High-position picking vehicle with double driving wheels

Abstract

The utility model discloses a high-position sorting vehicle with double driving wheels, and aims to overcome the defects that a conventional high-position sorting vehicle is poor in movement flexibility and difficult to meet the requirement for convenient movement among various scenes in a warehouse. The platform comprises a frame, a door frame and a platform body. A first driving wheel driven by a first driving structure and a second driving wheel driven by a second driving structure are arranged on the frame; a first plate body and a second plate body are arranged on the frame and divide the frame into a front part, a middle part and a rear part in the length direction, the front part is used for positioning the first driving structure and the first driving wheel, the middle part is used for positioning the portal frame, and the rear part is used for positioning the second driving structure and the second driving wheel; the portal frame comprises a portal frame body and a lifting plate capable of lifting relatively, the portal frame body is installed on the second plate body, and the platform is installed on the lifting plate. By improving the movement mode of the vehicle and reducing the length of the vehicle, the vehicle can move more flexibly, and the burden of an operator is relieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the motion control field of low-speed storage and transport vehicle, more particularly, it relates to a high-picking vehicle of double drive wheels. BACKGROUND

[0002] The high-picking vehicle is a low-speed storage and transport vehicle for industrial use, a mechanical equipment used in warehouses and logistics centers, mainly used for picking, carrying and stacking goods on high shelves. The operator drives the high-picking vehicle to move between shelves, and lifts the operator by raising the platform carrying the operator, so as to take or place goods on high shelves.

[0003] When the operator takes or places goods between shelves, there is a demand that the high-picking vehicle should have a motion mode other than the conventional vehicle, so as to meet the function of convenient movement between shelves. For example, there is a scenario where the operator needs to take or place goods between two parallel shelves, and the channel between the shelves is often wider than the shelf so that the operator needs to adjust the position of the vehicle body laterally; or, in a dead-end angle, the operator wants the high-picking vehicle to turn around, but the width of the channel is not enough to complete the turn in a small number of operations.

[0004] In the above scenario, the operator often needs a large number of operations to move the high-picking vehicle into place, which increases the burden on the operator, reduces efficiency, and increases the user's use cost.

[0005] The above scenario occurs frequently in the actual application of the high-picking vehicle, so it is urgent to provide more running modes for the high-picking vehicle to solve the inconvenience caused by the above scenario. UTILITY MODEL CONTENTS

[0006] The utility model overcomes the poor motion flexibility of the conventional high-picking vehicle, which is difficult to meet the needs of convenient movement between various scenarios in the warehouse, and provides a high-picking vehicle of double drive wheels, which can move more flexibly and reduce the burden on the operator by improving the motion mode of the vehicle and reducing the length of the vehicle.

[0007] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0008] A high-picking vehicle of double drive wheels, comprising a vehicle frame, a portal, and a platform for carrying a user connected to the portal by lifting;

[0009] The frame is provided with a first driving wheel, a second driving wheel and a plurality of universal wheels, the universal wheels are arranged at the position close to the outer edge of the frame, the frame is provided with a first driving structure close to the front end, and the frame is provided with a second driving structure close to the rear end, the first driving structure drives the first driving wheel to move, and the second driving structure drives the second driving wheel to move, and the movement includes rotation and steering.

[0010] The frame is provided with a first plate body and a second plate body arranged vertically, the first plate body and the second plate body separate the frame into a front part, a middle part and a rear part along the length direction, wherein the front part is used for positioning the first driving structure and the first driving wheel, the middle part is used for positioning the portal frame, and the rear part is used for positioning the second driving structure and the second driving wheel.

[0011] The platform is provided with a movement controller, and a user controls the movement of the first driving wheel and the second driving wheel through the movement controller.

[0012] As preferred, the first driving structure comprises a power seat, a power motor arranged on the power seat, a steering seat and a steering motor arranged on the steering seat, the power seat and the steering seat are rotationally connected, the steering motor is in transmission connection with the power seat and drives the power seat to rotate, the steering seat is elastically connected to the frame through suspension, and the power motor drives the first driving wheel to rotate.

[0013] As preferred, the structure of the second driving structure is the same as that of the first driving structure, wherein the driving motor of the second driving structure drives the second driving wheel to rotate.

[0014] As preferred, the top of the power seat is circular and the outer edge is provided with a gear ring, the steering motor is in transmission connection with a driving gear, and the driving gear is in meshing connection with the gear ring.

[0015] As preferred, the universal wheels are located at the corner points of the frame.

[0016] As preferred, the front end of the frame is inwardly recessed to form a lamp mounting seat, and a driving warning lamp is mounted in the mounting seat.

