Unmanned forklift

Abstract

The utility model provides an unmanned forklift which can be used for inserting and taking a short to-be-carried object placed on the ground at a height close to the ground, improves the taking and placing efficiency and is small in size. The unmanned forklift comprises a chassis used for walking; the portal frame assembly is provided with a portal frame supported on the chassis; the pallet fork assembly can be supported on the portal frame in an up-and-down moving mode and is provided with a plurality of pallet forks, each pallet fork is provided with a forking part capable of moving in the picking direction relative to the chassis, the chassis is provided with a plurality of notch parts corresponding to the pallet forks, and the notch parts are arranged on the portal frame. Each of the plurality of notch parts is opened forwards in the picking direction and is through in the vertical direction at least at the part corresponding to the pallet fork, so that the corresponding forking part can pass through the notch parts.

Description

Technical Field

[0001] This utility model relates to an unmanned forklift. Background Technology

[0002] Currently, in the field of logistics and warehousing automation, a typical unmanned forklift structure includes: a chassis for movement, a mast assembly supported on the chassis, and multiple forks that can be moved vertically on the mast. In this design, the fork tips can move relative to the chassis toward or away from the goods in the direction of goods pickup to achieve pallet picking and placement operations.

[0003] However, current warehouse space has extremely high requirements for both high density and high flexibility, which means it needs to adapt to various types of goods. Therefore, there is room for technological development in forklift structures, such as how to systematically maximize the efficiency of picking and placing goods in the entire warehouse space. Utility Model Content

[0004] The purpose of this invention is to provide an unmanned forklift that can pick up and drop low objects placed on the ground at a relatively low height (lower pick-up height), improves picking and placing efficiency, and is also compact in size.

[0005] This utility model provides an unmanned forklift, including: a chassis for movement; a mast assembly having a mast supported on the chassis; and a fork assembly, the fork assembly being vertically movably supported on the mast and having a plurality of forks, each of the plurality of forks having a fork-taking portion movable relative to the chassis in a picking direction, wherein the chassis and the plurality of forks are provided with a plurality of notches corresponding to each other, each of the plurality of notches opening forward in the picking direction and penetrating vertically at least at a portion corresponding to the fork, so as to allow the corresponding fork-taking portion to pass through.

[0006] The inventors observed that the area on the chassis of traditional forklifts corresponding to the forks is typically designed with (at least partially) an enclosed structure. This enclosed design restricts the vertical movement of the forks, preventing them from fully reaching the bottom of the pallet and making it difficult to pick up the pallet. If picking up the pallet is absolutely necessary, additional equipment is required, leading to reduced overall handling efficiency and inconvenience in space management. This situation is particularly common when handling warehouse pallets of varying standard designs, severely impacting the forklift's operational adaptability and the overall efficiency of the warehousing system.

[0007] Furthermore, this height restriction may lead to other related problems: firstly, it forces warehousing systems to uniformly adopt specific pallet sizes, reducing the flexibility in selecting warehousing equipment; secondly, when handling accidentally dropped or improperly placed goods, forklifts may be unable to perform necessary remedial operations due to height restrictions. These limitations are particularly prominent in today's modern warehousing environment that pursues high density and high flexibility, and structural innovation is urgently needed to solve this technical bottleneck.

[0008] In response, the unmanned forklift of this invention can provide an unmanned forklift that can pick up and drop low-lying objects placed on the ground at a relatively low height (lower pick-up height), which significantly improves warehouse flexibility.

[0009] Furthermore, compared to using a single notch to accommodate multiple forks, this design avoids excessively large notches and chassis instability, thus improving chassis stability. It also increases the space available for electrical components, making it easier to reduce the overall size of the chassis and decrease the vehicle's turning radius.

[0010] In one embodiment, the mast assembly further includes a mast moving part, via which the mast is reciprocally supported on the chassis in the pickup direction. The mast moving part has a free end further forward than the mast, and the range of movement of the mast and the mast moving part including the free end in the pickup direction does not exceed the front and rear ends of the chassis in the pickup direction. According to the above structure, the counterweight used to balance the weight added to the unmanned forklift by the forked object can be reduced.

[0011] In one embodiment, the gantry moving part moves together with the gantry, and the gantry moving part includes a support part connected to or integrally formed with the gantry, the support part slidingly contacting or rollingly contacting the chassis.

[0012] In one embodiment, the support portion does not overlap with the forks in the vertical direction. According to the above structure, the support portion does not occupy the lowering height of the forks.

[0013] In one embodiment, when the forks are lowered to their lowest position, the lower surface of the fork-taking portion is lower than the upper surface of the support portion. According to this structure, when the forks are lowered to their lowest position, the fork height can be as low as below the upper surface of the support portion, enabling a lower picking and placing height.

[0014] Preferably, when the forks are lowered to their lowest position, the upper surface of the fork-taking portion is positioned lower than the lower surface of the support portion. This allows for an even lower picking and placing height.

