Liftable unmanned laser forklift

Abstract

The unmanned laser forklift comprises a walking frame and two sets of front trusses, the two sets of front trusses are installed on the inner wall of the walking frame, lower linkage shafts are installed at the bottom ends of the front trusses, the front trusses are movably connected with the walking frame through the lower linkage shafts, a lifting frame is arranged above the walking frame, and the lifting frame is connected with the walking frame through the lower linkage shafts. The top ends of the front trusses are movably provided with upper movable wheels, the upper movable wheels are in sliding connection with the lifting frame, the center positions of the front trusses are movably provided with connecting shafts, the surfaces of the connecting shafts are sleeved with rear trusses, the rear trusses are movably connected with the front trusses through the connecting shafts, and the top ends of the rear trusses are provided with upper linkage shafts. According to the lifting device, convenient multi-level height lifting adjustment and use and convenient opening, closing, rotating and goods lifting uniformity adjustment are achieved, goods with different widths can be conveniently adjusted and matched, and the lifting flexibility and the goods transportation convenience are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of laser forklifts, in particular to an unmanned laser forklift that can be raised and lowered. Background Art

[0002] An unmanned laser forklift, also known as an AGV, includes pallet-lift AGVs, wide-leg stacker AGVs, narrow stacker AGVs, and legless stacker AGVs. Designed for the logistics and turnover of palletized cargo, it comprises a hydraulic lift system, differential drive system, PLC control system, guidance system, communication system, warning system, operating system, and power supply. It is a programmable wirelessly dispatchable automated guided vehicle (AGV) that integrates hydraulic lift and PLC control. Traditional unmanned laser forklifts are often unable to lift or lower. To improve this, a liftable unmanned laser forklift has been proposed.

[0003] For example, the fork lifting system of an AGV forklift and the AGV forklift disclosed in the authorization announcement number CN216737456U include a lifting drive component fixed on the frame of the AGV forklift, a gear rack mechanism including a driving gear and a rack, the driving gear is driven to rotate by the lifting drive component, the rack is vertically arranged on the frame, and the rack can slide vertically along the frame under the drive of the driving gear, a plurality of forks, the forks are perpendicularly arranged to the rack, and the ends of the forks are fixedly connected to the rack, a guide assembly includes a guide wheel slot and a guide wheel, the guide wheel slot is fixed to the frame, and the guide wheel slot is arranged parallel to the rack, the guide wheel is located in the guide wheel slot, and the guide wheel and the rack are synchronously lifted and lowered;

[0004] Although it realizes the smooth lifting and lowering of the fork lifting system and the high parking accuracy of the forks, it does not solve the problems of the existing laser forklifts in use, such as the inconvenience of multi-level height lifting adjustment and the convenient opening and closing rotation adjustment of the lifted goods, and the difficulty in adjusting to goods of different widths, which affects the flexibility of lifting and the convenience of cargo transportation. Utility Model Content

[0005] The purpose of the present utility model is to provide an unmanned laser forklift that can be raised and lowered, so as to solve the problem in the above-mentioned background technology that the laser forklift is not convenient for multi-level height lifting and adjustment and convenient opening and closing and rotation to adjust the uniformity of lifted goods, is not conducive to adjustment to adapt to goods of different widths, and affects the flexibility of lifting and the convenience of cargo transportation.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an unmanned laser forklift that can be raised and lowered, comprising a walking frame and a front truss, two sets of front trusses are installed on the inner wall of the walking frame, the bottom ends of the front trusses are installed with lower linkage shafts, and the front trusses are movably connected to the walking frame through the lower linkage shafts, a lifting frame is provided above the walking frame, the top ends of the front trusses are movably installed with upper movable wheels, and the upper movable wheels are slidably connected to the lifting frame, the center positions of the front trusses are movably installed with connecting shafts, the surfaces of the connecting shafts are all covered with rear trusses, and the rear trusses are movably connected to the front trusses through the connecting shafts, The top end of the rear truss is equipped with an upper linkage shaft, and the rear truss is movably connected to the lifting frame through the upper linkage shaft. The bottom end of the rear truss is movably equipped with a lower movable wheel, and the lower movable wheel is slidingly connected to the walking frame. The side walls of the front truss are equipped with hydraulic rods, the top ends of the hydraulic rods are equipped with pins, and the hydraulic rods are movably connected to the front truss through the pins. The output ends of the hydraulic rods are equipped with push arms, the bottom ends of the push arms are equipped with hinged shafts, and the push arms are movably connected to the rear truss through the hinged shafts. The side walls of the lifting frame are equipped with a forklift body, and the side walls of the forklift body are equipped with multiple sets of laser radars.