[0017] As preferred, the two sides of the platform are provided with arm guards, the arm guards comprise upper arm guards and lower arm guards, the upper arm guards and the lower arm guards are connected through connecting rods to rotate synchronously, the platform is provided with a position reaching seat, the position reaching seat is provided with a detection circuit in communication with the movement controller, when the arm guards are in a horizontal state, the lower arm guards are in abutment with the position reaching seat, and the detection circuit transmits a signal to the movement controller.

[0018] As preferred, the frame is provided with a power supply battery, and the upper part of the second plate body is provided with a mounting space for mounting the power supply battery.

[0019] As preferred, the front part of the platform is provided with a shelf capable of being lifted relative to the platform, the shelf comprises a fixed plate and a movable plate, the movable plate is capable of being extended or retracted relative to the fixed plate to adjust the length of the shelf, the shelf is configured to be capable of stowing the movable plate behind the vehicle head of the vehicle frame, a hydraulic cylinder is arranged on the platform, and the extension end of the hydraulic cylinder is fixedly connected with the shelf.

[0020] As preferred, the portal frame comprises a portal frame body and a lifting plate capable of being lifted relative to the portal frame body, the portal frame body is mounted on the second plate body, the platform is mounted on the lifting plate, the lifting plate is slidingly connected on the portal frame body, and a drive oil cylinder is arranged on the portal frame body, the drive oil cylinder drives the rotation of a winch, a traction chain is wound on the winch, and the traction chain is connected with the lifting plate.

[0021] Compared with the prior art, the utility model has the beneficial effects that:

[0022] (1) The first driving wheel is driven through the first driving structure, and the second driving wheel is driven through the second driving structure, so that independent movement is realized, when the first driving wheel is responsible for steering, the second driving wheel is synchronously rotated at a small angle, the first driving wheel or the second driving wheel is respectively or simultaneously rotated to realize normal walking mode, when the first driving wheel and the second driving wheel are synchronously steered in the same direction, the first driving wheel or the second driving wheel is respectively or simultaneously rotated to realize multi-direction walking, when the first driving wheel and the second driving wheel are synchronously steered in opposite directions, the first driving wheel or the second driving wheel is respectively or simultaneously rotated to realize a small-radius turning mode, most of the scenes of moving in narrow aisles are covered, movement can be more flexible, and the burden on the operator is reduced.

[0023] (2) The shelf capable of being stowed behind the vehicle head and the concave lamp mounting seat are arranged, so that the length of the vehicle is further reduced, and the flexibility of the vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a schematic view of the utility model;

[0025] Figure 2 is a schematic view of the utility model;

[0026] Figure 3 is another schematic view of the utility model;

[0027] Figure 4 is a structural schematic view of the first driving structure of the utility model;

[0028] Figure 5 is a schematic view of another angle of the utility model;

[0029] Figure 6 is a steering schematic view of the first driving wheel and the second driving wheel in the normal mode of the utility model;

[0030] Figure 7 is the steering schematic view of the first driving wheel and the second driving wheel of the multi-direction moving mode of the utility model;

[0031] Figure 8 is the steering schematic view of the first driving wheel and the second driving wheel of the small steering radius mode of the utility model;

[0032] Figure 9 is the schematic view of the handle of the utility model;

[0033] Figure 10 is the schematic view of the storage rack of the utility model;

[0034] Figure 11 is the schematic view of the platform of the utility model;

[0035] Figure 12 is the schematic view of the portal frame of the utility model.

[0036] In the figure: frame 100, lamp mounting seat 102, driving wheel 101, first driving wheel 200, second driving wheel 300, power seat 410, power motor 420, steering motor 430, reducer 431, steering seat 440, slide rail 451, guide rod 452, suspension spring 453, gear ring 432, driving gear 433, driven gear 434, handle 500, sensing device 501, mode switch N 601, mode switch C 602, mode switch Z 603, portal frame 700, portal frame body 710, lifting plate 720, towing chain 730, platform 800, hydraulic cylinder 810, fixed plate 811, movable plate 812, upper arm guard 820, lower arm guard 821, in-place seat 822. DETAILED DESCRIPTION

[0037] The present disclosure will be further described below in conjunction with the drawings and embodiments.

[0038] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as would be understood by one of ordinary skill in the art to which the present application pertains.

[0039] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should be further understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, steps, operations, devices, components and / or combinations thereof.

[0040] In the present disclosure, the terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only a relationship word determined for the convenience of describing the structural relationship of the components or elements of the present disclosure, and cannot be understood as a limitation on the present disclosure.