[0015] In one embodiment, the sidewall of the notch is provided with a track, the support is equipped with rollers and supported on the track via the rollers, and the travel distance of the gantry is shorter than the length of the notch in the pickup direction. According to the above structure, the space of the notch can be fully utilized to support the moving part of the gantry.

[0016] In one embodiment, the support portion includes a front end and a rear end along the picking direction, and the rollers are provided in a plurality of manner, including: a first roller mounted near the front end; and a second roller mounted near the rear end. According to the above structure, the gantry moving portion can be stably supported with a simple structure.

[0017] In one embodiment, the ratio of the dimension of the support in the pickup direction to the width of the chassis in the pickup direction is 0.35 to 0.75. According to the above structure, the counterweight used to balance the weight added to the unmanned forklift by the forked object can be reduced or eliminated.

[0018] Preferably, the ratio of the dimension of the support in the picking direction to the width of the chassis in the picking direction is 0.40 to 0.70. This allows for better reduction or elimination of counterweight, making it particularly suitable for driverless forklifts capable of picking up and placing goods at different heights in the vertical direction.

[0019] In one embodiment, the driverless forklift includes a limiting mechanism disposed on at least one of the mast assembly and the chassis, the limiting mechanism being configured to restrict the movement of the mast moving portion beyond the front end of the chassis. According to the above structure, adverse conditions caused by the mast moving portion accidentally moving beyond the front end of the chassis can be prevented.

[0020] In one embodiment, the limiting mechanism includes a first part and a second part, the first part being disposed on the gantry assembly and the second part being disposed on the chassis. The first part is engaged with the second part before the gantry moving part moves beyond the front end of the chassis. According to the above structure, adverse conditions caused by the gantry moving part accidentally moving beyond the front end of the chassis can be prevented with a simple structure.

[0021] In one embodiment, the second part is a limiting block disposed on the chassis in front of the gantry moving part, and the front end of the gantry moving part becomes the first part. According to the above structure, the gantry moving part itself can be used as part of the limiting mechanism, which reduces the number of components and lowers costs.

[0022] In one embodiment, the driverless forklift includes a rear-end limiting mechanism disposed on at least one of the mast assembly and the chassis, the rear-end limiting mechanism being configured to restrict the mast moving portion from moving rearward beyond a predetermined position. According to the above structure, adverse conditions caused by the mast moving portion accidentally moving rearward beyond the predetermined position can be prevented.

[0023] In one embodiment, the unmanned forklift includes a drive mechanism having a drive source for moving the mast in the pickup direction. The rear-end limiting mechanism includes a control unit and a first detection device. The first detection device is disposed between the mast assembly and the chassis. The first detection device includes: a first sensor disposed on the chassis; and a trigger plate disposed on the mast assembly and moving together with the mast and the mast moving part. When the trigger plate moves to a distance less than a predetermined distance from the first sensor and triggers the first sensor, the first sensor sends a first signal to the control unit. Upon receiving the first signal, the control unit stops the drive source. According to the above structure, it is possible to automatically prevent the mast moving part from accidentally moving backward beyond a predetermined position.

[0024] In one embodiment, the chassis is capable of traveling in a direction perpendicular to the pickup direction, and the mast is supported on the chassis in a reciprocating manner in the pickup direction. The ratio of the mast's travel distance in the pickup direction to the width of the chassis in the pickup direction is 0.7 or less. According to the above structure, the counterweight used to balance the weight added to the unmanned forklift by the forked object can be reduced.

[0025] In one embodiment, a second sensor is mounted on the front end of the chassis. This second sensor identifies the outline of a pallet placed on the ground as a transport object. According to this structure, it is unnecessary to install sensors on the front end of the fork's picking section for picking up pallets placed on the ground. This allows for thinner forks to be designed for more types of pallets and enables pallet picking at a closer height than the ground.

[0026] In one embodiment, two forks are arranged in an arrangement direction perpendicular to the pickup direction, and two notches are provided corresponding to the two forks. The chassis includes a mounting portion for carrying the transported object, and the mounting portion includes portions located on both sides of the arrangement direction of each of the notches. According to the above structure, compared with the case where a single notch is provided corresponding to multiple forks, the area of ​​the mounting portion is increased, which can further stabilize the transported object.

[0027] In one embodiment, viewed along the picking direction, the forks are located at the front of the mast. The forks have a main body, and the fork-taking section is slidably extendable relative to the main body. An upwardly protruding stop is provided at the rear end of the fork-taking section. According to this structure, it is possible to prevent the transported object picked up by the fork-taking section from obstructing the extension and retraction of the fork-taking section.

[0028] In one embodiment, the mast has: a first mast; and a second mast, the second mast being vertically and vertically supported on the first mast, and the fork assembly being vertically and vertically movably supported on the second mast. According to the above structure, it is possible to achieve loading and unloading at more different heights. Attached Figure Description

[0029] Figure 1 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0030] Figure 2 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0031] Figure 3 This is a top view showing an embodiment of the driverless forklift of the present invention.