[0007] Preferably, integrated frames are installed on the side walls of the forklift body on both sides of the laser radar, and threaded rods are installed inside the integrated frames, and the threaded rods are movably connected to the integrated frames.

[0008] Preferably, a lifting motor is installed on the top of each integrated frame, and the output end of the lifting motor is connected to the threaded rod.

[0009] Preferably, the surfaces of the threaded rods are all covered with threaded sleeves, and the threaded sleeves are threadedly connected to the threaded rods, and the threaded sleeves are slidably connected to the integrated frame.

[0010] Preferably, a supporting frame is installed on the side wall of the threaded sleeve, and two sets of movable shafts are movably installed inside the supporting frame.

[0011] Preferably, the surfaces of the movable shafts are all covered with gears, and the two sets of gears are meshed with each other, and fixed fork arms are installed on the side walls of the gears.

[0012] Preferably, an opening and closing motor is installed on the top of each of the supporting frames, and the output end of the opening and closing motor is connected to a set of movable shafts.

[0013] Preferably, a telescopic fork arm is slidably mounted inside the fixed fork arm, a locking pin is mounted at the bottom end of the fixed fork arm, and the locking pin passes through the fixed fork arm and extends to the surface of the telescopic fork arm.

[0014] Compared with the existing technology, the beneficial effects of the present invention are: the laser forklift not only realizes convenient multi-level height lifting adjustment and convenient opening and closing rotation to adjust the uniformity of lifted goods, facilitates adjustment to adapt to goods of different widths, but also improves the flexibility of lifting and the convenience of cargo transportation;

[0015] (1) The push arm is driven to move by the hydraulic rod, and the push arm drives the rear truss to rotate with the upper linkage axis as the axis through the articulated shaft, and the rear truss drives the front truss to rotate with the lower linkage axis as the axis through the connecting shaft. At the same time, the rear truss drives the lower movable wheel to slide inside the walking frame, and the front truss drives the upper movable wheel to slide inside the lifting frame. Under the joint action of the front truss and the rear truss, the lifting frame is driven to move upward, and the lifting frame drives the forklift body, laser radar and the overall equipment to move upward to adjust the height of the unmanned laser forklift. The lifting motor drives the threaded rod to rotate, and the threaded rod drives the threaded sleeve to move upward. The threaded sleeve drives the fixed fork arm to move upward through the load frame, and the fixed fork arm drives the cargo to be lifted, and then the transportation of the cargo is completed, realizing convenient multi-level height lifting and adjustment and improving the flexibility of lifting;

[0016] (2) A group of movable shafts are driven to rotate by the opening and closing motor, and the movable shafts drive a group of fixed fork arms to rotate, and the fixed fork arms drive a group of gears to rotate, and the gears drive another group of gears to rotate, and the other group of fixed fork arms to rotate, so as to expand the angle between the two groups of fixed fork arms, thereby making the lifting position of the fixed fork arms more uniform, thereby improving the stability when lifting goods. In order to adapt to goods of different widths, the locking pin can be loosened to disengage the telescopic fork arm from the fixed fork arm, and the telescopic fork arm can be pulled to drive the telescopic fork arm to slide inside the fixed fork arm to increase the total length of the telescopic fork arm and the fixed fork arm, and then the locking pin can be retightened to adapt to goods of different widths, thereby realizing convenient opening and closing rotation to adjust the uniformity of lifted goods, facilitating adjustment to adapt to goods of different widths, and improving the convenience of cargo transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the walking frame of the present utility model;

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of the carrier frame of the present invention;

[0020] Figure 4 This is a schematic diagram of the front cross-sectional structure of the lifting frame of the present invention;

[0021] Figure 5 It is a schematic diagram of the front cross-sectional structure of the integrated frame of the present utility model.