[0041] In the present disclosure, the terms such as "fixedly connected", "connected", "connected", and the like should be understood broadly, which means that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific or technical personnel in the art, the specific meaning of the above terms in the present disclosure can be determined according to the specific circumstances, and cannot be understood as a limitation on the present disclosure.

[0042] Embodiment:

[0043] Referring to Figures 1 to 3 As shown, the driving structure of the high-position sorting vehicle includes a vehicle frame 100, a first driving wheel 200, a second driving wheel 300, and a plurality of universal wheels 101. The first driving wheel 200, the second driving wheel 300, and the universal wheel 101 are located at the bottom of the vehicle frame 100. The first driving wheel 200, the second driving wheel 300, and the universal wheel 101 are all wheel bodies. The first driving wheel 200 and / or the second driving wheel 300 are subjected to torque to produce rotation, and the wheel surface of the first driving wheel 200 and / or the second driving wheel 300 generates power to the vehicle frame 100 through friction, thereby pushing the vehicle frame 100 to move. The universal wheel 101 supports the vehicle frame 100. The universal wheel 101 is rotationally connected to a universal frame, and the universal frame is rotationally connected to the vehicle frame 100. When the vehicle frame 100 moves, according to the principle of minimum potential energy, the universal wheel 101 turns to the position of minimum resistance. The universal wheel 101 can provide support to the vehicle frame 100 and keep the vehicle frame 100 stable in various movement forms and postures of the vehicle frame 100.

[0044] Among them, the universal wheel 101, the first driving wheel 200 and the second driving wheel 300 are tangent to the same plane. The plane is the ground. The first driving wheel 200 and the second driving wheel 300 have the same diameter.

[0045] Referring to Figure 2 , Figure 3 As shown, the projection of the vehicle frame 100 on the horizontal plane is a rectangle, and each universal wheel 101 is located at the corner position of the bottom of the vehicle frame 100. In some embodiments, the vehicle frame 100 is relatively long, and the universal wheels 101 are arranged at several positions in the length direction of the vehicle frame 100 and at both ends in the width direction to reduce the bending moment received by the vehicle frame 100.

[0046] In some embodiments, the first drive wheel 200 is located at a corner position of the frame 100, and the second drive wheel 300 is located at the diagonal position of the first drive wheel 200. The universal wheels 101 of the frame 100 of this configuration are located at the remaining two corner positions. Alternatively, the first drive wheel 200 is located at one end of the long side of the frame 100, and the second drive wheel 300 is located at the other end of the long side of the frame 100.

[0047] The first drive wheel 200 and the second drive wheel 300 can move independently, and the movements include rotation and steering. Among them, the first drive wheel 200 can rotate and steer, and the second drive wheel 300 can rotate and steer. Rotation is the circumferential rotation of the first drive wheel 200 or the second drive wheel 300 along its axial direction; steering is the deflection of the axial direction of the first drive wheel 200 or the second drive wheel 300. A first drive structure is provided at one end of the frame, and a second drive structure is provided at the other end of the frame. The first drive structure drives the first drive wheel 200 to move, and the second drive structure drives the second drive wheel 300 to move.

[0048] The first drive wheel 200 and the second drive wheel 300 are located in the length direction of the frame 100. One end of the frame 100 is defined as the head, and the other end far from the head end is the tail end. The first drive wheel 200 is located at the head end, and the second drive wheel 300 is located at the tail end.

[0049] In some embodiments, the first drive wheel 200 and the second drive wheel 300 are arranged on the central axis of the frame 100.

[0050] In some other embodiments, the first drive wheel 200 is located on one side of the central axis of the frame 100, and the second drive wheel 300 is located on the other side of the central axis of the frame 100. Specifically, the first drive wheel 200 is located on the right side of the central axis of the frame 100, and the second drive wheel 300 is located on the left side of the central axis of the frame 100. In the plane perpendicular to the perpendicular bisector, the projections of the first drive wheel 200 and the first drive structure and the projections of the second drive wheel 300 and the second drive structure are symmetrically arranged about the central axis of the projection of the frame 100. In some possible solutions, the first drive wheel 200 is located on the left side of the central axis of the frame 100, and the second drive wheel 300 is located on the right side of the central axis of the frame 100, but it is not limited thereto.

[0051] Refer to Figure 4 、 5 As shown, the first drive structure includes a power seat 410, a power motor 420 provided on the power seat 410, a steering seat 440, and a steering motor 430 provided on the steering seat 440. The power seat 410 and the steering seat 440 are rotationally connected. The steering motor 430 is传动连接动力座410并驱动动力座410转动,转向座440通过悬挂部弹性连接车架100,动力电机420驱动第一驱动轮200转动。 (It seems there is an error in this part. "传动连接动力座410并驱动动力座410转动" should be something like "drivably connected to the power seat 410 and drives the power seat 410 to rotate") It should be noted that there seems to be an error in the description of the "传动连接动力座410并驱动动力座410转动" part in the original text. The translation is based on the best understanding of the overall context, but this part may need to be corrected in the original text for a more accurate translation.