[0032] Figure 4 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0033] Figure 5 This is a perspective view showing the chassis of an unmanned forklift according to an embodiment of the present invention.

[0034] Figure 6 This is a bottom view showing an embodiment of the driverless forklift of the present invention.

[0035] Figure 7 This is an exploded perspective view showing the mast, mast moving part and forks of an unmanned forklift according to an embodiment of the present invention.

[0036] Figure 8 This is a perspective view showing the mast moving part of an unmanned forklift according to an embodiment of the present invention.

[0037] Figure 9 This is a partial front view showing an embodiment of the driverless forklift of the present invention.

[0038] Figure 10 This is a side view of the forks of an unmanned forklift according to an embodiment of the present invention.

[0039] Figure 11 This is a partial front view showing an embodiment of the driverless forklift of the present invention.

[0040] Figure 12 This is a partial top view showing an embodiment of the driverless forklift of the present invention.

[0041] Figure 13 This is a perspective view showing the gears and rack of an unmanned forklift according to an embodiment of the present invention.

[0042] Figure 14 This is a perspective view showing the first detection device of an unmanned forklift according to an embodiment of the present invention.

[0043] Figure 15 This is a perspective view showing the first detection device of an unmanned forklift according to an embodiment of the present invention.

[0044] (Symbol Explanation)

[0045] 10 Chassis; 11 Chassis Body; 12 Notch; 14 Second Sensor; 20 Mast Assembly; 21 Mast; 22 Mast Moving Part; 23 Connecting Frame; 24 Pulley; 25 Flexible Cable; 30 Fork Assembly; 31 Fork; 32 Base; 41 Hydraulic Cylinder; 51, 52 Rails; 61 Roller; 70 Mast Drive Mechanism (Drive Mechanism); 71 Gear; 72 Rack; 80 Limiting Mechanism; 81, 82 Limiting Blocks; 90 Rear End Limiting Mechanism; 91 First Sensor; 92 Trigger Plate; 101 First Chassis Part; 102 Second Chassis Part; 103 Third Chassis Part; 111 Chassis Shell; 111a Top Plate; 111b Bottom Plate; 111c Side Plate; 111c1 Rear Side Plate; 112 Frame; 112a Crossbeam; 112b Rib plate; 121 First notch; 122 Second notch; 151 Drive wheel; 152 Caster wheel; 211 First mast; 212 Second mast; 213 Cover; 221, 222 Support parts; 221a, 222a First plate; 221b, 222b Second plate; 221c, 222c Extension; 221d Third plate; 223 Connecting plate; 311 Main body; 311a Third part; 311b Fourth part; 312 Forklift part; 312a Forklift part housing; 313 Stop bar; 611 First roller; 612 Second roller; 1211, 1212, 1221, 1222 Side walls; G Through part; L Width of chassis in the pickup direction; L1 Dimension of support part in the pickup direction; S Storage support part Detailed Implementation

[0046] Hereinafter, with reference to the accompanying drawings, the technical solutions of embodiments and modifications of this utility model will be described. Furthermore, the scope of this utility model is not limited to the following embodiments and modifications, and can be arbitrarily modified within the scope of the technical concept of this utility model. In addition, in the following drawings, for ease of understanding of the structures, the actual construction may sometimes differ from the scale, quantity, etc., in each construction. Furthermore, the same or equivalent parts in the drawings are labeled with the same reference numerals and will not be repeatedly explained.

[0047] <First Embodiment>

[0048] The unmanned forklift (hereinafter, sometimes referred to as "forklift") 100 involved in the first embodiment will be described below.

[0049] In the diagram, for ease of understanding, the intersecting Z, X, and Y directions are appropriately shown.

[0050] The Z-direction is defined based on the following state: the unmanned forklift 100 is positioned on the ground in a usable manner. The Z-direction is the vertical direction of the unmanned forklift 100. The X-direction, for example, is the pickup direction.

[0051] The Z-direction side and the other side are also referred to as Z-direction side Z1 and Z-direction side Z2. In this embodiment, Z-direction side Z1 and Z-direction side Z2 are the top and bottom of the unmanned forklift 100 in use.

[0052] The X-direction and the other side are also referred to as X-direction X1 and X-direction X2. In this embodiment, in the unmanned forklift 100 in use, the X-direction is the direction perpendicular to the up and down direction, X1 is the front when viewed from the picking direction, and X2 is the opposite direction of X1, i.e., the rear.

[0053] The Y-direction and the other direction are also referred to as Y1 and Y2, respectively. In this embodiment, in the unmanned forklift 100 in use, the Y-direction is the direction perpendicular to the up-down direction and the X-direction (pickup direction). Furthermore, in this specification, "parallel direction" includes generally parallel directions, and "perpendicular direction" includes generally perpendicular directions.

