifting and transportation.

[0055] 5. Fine-tuning function: The lateral direction of the cargo is fine-tuned by driving the motor 71, the first connecting plate 72, the second connecting plate 73 and the driving shaft 74, and the first driven shaft 81 and the second driven shaft 82 assist in fine-tuning the cargo position to achieve stability of the cargo.

[0056] 6. Lifting mechanism: The electric push rod 10 drives the connecting frame 4 to move up and down through the gear plate 11 and the chain 12. The slider 91 and the pulley 93 cooperate to provide a smooth sliding experience, achieving stability and safety in cargo lifting.

[0057] 7. Safety design: The protective door 16 and locking mechanism 18 protect the internal electronic components of the forklift to prevent damage, thereby enhancing the durability and safety of the equipment. The warning light 22 provides a visual prompt when reversing to ensure the safety of surrounding personnel.

[0058] 8. Energy management: Charging port 23 provides convenient energy replenishment for the forklift, ensuring continuous operation and efficient operation of the equipment.

[0059] 9. Efficient human-computer interaction: The touch control screen 21 realizes all-round control of the forklift, and can easily set the movement trajectory and adjust the position of the cargo, enhancing the convenience and efficiency of the equipment.

[0060] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any variation, use or adaptive change of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure.

Claims

1. An omnidirectional unmanned forklift with strong traffic capacity, characterized by: The invention comprises a forklift housing (1) and a connecting frame (4), wherein four groups of laser radars (3) are arranged at the bottom of the surface of the forklift housing (1), and an omnidirectional movable wheel (2) is installed at the bottom of the forklift housing (1), a connecting frame (4) is installed on the inner side of the front surface of the forklift housing (1), and two groups of connecting blocks (5) are arranged on the front surface of the connecting frame (4), a driving motor (71) is arranged on the top of one group of the connecting blocks (5), a first connecting disk (72) is installed at the output end of the driving motor (71) and is located on the inner side of the connecting block (5), a second connecting disk (73) is arranged on both sides of the first connecting disk (72), and a driving shaft (74) is fixed at the bottom of the second connecting disk (73), and a first driven shaft (81) is installed on one side of the interior of the other group of the connecting blocks (5), and a second driven shaft (82) is installed on the other side.

2. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: Slide blocks (91) are provided on both sides of the connecting frame (4), and two sets of fixed blocks (92) are provided on both sides of the slide blocks (91). Pulleys (93) are installed inside the fixed blocks (92), and the pulleys (93) fit into a groove structure provided on the inner side of the forklift housing (1) for the slide blocks (91) to slide.

3. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: A forklift shovel (6) is fixed to the bottom of the surface of the two groups of connection blocks (5), and the bottom of the forklift shovel (6) is provided with an inclined surface structure.

4. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: An electric push rod (10) is fixed to the front side of the forklift housing (1), and toothed discs (11) are provided on both sides of the top of the electric push rod (10). A chain (12) is connected to the outer side of the toothed disc (11), and one end of the chain (12) is fixed to the top of the forklift housing (1) through a first fixing bolt (13), and the other end of the chain (12) is fixed to the top of the connecting frame (4) through a second fixing bolt (14).

5. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: The back of the connecting frame (4) is provided with a groove-shaped structure for placing the power supply push rod (10).

6. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: An auxiliary frame (15) is fixed to the front top of the forklift housing (1), and a groove structure for the slider (91) to slide is provided inside the auxiliary frame (15), and the groove structure is adapted to the groove structure provided inside the forklift housing (1).

7. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: One side of the forklift housing (1) is connected to two groups of protective doors (16) via hinges, and a handle (17) is provided on the surface of one group of the protective doors (16), and a locking mechanism (18) is installed on the surface of the other group of the protective doors (16).

8. The omnidirectional unmanned forklift with strong traffic capacity according to claim 1, characterized in that: A base platform (19) is fixed to the rear side of the top of the forklift housing (1), a support column (20) is fixed to the top of the base platform (19), a touch control screen (21) is provided on the top of the support column (20), a warning light (22) is provided on the back of the forklift housing (1), and a charging port (23) is provided on the side of the forklift housing (1) away from the protective door (16).

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