[0052] The second driving structure is the same as the first driving structure, and the second driving structure comprises a power seat 410, a power motor 420 arranged on the power seat 410, a steering seat 440, and a steering motor 430 arranged on the steering seat 440, the power seat 410 and the steering seat 440 are rotationally connected, the steering motor 430 is drivingly connected to the power seat 410 and drives the power seat 410 to rotate, the steering seat 440 is elastically connected to the frame 100 through a suspension part, and the power motor 420 drives the second driving wheel 300 to rotate.

[0053] The first driving structure and the second driving structure are arranged at the front end and the rear end of the frame 100 respectively, the specific components of the first driving structure and the second driving structure are the same, and the weights of the first driving structure and the second driving structure are similar, so that the weight distribution of the frame 100 is improved, and the controllability of the frame 100 is improved. Figure 4 Figure 5 The suspension part elastically arranges the first driving structure and the second driving structure on the frame 100, vibration is filtered through the elasticity, and the riding experience is improved.

[0054] Specifically, the suspension part comprises a sliding rail 451, a guide rod 452, and a suspension spring 453, the guide rod 452 is arranged on the frame 100 and arranged in the height direction, the steering seat 440 is provided with a guide hole, the guide rod 452 is inserted into the guide hole, the suspension spring 453 is inserted on the guide rod 452 and abuts between the frame 100 and the steering seat 440 at both ends, the sliding rail 451 is arranged on the frame 100 and arranged in the height direction, the steering seat 440 is provided with a sliding groove, and the sliding groove and the sliding rail 451 are slidingly connected.

[0055] The first driving structure and the second driving structure are arranged at the front end and the rear end of the frame 100 respectively, the specific components of the first driving structure and the second driving structure are the same, and the weights of the first driving structure and the second driving structure are similar, so that the weight distribution of the frame 100 is improved, and the controllability of the frame 100 is improved.

[0056] The steering motor 430 drives the power seat 410 to rotate in the structure shown in the figure, the top of the power seat 410 is circular and provided with a gear ring 432, the steering motor 430 is drivingly connected with a driving gear 433, and the driving gear 433 is engaged with the gear ring 432. The steering motor 430 is also drivingly connected with a speed reducer 431, the speed reducer 431 has a self-locking function, the self-locking function can be realized through a worm and gear structure, but is not limited thereto, and those skilled in the art can select other appropriate implementation manners according to the teaching of the utility model in actual use requirements. Figure 2 3 Specifically, the teeth of the gear ring 432 are arranged outward, the gear ring 432 is an external gear ring 432, the driving gear 433 is engaged with the gear ring 432, and the driving gear 433 drives the gear ring 432 to rotate by rotating. The gear ring 432 drives the power seat 410 and the first driving wheel 200 to rotate, and realizes the steering function.

[0057] Specifically, the teeth of the gear ring 432 are arranged outward, the gear ring 432 is an external gear ring 432, the driving gear 433 is engaged with the gear ring 432, and the driving gear 433 drives the gear ring 432 to rotate by rotating. The gear ring 432 drives the power seat 410 and the first driving wheel 200 to rotate, and realizes the steering function.

[0058] ​​The steering seat 440 is further rotatably connected with a driven gear 434, the driven gear 434 and the driving gear 433 are arranged on both sides of the gear ring 432, and the centers of the driven gear 434 and the driving gear 433 are arranged on a straight line passing through the center of the gear ring 432.

[0059] It is also feasible that the gear ring 432 is an inner gear ring 432, the pools constituting the gear ring 432 are arranged inwardly, and the driving gear 433 and the driven gear 434 are arranged inside the inner gear ring 432 and mesh with the inner gear ring 432. Since the gear ring 432 is arranged on the steering seat 440, the top of the steering seat 440 is provided with a protruding ring arranged upwardly, and the gear ring 432 is arranged in the protruding ring. However, the specific driving structure is not limited thereto.

[0060] A high-picking vehicle is a kind of low-speed storage and transportation vehicle, which has the driving structure of the aforementioned high-picking vehicle, and a person skilled in the art can arrange the type of low-speed storage and transportation vehicle according to actual positioning needs, for example, a forklift.