[0054] (Brief structure of an unmanned forklift)

[0055] Figure 1 This is a perspective view of the unmanned forklift 100 according to the first embodiment of the present invention, showing the mast 21 in the initial position and the forks 31 (the forking part) retracted. Figure 2 This is a perspective view of the unmanned forklift 100 from the X direction (X1), showing the state where the second mast 212 is raised and the fork assembly 30 is raised. Figure 3 The top view of the unmanned forklift 100 shows the mast 21 in its initial position and the forks 31 retracted. Figure 4 This is a perspective view of the driverless forklift 100, showing the mast 21 moved to a position further forward in the pickup direction (X direction X1) than its initial position and the forks 31 extended. Figure 5 This is a perspective view showing the chassis 10 of the driverless forklift 100. Figure 6 This is a bottom view showing the unmanned forklift 100, with the mast 21 in its initial position and the forks 31 retracted. Figure 7 This is an exploded perspective view showing the mast, mast moving part and forks of the driverless forklift 100. Figure 8 This is a perspective view showing the mast moving part of the driverless forklift 100. Figure 9 This is a partial front view of the unmanned forklift 100 viewed from the X direction (X1). Figure 10 This is a side view showing the forks 31 of the driverless forklift 100. Figure 11 This is a partial front view of the unmanned forklift 100 viewed from the X direction (X1). Figure 12 This is a partial top view of the unmanned forklift 100, showing the mast 21 moved to a position further forward in the pickup direction (X direction X1) than its initial position. Figure 13 It is a 3D view showing the gears and racks of the driverless forklift 100. Figure 14 This is a perspective view showing the first detection device of the driverless forklift 100. Figure 15 This is a perspective view showing the first detection device of the unmanned forklift 100. To simplify the drawing, sometimes... Figures 1-15 The illustration omits some components.

[0056] To maximize storage density, more and more warehousing facilities are adopting dense container layouts, which require a significant reduction in the width of the operating aisles. This invention's driverless forklift 100 can efficiently pick up and place goods even in narrow aisles.

[0057] The driverless forklift 100 is a side-mounted driverless forklift capable of traveling in a direction perpendicular to the picking direction. Here, "driverless" means that the forklift's movement does not depend on the driver's operation. The driverless forklift 100 includes a chassis 10, a mast assembly 20, and a fork assembly 30. The driverless forklift 100 transports objects. More specifically, the driverless forklift 100 picks up and places objects. Objects transported include, for example, pallets loaded with goods and empty pallets. Pallets include zigzag pallets, cross-shaped pallets, etc.

[0058] The mast assembly 20 has a mast 21 supported on the chassis 10. The fork assembly 30 is vertically movably supported on the mast 21 and has a plurality of forks 31. Each of the plurality of forks 31 has a fork take-up portion 312 that is movable relative to the chassis 10 in the pickup direction (X direction). "Movement relative to the chassis in the pickup direction" includes both movement in one direction and movement in the other direction of the pickup direction.

[0059] The chassis 10 is provided with a plurality of notches 12 corresponding to the plurality of forks 31. Each of the plurality of notches 12 is open forward (X1 in the X direction) in the picking direction and extends vertically through at least a portion corresponding to a fork 31, forming a through portion G for the passing of the fork-taking portion of the corresponding fork 31. Here, "exceeding vertically through a portion corresponding to a fork for the passing of the fork-taking portion" means that when the fork-taking portion of the fork 31 is at the end of its travel stroke (X2 in the X direction), the through portion G in the notch 12 coincides with the projection of the portion of the fork 31 used to pick up the transported object (the fork-taking portion 312 described later), such as... Figure 3 and Figure 6 As shown. Here, "projection" refers to projecting the relevant components onto a plane perpendicular to the vertical direction (Z direction).

[0060] (Chassis)

[0061] The chassis 10 is used for locomotion. The chassis 10 has a chassis body 11 and multiple wheels 15 mounted on the chassis body for locomotion, such as... Figure 6 As shown, the chassis body 11 is supported on the ground by multiple wheels 15. The multiple wheels 15 together support the chassis body 11, lifting it off the ground. The wheels 15 are mounted on the bottom of the chassis body 11, supporting the chassis 10 on the ground in a way that allows it to move. In addition, the driverless forklift 100 also includes a chassis drive mechanism for moving the chassis.

[0062] For example, the wheels 15 used for walking may include one or more drive wheels 151 and one or more casters 152, enabling the chassis 10 to move on the ground. In this case, the unmanned forklift 100 also includes: a drive source (not shown) such as a motor for driving the drive wheels 151 to rotate; and a walking controller (not shown) for controlling the movement of the drive source for walking.

[0063] In this embodiment, the wheels 15 used for movement include two drive wheels 151 and four omnidirectional wheels 152. By aligning the rotation axis LA of the drive wheels 151 parallel to the pickup direction (X direction), movement in the Y direction is possible. Thus, the chassis 10's direction of travel can be perpendicular to the pickup direction (X direction). Turning can be achieved by the speed difference between the two drive wheels (e.g., by braking one drive wheel).