[0022] In the figure: 1. Traveling frame; 2. Lifting frame; 3. Forklift body; 4. Integrated frame; 5. Fixed fork arm; 6. Laser radar; 7. Locking pin; 8. Telescopic fork arm; 9. Opening and closing motor; 10. Movable shaft; 11. Gear; 12. Carrying frame; 13. Upper movable wheel; 14. Front truss; 15. Hydraulic rod; 16. Articulated shaft; 17. Lower movable wheel; 18. Push arm; 19. Connecting shaft; 20. Rear truss; 21. Lower linkage shaft; 22. Upper linkage shaft; 23. Pin shaft; 24. Threaded sleeve; 25. Lifting motor; 26. Threaded rod. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-5 The utility model provides an embodiment: an unmanned laser forklift that can be lifted and lowered, including a walking frame 1 and a front truss 14, two groups of front trusses 14 are installed on the inner wall of the walking frame 1, the bottom ends of the front trusses 14 are installed with lower linkage shafts 21, and the front trusses 14 are movably connected to the walking frame 1 through the lower linkage shafts 21, and a lifting frame 2 is provided above the walking frame 1, the tops of the front trusses 14 are movably installed with upper movable wheels 13, and the upper movable wheels 13 are slidably connected to the lifting frame 2, and the center positions of the front trusses 14 are movably installed with connecting shafts 19, the surfaces of the connecting shafts 19 are all covered with rear trusses 20, and the rear trusses 20 are movably connected to the front trusses 14 through the connecting shafts 19, and the tops of the rear trusses 20 are all installed with upper linkage shafts The movable shaft 22 is provided, and the rear truss 20 is movably connected to the lifting frame 2 through the upper linkage shaft 22. The bottom end of the rear truss 20 is movably installed with a lower movable wheel 17, and the lower movable wheel 17 is slidably connected to the walking frame 1. The side walls of the front truss 14 are all equipped with hydraulic rods 15, and the hydraulic rods 15 play a role of power drive. The tops of the hydraulic rods 15 are all equipped with pins 23, and the hydraulic rods 15 are movably connected to the front truss 14 through the pins 23. The output ends of the hydraulic rods 15 are all equipped with push arms 18, and the bottom ends of the push arms 18 are all equipped with hinge shafts 16, and the push arms 18 are movably connected to the rear truss 20 through the hinge shafts 16. The side walls of the lifting frame 2 are equipped with a forklift body 3, and the side walls of the forklift body 3 are equipped with multiple sets of laser radars 6;

[0025] First, the device is connected to an external controller. When it is necessary to lift the entire device, the hydraulic rod 15 is opened, and the hydraulic rod 15 drives the push arm 18 to move, wherein the pin shaft 23 provides movable support for the hydraulic rod 15, and the push arm 18 drives the rear truss 20 to rotate around the upper linkage shaft 22 through the hinge shaft 16, and the rear truss 20 drives the front truss 14 to rotate around the lower linkage shaft 21 through the connecting shaft 19. At the same time, the rear truss 20 drives the lower movable wheel 17 to slide inside the walking frame 1, and the front truss 14 drives the upper movable wheel 13 to slide inside the lifting frame 2. Under the joint action of the front truss 14 and the rear truss 20, the lifting frame 2 is driven to move upward, and the lifting frame 2 drives the forklift body 3, the laser radar 6 and the entire equipment to move upward to adjust the unmanned laser forklift. The height of the vehicle, wherein the laser radar 6 can be used as a navigation method to assist RFID identification and operate on complex paths and multi-site reliable tracking to facilitate the use of unmanned laser forklifts. When the goods need to be lifted, the walking frame 1 drives the fixed fork arm 5 to move to the bottom of the goods, and then the lifting motor 25 is turned on, and the lifting motor 25 drives the threaded rod 26 to rotate. Under the threaded connection between the threaded rod 26 and the threaded sleeve 24, and the sliding cooperation between the threaded sleeve 24 and the integrated frame 4, the threaded rod 26 drives the threaded sleeve 24 to move upward, and the threaded sleeve 24 drives the fixed fork arm 5 to move upward through the load-bearing frame 12, and the fixed fork arm 5 drives the goods to be lifted, and then the transportation of the goods is completed, realizing convenient multi-level height lifting and lowering adjustment and improving the flexibility of lifting;