[0061] The high-picking vehicle has the following structures on the basis of the driving structure thereof:

[0062] Referring to Figure 1 And Figure 4 As shown in the figure, the first plate body 104 is arranged vertically near the front end of the vehicle frame 100, and the second plate body 105 is arranged vertically near the rear end of the vehicle frame 100. The first plate body 104 and the second plate body 105 divide the vehicle frame 100 into a front part, a middle part and a rear part along the length direction. The second plate body 105 is higher than the first plate body 104, and the second plate body 105 is provided with a mounting space near the upper part, which is used for mounting the power supply battery 106. Compared with the current way of placing the battery below and thus lengthening the length of the vehicle frame 100, this structure can reduce the length of the vehicle frame 100 and improve flexibility.

[0063] The front part is used for positioning the first driving structure and the first driving wheel 200, the middle part is used for positioning the portal 700, and the rear part is used for positioning the second driving structure and the second driving wheel 300. The way in which the vehicle frame positions the first driving structure and the first driving wheel 200 and the second driving structure and the second driving wheel 300 is described above. This layout can preferably arrange the driving wheels on both sides of the platform, reduce the height of the vehicle frame, reduce the center of gravity of the vehicle, and make it easier for the operator to enter the platform.

[0064] Referring to Figure 5 As shown in the figure, the vehicle frame 100 is provided with a lamp mounting seat 102 formed by inwardly recessing the front end of the vehicle frame 100, and the vehicle frame 100 is provided with a front warning lamp and a rear warning lamp at the front end and the rear end thereof, respectively. The lengths of the front warning lamp and the rear warning lamp are not more than the length of the vehicle frame 100.

[0065] Referring to Figure 1And Figure 5 As shown, the frame is detachably connected with the gantry 700, the first plate body 104 and the second plate body 105 are detachably connected with the gantry body 710, the gantry body 710 is slidingly connected with the lifting plate 720, the top of the gantry body 710 is provided with a driving oil cylinder, the driving oil cylinder is drivingly connected with a winch, the winch is wound with a tow chain 730, and the tow chain 730 is connected with the lifting plate 720. The lifting plate 720 is detachably connected with the platform 800. In some embodiments, the lifting plate 720 and the platform 800 are integrated, and in other embodiments, the lifting plate 720 and the platform 800 are detachably connected.

[0066] Referring to Figure 10 As shown, the front of the platform 800 is provided with a shelf capable of being lifted relative to the platform 800, the platform 800 is provided with a hydraulic cylinder 810, the extension end of the hydraulic cylinder 810 is fixedly connected with the shelf, the shelf includes a fixed plate 811 and a movable plate 812, the movable plate 812 can be extended or retracted relative to the fixed plate 811 to adjust the length of the shelf, and the shelf is configured to be capable of stowing the movable plate 812 behind the front of the frame 100.

[0067] Referring to Figure 12 As shown, the gantry 700 includes the gantry body 710 and the lifting plate 720 capable of being lifted relative to the lifting plate 720, and the platform 800 is mounted on the lifting plate 720, and the gantry body 710 is mounted between the first plate body 104 and the second plate body 105.

[0068] Referring to Figure 11 As shown, both sides of the platform 800 are provided with an arm guard, the arm guard includes an upper arm guard 820 and a lower arm guard 821, the upper arm guard 820 and the lower arm guard 821 are connected by a connecting rod to rotate synchronously, the platform 800 is provided with a home seat 822, the home seat 822 is provided with a detection circuit connected with a motion controller, when the arm guard is in a horizontal state, the lower arm guard 821 is in contact with the home seat 822, and the detection circuit transmits a signal to the motion controller.

[0069] A control system of a high-picking vehicle has a driving structure of the high-picking vehicle as described above, the high-picking vehicle has a controller and a motion controller, the controller can perform human-computer interaction, the controller includes a mode switching controller and a motion controller, the mode switching controller has three switching states, and the motion controller switches a motion mode according to a switching state input by the mode switching controller.

[0070] Unlike the controller, the motion controller is arranged in the high-picking vehicle, and the rotation speed and steering angle of the first transmission wheel and the second transmission wheel are corrected according to the attitude and motion state of the frame 100 obtained by the motion sensor mounted on the frame 100, so as to ensure the stability of the motion of the frame 100.

[0071] The movement modes include a normal mode, a multi-directional movement mode and a small turning radius mode.

[0072] The three switching states of the mode switching controller correspond to the three movement modes respectively, and the mode switching controller has identification information corresponding to the three movement modes.

[0073] In some embodiments, the mode switching controller includes three independent buttons corresponding to the three movement modes respectively. In other embodiments, the mode switching controller includes a knob with three gears. The mode switch N 601 corresponding to the normal mode, the mode switch C 602 corresponding to the multi-directional movement mode and the mode switch Z 603 corresponding to the small turning radius mode are respectively provided with sensing devices 501. Other forms are also possible, and the application is not limited in this regard.