[0064] like Figure 1 and Figure 5 As shown, the chassis body 11 includes: a chassis shell 111; a frame 112 that is combined with the chassis shell 111; and components (not shown) housed within the chassis shell 111.

[0065] The chassis housing 111 includes: a top plate 111a; a bottom plate 111b located below the top plate 111a (in the opposite Z direction, Z2); and a side plate 111c connecting the top plate 111a and the bottom plate 111b. The side plate 111c includes a rear side plate 111c1 that forms the rear (in the opposite X direction, X2) surface of the chassis body 11. The chassis housing 111 has an internal storage space. Although not shown in detail, components stored within the chassis housing 111 include, for example: an oil pump, hydraulic motor, oil tank, and controller for the hydraulic system for raising and lowering the second mast 212 of the mast 21 (described later) relative to the first mast 211; a travel controller for travel; and a power module, etc.

[0066] The frame 112 includes a crossbeam 112a and multiple ribs 112b. The crossbeam 112a extends along the Y direction. The rear side plate 111c1 is connected to the crossbeam 112a via multiple ribs 112b.

[0067] like Figure 5 As shown, in this embodiment, the chassis body 11 includes a first chassis portion 101, a second chassis portion 102, and a third chassis portion 103. The first chassis portion 101, the second chassis portion 102, and the third chassis portion 103 are arranged sequentially in the Y direction. The first chassis portion 101, the second chassis portion 102, and the third chassis portion 103 are interconnected via a frame 112 and a rear side plate 111c1. Thus, the chassis 10 as a whole presents an "E" shape when viewed from above in the vertical direction (Z direction). Furthermore, on the rear side (the other side of the X direction, X2) in the pickup direction, a base plate 111b is connected between the first chassis portion 101 and the second chassis portion 102, and between the second chassis portion 102 and the third chassis portion 103. The first chassis portion 101, the second chassis portion 102, and the third chassis portion 103 are each supported on the ground by two wheels 15. For example, the second chassis portion 102 is supported on the ground by a drive wheel 151. The first chassis section 101 and the third chassis section 103 are supported on the ground by casters 152.

[0068] The chassis 10 and the multiple (two in this embodiment) forks 31 are provided with multiple notches 12 corresponding to each other. The multiple notches 12 are arranged in the Y direction. For example... Figure 5As shown, each of the plurality of notches 12 opens forward (X1 in the X direction) in the pickup direction and extends vertically at least at the location corresponding to the fork 31 (through-portion G) to allow the fork-taking portion 312 of the corresponding fork 31 to pass through. Since the notches 12 open forward in the pickup direction (X direction) and extend vertically at least at the location corresponding to the fork 31, the portion of the fork 31 used to pick up the transported object can pass through the through-portion G vertically when the mast 21 is in its initial position. For example, the fork 31 can be lowered until the lower surface of the fork-taking portion 312 is flush with the lower surface of the base plate 111b. Furthermore, with the fork 31 lowered until the lower surface of the fork-taking portion 312 is flush with the lower surface of the base plate 111b, the fork-taking portion 312 of the fork 31 can be moved further forward (X1 in the X direction) and / or extended. Alternatively, the forks 31 can be configured to descend further below the lower surface of the base plate 111b. The lengths of the through portions G of the multiple notches 12 in the picking direction (X direction) can be the same.

[0069] In this embodiment, the notch 12 forms a through portion G only at the location corresponding to the fork 31.

[0070] Furthermore, the notch 12 also includes a portion adjacent to the through portion G in the Y direction, wherein the bottom surface of the notch is sealed by the base plate 111b. In other words, the notch 12 also includes a portion adjacent to the through portion G in the Y direction and opening upwards and forwards.

[0071] In this embodiment, the notch 12 includes a first notch 121 and a second notch 122 located on the opposite side of the Y direction, Y2, from the first notch 121. Figure 5 As shown. A first notch 121 and a second notch 122 are spaced apart in the Y direction. The first notch 121 and the second notch 122 are disposed on opposite sides of the second chassis portion 102 in the Y direction, separated by the second chassis portion 102. The first notch 121 is located between the first chassis portion 101 and the second chassis portion 102 in the Y direction. The second notch 122 is located between the second chassis portion 102 and the third chassis portion 103 in the Y direction. The first notch 121 includes a through portion G and a portion adjacent to the through portion G on the Y1 side in the Y direction, opening upwards and forwards. The second notch 122 includes a through portion G and a portion adjacent to the through portion G on the Y2 side in the other Y direction, opening upwards and forwards.

[0072] Furthermore, at least a portion of the chassis 10 is located on the front (X direction X1) side of the gantry 21. Here, "located on the front side of the gantry" means that it is substantially located on the front side of the gantry in any state, and the so-called front side is the front of the gantry along the pickup direction.