[0026] An integrated frame 4 is installed on the side walls of the forklift body 3 on both sides of the laser radar 6. A threaded rod 26 is installed inside the integrated frame 4, and the threaded rod 26 is movably connected to the integrated frame 4. A lifting motor 25 is installed on the top of the integrated frame 4. The lifting motor 25 plays a power driving role, and the output end of the lifting motor 25 is connected to the threaded rod 26;

[0027] The surface of the threaded rod 26 is covered with a threaded sleeve 24, and the threaded sleeve 24 is threadedly connected to the threaded rod 26, and the threaded sleeve 24 is slidably connected to the integrated frame 4. The side walls of the threaded sleeve 24 are mounted with a supporting frame 12, and two sets of movable shafts 10 are movably mounted inside the supporting frame 12;

[0028] The surfaces of the movable shafts 10 are all fitted with gears 11, and the two sets of gears 11 are meshed with each other. Fixed fork arms 5 are all installed on the side walls of the gears 11. The tops of the carriers 12 are all fitted with opening and closing motors 9, which play a role of power drive, and the output ends of the opening and closing motors 9 are connected to a set of movable shafts 10.

[0029] The interior of the fixed fork arm 5 is slidably mounted with a telescopic fork arm 8, and the bottom end of the fixed fork arm 5 is mounted with a locking pin 7, and the locking pin 7 passes through the fixed fork arm 5 and extends to the surface of the telescopic fork arm 8;

[0030] When the gears 11 are engaged with each other, the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other, and the gears 11 are engaged with each other,

[0031] Working principle: First, the hydraulic rod 15 drives the push arm 18 to move, wherein the pin shaft 23 provides movable support for the hydraulic rod 15, and the push arm 18 drives the rear truss 20 to rotate with the upper linkage shaft 22 as the axis through the hinge shaft 16, and the rear truss 20 drives the front truss 14 to rotate with the lower linkage shaft 21 as the axis through the connecting shaft 19. At the same time, the rear truss 20 drives the lower movable wheel 17 to slide inside the walking frame 1, and the front truss 14 drives the upper movable wheel 13 to slide inside the lifting frame 2 to drive the lifting frame 2 to move upward, and the lifting frame 2 drives the forklift body 3, the laser radar 6 and the entire equipment to move upward to adjust the height of the unmanned laser forklift, and the walking frame 1 drives the fixed fork arm 5 to move to the bottom of the cargo, and the lifting motor 25 drives the threaded rod 26 to rotate, and the threaded rod 26 drives the threaded sleeve 24 to move upward, and the threaded sleeve 24 drives the fixed fork arm 5 to move upward through the load frame 12, and the fixed The fork arm 5 drives the cargo to lift, and then completes the transportation of the cargo. The opening and closing motor 9 drives a group of movable shafts 10 to rotate, and the group of movable shafts 10 drives a group of fixed fork arms 5 to rotate, and the group of fixed fork arms 5 drives a group of gears 11 to rotate, and the group of gears 11 drives another group of gears 11 to rotate, and the other group of gears 11 drives another group of fixed fork arms 5 to rotate, to expand the angle between the two groups of fixed fork arms 5, so that the lifting position of the fixed fork arms 5 is more uniform, to improve the stability when lifting cargo. In order to adapt to cargo of different widths, the locking pin 7 can be loosened to disengage the telescopic fork arm 8 from the fixed fork arm 5, and the telescopic fork arm 8 can be pulled to drive the telescopic fork arm 8 to slide inside the fixed fork arm 5 to increase the total length of the telescopic fork arm 8 and the fixed fork arm 5, and then the locking pin 7 can be retightened to adapt to cargo of different widths to complete the use of the liftable unmanned laser forklift.