[0074] In order to enable the operator to more easily identify the mode in which the vehicle is currently located, some embodiments provide a prompt light at the corresponding mode switch.

[0075] The movement modes include a normal mode, a multi-directional movement mode and a small turning radius mode.

[0076] In the normal mode, the movement controller controls one of the first driving wheel 200 and the second driving wheel 300 to turn, and controls one or both of the first driving wheel 200 and the second driving wheel 300 to move.

[0077] In some embodiments, the movement controller controls the first driving wheel 200 located at the head to turn, and controls the second driving wheel 300 located at the tail to move, which is similar to the movement of a rear-wheel drive vehicle, but the application is not limited in this regard. The movement controller can also control the first driving wheel 200 located at the head to turn, and control the first driving wheel 200 located at the head to move, which is similar to the movement of a front-wheel drive vehicle, or control the first driving wheel 200 located at the head to turn, and control the first driving wheel 200 located at the head and the second driving wheel 300 located at the tail to move, which is similar to the movement of a four-wheel drive vehicle.

[0078] In some possible embodiments, the movement controller controls the second driving wheel 300 located at the tail to turn, and controls the first driving wheel 200 and / or the second driving wheel 300 to move. The application is not limited in this regard.

[0079] Referring to FIG. 1, the vehicle 100 includes a first driving wheel 200, a second driving wheel 300, a movement controller 400 and a mode switching controller 500. Figure 6In the normal mode, the motion controller controls the first drive wheel 200 to steer, as shown. In the steering process of the high-position picking vehicle, the motion controller controls the second drive wheel 300 to adaptively steer according to the steering angle of the first drive wheel 200, and the steering angle of the second drive wheel 300 lags behind the first drive wheel 200. For the embodiment in which the motion controller controls the second drive wheel 300 to steer, the motion controller controls the first drive wheel 200 to adaptively steer according to the steering angle of the second drive wheel 300, and the steering angle of the first drive wheel 200 lags behind the second drive wheel 300.

[0080] Referring to Figure 7 In the multi-directional movement mode, the motion controller controls the first drive wheel 200 and the second drive wheel 300 to steer synchronously, the motion controller detects and adjusts the steering direction and the steering angle of the first drive wheel 200 and the second drive wheel 300 to be the same, and the motion controller controls one or both of the first drive wheel 200 and the second drive wheel 300 to rotate.

[0081] The multi-directional movement mode is also called crab mode, which is used to control the parallel movement of the vehicle frame 100 in any direction. The multi-directional steering includes 30 degrees, 45 degrees to 90 degrees. Since the above-mentioned steering can steer in both left and right directions, the steering range of the first drive wheel 200 and the second drive wheel 300 reaches 180 degrees, which supports the horizontal movement of the vehicle frame 100. Since the steering angle of the first drive wheel 200 and the second drive wheel 300 can be linearly adjusted between -90 degrees and 90 degrees, the vehicle frame 100 also supports the vertical movement at 0 degrees.

[0082] In some embodiments, the motion controller controls the first drive wheel 200 to drive the vehicle frame 100, and the second drive wheel 300 is driven; in other embodiments, the motion controller controls the second drive wheel 300 to drive the vehicle frame 100, and the first drive wheel 200 is driven; in still other embodiments, the motion controller controls the first drive wheel 200 and the second drive wheel 300 to drive synchronously, and the linear speed of the first drive wheel 200 and the second drive wheel 300 relative to the ground is consistent.

[0083] Referring to Figure 8 In the small steering radius mode, the motion controller controls the first drive wheel 200 and the second drive wheel 300 to steer synchronously, the steering angles are opposite and the steering angles are the same, and the motion controller controls one or both of the first drive wheel 200 and the second drive wheel 300 to rotate. Compared with the normal mode, the small steering radius mode can reduce the steering radius of the vehicle frame 100, especially the U-turn.

[0084] The small turning radius mode further comprises a zero position turning mode, in which the motion controller limits the rotation speed of the first driving wheel 200 and the second driving wheel 300 to a preset value or below when detecting that the turning angle of the first driving wheel 200 and the second driving wheel 300 reaches a turning threshold.

[0085] In some embodiments, the zero position turning mode is directly set in the mode switching controller as a switching mode as the normal mode, the multi-direction moving mode and the small turning radius mode. After entering this mode, the first driving wheel 200 and the second driving wheel 300 are synchronously turned according to the signal input by the motion controller, the turning direction is opposite, and the turning angle is 90 degrees. The motion controller limits the rotation speed of the first driving wheel 200 and the second driving wheel 300 to a preset value or below. The vehicle frame 100 starts to rotate in response to the signal input by the motion controller.