[0073] Furthermore, the chassis 10 also includes a mounting portion for carrying transported objects. In this embodiment, at least a portion of the upper surface of the chassis body 11 constitutes the aforementioned mounting portion. For example, the mounting portion includes portions located on both sides of the arrangement direction (Y direction) of each notch 12. Figure 1 and Figure 5 As shown, the mounting portion includes portions located on both sides of the first notch 121 in the Y direction and on both sides of the second notch 122 in the Y direction. More specifically, the portion of the first chassis portion 101, the second chassis portion 102, and the third chassis portion 103 that is forward (X direction side X1) of the gantry 21 serves as the mounting portion. At least a portion of the mounting portion in the second chassis portion 102 is located on the front (X direction side X1) side of the gantry 21. Furthermore, the first chassis portion 101 and the second chassis portion 102 may be used to carry the transported object, while the second chassis portion 102 may not carry the transported object.

[0074] (Gantry assembly)

[0075] The gantry assembly 20 has a gantry 21 supported on the chassis 10. The gantry can be fixedly supported on the chassis 10 (i.e., does not move relative to the chassis in the pickup direction (X direction)) or it can be configured to be movable on the chassis 10 in the pickup direction (X direction).

[0076] In this embodiment, the gantry 21 is supported on the chassis 10 and can reciprocate in the pickup direction (X direction). For example, the gantry assembly 20 includes the gantry 21 and the gantry moving part 22.

[0077] The gantry 21 includes a first gantry 211 and a second gantry 212. The second gantry 212 is vertically supported on the first gantry 211. For example, the second gantry 212 can be vertically supported on the first gantry 211 by means of a hydraulic cylinder 41. At least a portion of the second gantry 212 is located inside the first gantry 211. The connection and assembly relationship between the second gantry 212 and the first gantry 211 is the same as that of existing gantry structures, and will not be described further here. Alternatively, the second gantry 212 can also be vertically supported on the first gantry 211 by means of an actuator other than a hydraulic cylinder.

[0078] In addition, the gantry 21 also includes covers 213, 213 that cover the portions of the first gantry 211 located on both sides in the Y direction, such as Figure 2 As shown.

[0079] The mast 21 is movable relative to the chassis 10 in the pickup direction (X direction). The initial position of the mast 21 is the rearmost position (X2 on the other side of the X direction) of the mast's travel stroke, i.e., the rearmost end of the travel stroke. In this embodiment, the range of movement of the mast 21 in the pickup direction (X direction) does not exceed the front and rear ends (X1 end on one side of the X direction and X2 end on the other side of the X direction) of the chassis 10 in the pickup direction. Thus, by partially moving the mast 21 within the range of the chassis 10 in the pickup direction, compared to, for example, moving the mast 21 further forward (X1 on one side of the X direction) than the chassis 10, the counterweight used to balance the weight added to the forklift 100 by the transported object being forked can be reduced. Furthermore, the partial movement of the mast 21 within the range of the chassis 10 can be achieved electronically.

[0080] The width of the chassis 10 in the pickup direction (X direction) is set to L. Preferably, the ratio of the travel distance of the gantry 21 in the pickup direction (X direction) to the width L of the chassis 10 in the pickup direction is 0.7 or less, thereby reducing or eliminating the need for counterweight. Here, "width in the pickup direction of the chassis" refers to the distance between the front and rear ends of the chassis 10 in the pickup direction.

[0081] In this embodiment, the gantry 21 is supported on the chassis body 11 of the chassis 10 via the gantry moving part 22, allowing it to reciprocate in the pickup direction (X direction). In other words, the gantry moving part 22 supports the gantry 21 on the chassis 10 in a manner that allows it to reciprocate in the pickup direction (X direction). The gantry moving part 22 has a free end that is further forward (X1 in the X direction) than the gantry. The range of movement of the gantry moving part 22, including the free end, in the pickup direction (X direction) does not exceed the front and rear ends of the chassis 10 in the pickup direction. Therefore, even when the chassis 10 and the object to be picked up are relatively close in the X direction, it is possible to pick up the object placed on the ground, which is especially suitable for picking up goods in narrow aisles.

[0082] In this embodiment, the gantry moving part 22 moves together with the gantry 21. The gantry moving part 22 is connected to the gantry 21 and supports the gantry 21. For example, the gantry moving part 22 supports the gantry 21 at its rear end (the other side X2 in the X direction).

[0083] like Figure 7 and Figure 8As shown, the gantry moving part 22 includes a pair of support parts 221 and 222. The front (X-direction side X1) end of the support parts 221 and 222 serves as the aforementioned free end. The support parts 221 and 222 do not coincide with the fork 31 in the vertical direction. In other words, the projections of the support parts 221 and 222 do not coincide with the projections of the fork 31. The lengths of the support parts 221 and 222 in the pickup direction (X-direction) can be the same. Furthermore, the length of the support part 221 in the pickup direction (X-direction) is shorter than the length of the first notch 121 in the pickup direction. The length of the support part 222 in the pickup direction (X-direction) is shorter than the length of the second notch 122 in the pickup direction. In addition, the projections of the support parts 221 and 222 and the portion of the notch 12 adjacent to the through portion G in the Y-direction coincide.