Claims

1. A liftable unmanned laser forklift, comprising a traveling frame (1) and a front truss (14), characterized in that: Two groups of front trusses (14) are installed on the inner wall of the walking frame (1), and the bottom ends of the front trusses (14) are all installed with lower linkage shafts (21), and the front trusses (14) are movably connected to the walking frame (1) through the lower linkage shafts (21). A lifting frame (2) is provided above the walking frame (1), and the top ends of the front trusses (14) are all movably installed with upper movable wheels (13), and the upper movable wheels (13) are slidably connected to the lifting frame (2). The center positions of the front trusses (14) are all movably installed with connecting shafts (19), and the surfaces of the connecting shafts (19) are all covered with rear trusses (20), and the rear trusses (20) are movably connected to the front trusses (14) through the connecting shafts (19), and the top ends of the rear trusses (20) are all installed with upper linkage shafts (22), and the rear trusses (20) are movably connected to the front trusses (14) through the upper linkage shafts (22). The linkage shaft (22) is movably connected to the lifting frame (2), the bottom end of the rear truss (20) is movably installed with a lower movable wheel (17), and the lower movable wheel (17) is slidably connected to the walking frame (1), the side wall of the front truss (14) is installed with a hydraulic rod (15), the top end of the hydraulic rod (15) is installed with a pin shaft (23), and the hydraulic rod (15) is movably connected to the front truss (14) through the pin shaft (23), the output end of the hydraulic rod (15) is installed with a push arm (18), the bottom end of the push arm (18) is installed with a hinge shaft (16), and the push arm (18) is movably connected to the rear truss (20) through the hinge shaft (16), the side wall of the lifting frame (2) is installed with a forklift body (3), and the side wall of the forklift body (3) is installed with multiple groups of laser radars (6).

2. The liftable unmanned laser forklift according to claim 1, characterized in that: An integrated frame (4) is installed on the side walls of the forklift body (3) on both sides of the laser radar (6), and a threaded rod (26) is installed inside the integrated frame (4), and the threaded rod (26) is movably connected to the integrated frame (4).

3. The liftable unmanned laser forklift according to claim 2, characterized in that: A lifting motor (25) is installed on the top of each integrated frame (4), and the output end of the lifting motor (25) is connected to the threaded rod (26).

4. The liftable unmanned laser forklift according to claim 2, characterized in that: The surface of the threaded rod (26) is covered with a threaded sleeve (24), the threaded sleeve (24) is threadedly connected to the threaded rod (26), and the threaded sleeve (24) is slidably connected to the integrated frame (4).

5. The liftable unmanned laser forklift according to claim 4, characterized in that: A supporting frame (12) is installed on the side wall of the threaded sleeve (24), and two sets of movable shafts (10) are movably installed inside the supporting frame (12).

6. The liftable unmanned laser forklift according to claim 5, characterized in that: The surfaces of the movable shafts (10) are all covered with gears (11), and the two sets of gears (11) are meshed with each other. Fixed fork arms (5) are all installed on the side walls of the gears (11).

7. The liftable unmanned laser forklift according to claim 5, characterized in that: An opening and closing motor (9) is installed on the top of each of the carrier frames (12), and the output end of the opening and closing motor (9) is connected to a group of movable shafts (10).

8. The liftable unmanned laser forklift according to claim 6, characterized in that: A telescopic fork arm (8) is slidably mounted inside the fixed fork arm (5), and a locking pin (7) is mounted at the bottom end of the fixed fork arm (5), and the locking pin (7) passes through the fixed fork arm (5) and extends to the surface of the telescopic fork arm (8).

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