[0086] Control logic of the high picking vehicle:

[0087] The mode switching controller is in communication connection with the motion controller, and transmits information indicating the corresponding switching state to the motion controller.

[0088] The motion controller responds to the information indicating the corresponding switching state and switches to the corresponding motion mode.

[0089] The motion controller listens to the sensing device 501 on the two handles 500, and only receives the linear signal transmitted by the motion controller when receiving the signals transmitted by the sensing device 501 on the two handles 500 at the same time.

[0090] The motion controller receives a signal indicating a turning angle, and controls the turning angle of the first driving wheel 200 and / or the second driving wheel 300 according to the signal.

[0091] The motion controller receives a signal indicating a rotation speed, and controls the rotation speed of the first driving wheel 200 and / or the second driving wheel 300 according to the signal.

[0092] When the mode switching controller on the high picking vehicle switches the switching state, the motion controller responds and switches to the corresponding motion mode. In some embodiments, after switching the motion mode, the first driving wheel 200 and the first driving wheel 300 return to the zero position, and the rotation speed of the first driving wheel 200 and the first driving wheel 300 in the zero position is 0, and the turning angle is 0 degrees.

[0093] Referring to Figure 10As shown, the motion controller comprises two handles 500, which receive several linear signal inputs to control the motion of the first driving wheel 200 and the second driving wheel 300. One signal input controls the rotation speed of the first driving wheel 200 and / or the second driving wheel 300, and another signal input controls the steering angle of the first driving wheel 200 and / or the second driving wheel 300.

[0094] The axial directions of the two handles 500 are arranged on the same plane. The two handles 500 correspond to the two hands of a person respectively, and the distance between the two handles 500 is slightly greater than the shoulder width of an adult. The two handles 500 are horn-shaped. This structure is also suitable for the human body structure, and reduces the fatigue caused by long-term contact with the two handles 500.

[0095] The signal inputs include one or more of the pushing and pulling forces received by the two handles 500, and the opening degrees of the axial rotation of the two handles 500.

[0096] The handle 500 comprises an inner handle 500 and an outer handle 500 which is rotationally connected to and sleeved on the inner handle 500. The outer handle 500 and the inner handle 500 are elastically connected, and a zero position is generated by the elastic connection. Under the action of no external force, the outer handle 500 is always in the zero position. The outer handle 500 and the inner handle 500 can be connected by an encoder or other angle recording sensors. The inner handle 500 is relatively fixed to the vehicle body, and the outer handle 500 rotates along the axial direction relative to the inner handle 500. The angle of rotation of the outer handle 500 relative to the inner handle 500 is detected to generate the signal of the opening degree of the axial rotation of the handle 500. The signal input is linear. The opening degree generated by the rotation angle and the steering angle are positively correlated, that is, the greater the opening degree, the greater the steering angle.

[0097] In some embodiments, the aforementioned operation of returning to the zero position is automatically performed after the operator's hands are removed from the handles 500 or the signal input of the handle 500 is zero.

[0098] The surface of the handle 500 is provided with a pressure sensor, which can be arranged in the form of a dot matrix on the side wall of the handle 500. By pushing and pulling, a corresponding input signal can be generated. According to the input signal, the direction of the force applied to the handle 500 is judged, and according to the size of the pushing force, the motion controller controls the first driving wheel 200 and / or the second driving wheel 300 to steer and rotate. The pushing force and the rotation speed are positively correlated, that is, the greater the pushing force, the greater the rotation speed.

[0099] The signal input is set to be linear, which can better conform to human intuition, avoid errors, and reduce training costs.

[0100] The inner side of the handle 500 corresponding to the thumb area of the person is also provided with a control button or a rotatable structure, which can control other components attached to the vehicle body through the controller of the vehicle body. For example, the high-picking vehicle of the present application can control the lifting or falling of the platform for carrying people. However, this is not limited, and the forks of the forklift can also be controlled to lift and lower.

[0101] One handle 500 generates a signal through the opening degree and inputs the motion controller to control the rotation speed of the first driving wheel 200 and or the second driving wheel 300. The other handle 500 generates a signal through the opening degree and inputs the motion controller to control the steering angle of the first driving wheel 200 and or the second driving wheel 300.

[0102] In some embodiments, the motion controller receives the rotation opening degree signal of the two handles 500 to control the steering angle of the first driving wheel 200 and or the second driving wheel 300; and receives the signal provided by the pressure sensor on the surface of the handle 500 to control the rotation speed of the first driving wheel 200 and or the second driving wheel 300.