[0084] In this embodiment, the support portions 221 and 222 are connected to the gantry 21. More specifically, the support portions 221 and 222 have a shape extending in the X direction. The support portions 221 and 222 are spaced apart in the Y direction. The support portion 221 is positioned further in the Y direction than the support portion 222. The support portion 221 has: a first plate 221a, which extends in the X direction and is plate-shaped with its thickness direction along the vertical direction; and a second plate 221b, which is bent relative to the first plate 221a and extends in the X direction and is plate-shaped with its thickness direction along the Y direction. The support portion 222 has: a first plate 222a, which extends in the X direction and is plate-shaped with its thickness direction along the vertical direction; and a second plate 222b, which is bent relative to the first plate 222a and extends in the X direction and is plate-shaped with its thickness direction along the Y direction. The first plates 221a and 222a are respectively configured such that their width (width in the Y direction) narrows as they face forward (towards the X direction).

[0085] The gantry moving part 22 further includes: a connecting plate 223 that connects the rear ends of the first plates 221a and 222a of a pair of support parts 221 and 222; extensions 221c and 222c extending upward from the rear ends of the first plates 221a and 222a, respectively; and third plates 221d and 222d connecting the first plates 221a and 222a to the second plates 221b and 222b, respectively. The extension 221c is positioned at a position Y1 further in the Y direction than the gantry 21. The extension 222c is positioned at a position Y2 further in the Y direction than the gantry 21. The connecting plate 223 has an upward-facing surface. A storage support part S for housing and supporting the gantry 21 is formed by the pair of support parts 221 and 222, the connecting plate 223, the extensions 221c and 222c, and the third plates 221d and 222d. For example, the two extensions 221c, 222c, the third plates 221d, 222d, and the first gantry 211 of the gantry 21 can be fastened with bolts or other fasteners. Furthermore, the gantry moving part 22 can be a single component. Alternatively, the gantry moving part 22 can be integrally formed with the first gantry 211 of the gantry 21. That is, the gantry moving part 22 includes a support portion that is connected to or integrally formed with the gantry 21.

[0086] In addition, the gantry assembly 20 also includes a connecting bracket 23 that connects the rear ends of the two extensions 221c, 222c. The connecting bracket 23 covers a portion of the gantry 21 from the rear.

[0087] The support portion 221 can slide or roll in contact with the chassis body 11 of the chassis 10, thereby being movable and supported on the chassis 10 in the pickup direction (X direction). However, it is not limited to this; the support portion 221 can also be movable and supported on the chassis 10 in the pickup direction (X direction) by means other than sliding or rolling contact. In this embodiment, the support portion 221 is in rolling contact with the chassis body 11.

[0088] As described above, the chassis 10 is provided with a first notch 121 and a second notch 122 through which the fork portion of the feeding fork 31 passes. Figure 5As shown, the first notch 121 has a pair of sidewalls 1211 and 1212 facing each other in the Y direction. Sidewall 1211 faces the Y2 side of the opposite Y direction. Sidewall 1212 faces the Y1 side of the opposite Y direction. Sidewall 1211 is also part of the first chassis portion 101. Sidewall 1212 is also part of the second chassis portion 102. A track 51 is provided on sidewall 1211. The track 51 extends in the X direction. The second notch 122 has a pair of sidewalls 1221 and 1222 facing each other in the Y direction. Sidewall 1221 faces the Y1 side of the opposite Y direction. Sidewall 1222 faces the Y2 side of the opposite Y direction. Sidewall 1221 is also part of the third chassis portion 103. Sidewall 1222 is also part of the second chassis portion 102. A track 52 is provided on sidewall 1221. The track 52 extends in the X direction. Alternatively, a track 51 can be provided on the side wall 1212, and a track 52 can be provided on the side wall 1222. By providing tracks on the side walls 1211 and 1221, which are further outward from the chassis 10 in the first notch 121 and the second notch 122, the gantry 21 can be better supported.

[0089] like Figure 8 and Figure 9 As shown, support portions 221 and 222 are each equipped with rollers 61 and are supported on tracks 51 and 52 via the rollers 61. Thus, support portions 221 and 222 are supported on side walls 1211 and 1221, respectively. Since the range of movement of the gantry moving portion 22, including its free end, in the pickup direction (X direction) does not exceed the front and rear ends of the chassis 10 in the pickup direction, the travel distance of the gantry 21, which moves together with the gantry moving portion 22, is shorter than the length of the notch in the pickup direction.