[0103] In the above three motion modes, the functions of the two handles 500 are always the same. For example, the left handle 500 is always used to control the rotation of the first driving wheel 200 and or the second driving wheel 300, that is, the feeding of the vehicle body, and the right handle 500 is always used to control the steering of the first driving wheel 200 and or the second driving wheel 300, that is, the steering of the vehicle body. The above setting can reduce the mental burden of the user and reduce the probability of error.

[0104] The handle 500 is also provided with a sensing device 501 for sensing whether the operator holds the two handles 500. The sensing device 501 is in communication connection with the motion controller, and when the sensing device 501 confirms that the operator holds the two handles 500, the motion controller allows the high-picking vehicle to move.

[0105] In some embodiments, the sensing device 501 is the pressure sensor mentioned above, which is used to detect whether the operator's hands are on the handle 500.

[0106] The operator controls the high-picking vehicle:

[0107] The operator enters the platform of the high-picking vehicle;

[0108] Select the corresponding switching state through the mode switching controller;

[0109] Place both hands on the two handles 500;

[0110] Input the control command by controlling the two handles 500;

[0111] Upon completion of the work, the vehicle is powered down.

[0112] The above-mentioned embodiments are only preferred solutions of the present application, and do not limit the present application in any form. Other variations and modifications can be made without departing from the technical solutions described in the claims.

Claims

1. A high-level picking vehicle with dual drive wheels, characterized in that, Includes a vehicle frame, a gantry, and a platform for carrying users, which is connected to the gantry by a lifting mechanism; The frame is provided with a first drive wheel, a second drive wheel and several omnidirectional wheels. The omnidirectional wheels are located near the outer edge of the frame. A first drive structure is located near the front end of the frame and a second drive structure is located near the rear end of the frame. The first drive structure drives the first drive wheel to move and the second drive structure drives the second drive wheel to move. The movement includes rotation and steering. The frame is provided with a first plate and a second plate arranged vertically. The first plate and the second plate divide the frame into a front, middle and rear section along the length direction. The front section is used to position the first drive structure and the first drive wheel, the middle section is used to position the mast, and the rear section is used to position the second drive structure and the second drive wheel. The platform is equipped with a motion controller, which allows users to control the movement of the first and second drive wheels.

2. The high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The first drive structure includes a power seat, a power motor mounted on the power seat, a steering seat, and a steering motor mounted on the steering seat. The power seat and the steering seat are rotatably connected. The steering motor is driven by the power seat and drives the power seat to rotate. The steering seat is elastically connected to the vehicle frame through a suspension. The power motor drives the first drive wheel to rotate.

3. The high-level picking vehicle with dual drive wheels according to claim 2, characterized in that, The second drive structure has the same structure as the first drive structure, wherein the drive motor of the second drive structure drives the second drive wheel to rotate.

4. A high-level picking vehicle with dual drive wheels according to claim 2 or 3, characterized in that, The top of the power seat is round and the outer edge is equipped with a toothed ring. The steering motor is connected to a drive gear, and the drive gear meshes with the toothed ring.

5. A high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The casters are located at the corners of the frame.

6. A high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The front end of the frame is recessed inward to form a lamp mounting bracket, in which a driving warning light is installed.

7. A high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The platform is equipped with guard arms on both sides. The guard arms include an upper guard arm and a lower guard arm. The upper guard arm and the lower guard arm are connected by a connecting rod to rotate synchronously. The platform is equipped with a positioning seat. The positioning seat is equipped with a detection circuit connected to the motion controller. When the guard arm is in a horizontal position, the lower guard arm is in contact with the positioning seat, and the detection circuit transmits a signal to the motion controller.

8. A high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The power supply battery is installed on the frame, and the upper part of the second plate provides installation space for installing the power supply battery.

9. A high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The front of the platform is equipped with a shelf that can be raised and lowered relative to the platform. The shelf includes a fixed plate and a movable plate. The movable plate can extend or retract relative to the fixed plate to adjust the length of the shelf. The shelf is configured to retract the movable plate to the rear of the front of the vehicle frame. A hydraulic cylinder is provided on the platform, and the extension end of the hydraulic cylinder is fixedly connected to the shelf.

10. A high-level picking vehicle with dual drive wheels according to claim 1, characterized in that, The gantry includes a gantry body and a lifting plate that moves relative to each other. The gantry body is mounted on a second plate, and the platform is mounted on the lifting plate. The lifting plate is slidably connected to the gantry body. The gantry body is equipped with a drive cylinder, which drives a winch to rotate. A traction chain is wound around the winch, and the traction chain is connected to the lifting plate.

Images