[0090] Each of the support portions 221 and 222 includes a front end (X1 on one side of the X direction) and a rear end (X2 on the other side of the X direction) along the picking direction (X direction). Rollers 61 are rotatably supported on the second plates 221b and 222b of the support portions 221 and 222. Multiple rollers 61 are provided. The multiple rollers 61 include: a first roller 611 mounted near the front end of the support portion 222 (221); and a second roller 612 mounted near the rear end of the support portion 222 (221). Figure 8 (Only the first and second rollers mounted on the support 222 are shown in the diagram.) "Near the front end of the support" means a position further forward (X1 in the X direction) than the center of the support, and the support effect improves as the distance from the front end of the support increases. "Near the rear end of the support" means a position further backward (X2 in the X direction) than the center of the support, and the support effect improves as the distance from the rear end of the support increases. Alternatively, one or more additional rollers 61 may be provided between the first roller 611 and the second roller 612.

[0091] As described above, in the pickup direction, the gantry 21 partially moves within the chassis 10, and the range of movement of the gantry moving part 22, including its free end, in the pickup direction (X direction) does not exceed the front and rear ends of the chassis 10 in the pickup direction. The dimensions of the support parts 221 and 222 in the pickup direction (X direction) are set as L1, and the dimension L1 of the support parts 221 and 222 in the pickup direction is shorter than the width L of the chassis 10 in the pickup direction. Preferably, the ratio (L1 / L) of the dimension L1 of the support parts 221 and 222 in the pickup direction (X direction) to the width L of the chassis 10 in the pickup direction is 0.35 to 0.75, thereby enabling the gantry 21 to move partially within the chassis 10 while further stably supporting the gantry. More preferably, the ratio (L1 / L) of the dimension L1 of the support parts 221 and 222 in the pickup direction (X direction) to the width L of the chassis 10 in the pickup direction is 0.40 to 0.70.

[0092] (Gantry drive mechanism)

[0093] When the mast 21 is movable and supported on the chassis 10 in the pickup direction (X direction), the unmanned forklift 100 also includes a mast drive mechanism 70 (equivalent to the "drive mechanism" of this utility model) that moves the mast 21 in the pickup direction.

[0094] The gantry drive mechanism 70 is used to move the gantry 21 in the pickup direction. The gantry drive mechanism 70 has a drive source (not shown) for moving the gantry in the pickup direction.

[0095] In this embodiment, the gantry drive mechanism 70 includes: a gear 71 rotatably supported on the gantry assembly 20; a rack 72 meshing with the gear 71 and mounted on the chassis 10; and a motor (not shown) serving as a drive source for rotating the gear 71. More specifically, as... Figure 13 As shown, gear 71 is mounted on the gantry moving part 22. Rack 72 is mounted on the chassis body 11. The connection and assembly relationship between gear 71 and gantry assembly 20, and between rack 72 and chassis 10, is the same as that of existing gantry drive mechanisms, and therefore will not be described again here. Alternatively, gear 71 can be mounted on chassis 10, and rack 72 can be mounted on gantry assembly 20. That is, gantry drive mechanism 70 includes gear 71 rotatably supported on one of gantry assembly 20 and chassis 10; and rack meshing with gear 71 and mounted on the other of gantry assembly 20 and chassis 10. In addition, gantry drive mechanism 70 may also include a transmission mechanism other than gear and rack.

[0096] The unmanned forklift 100 also includes a mast control unit (not shown, equivalent to the "control unit" of this utility model). The mast control unit controls the operation of the aforementioned drive source.

[0097] (Limiting mechanism)

[0098] Furthermore, the driverless forklift 100 may include a limiting mechanism 80 disposed on at least one of the mast assembly 20 and the chassis 10. The limiting mechanism 80 is configured to restrict movement of the mast moving part 22 beyond the front (X direction X1) end of the chassis body 11 of the chassis 10.

[0099] For example, the limiting mechanism includes a first part and a second part. The first part is disposed on the gantry assembly 20, and the second part is disposed on the chassis 10. Before the gantry moving part 22 moves beyond the front end of the chassis 10, the first part is locked to the second part. This prevents adverse conditions caused by the gantry moving part 22 accidentally moving beyond the front end of the chassis 10.

[0100] In this embodiment, as a second part, limit blocks 81 and 82 are provided on the chassis 10 in front of the gantry moving part 22 (on the X-direction side X1), such as... Figure 5 As shown. More specifically, the limiting block 81 is fixed to the track 51. The limiting block 82 is fixed to the track 52. Furthermore, the front end of the gantry moving part 22 becomes the aforementioned first part. Alternatively, only one limiting block may be provided.

[0101] (Back-end limiting mechanism)

[0102] The driverless forklift 100 may further include a rear-end limiting mechanism 90 disposed on at least one of the mast assembly 20 and the chassis 10. The rear-end limiting mechanism 90 is configured to restrict the mast moving part 22 from moving rearward (in the opposite X direction X2) beyond a predetermined position. The predetermined position may be the position of the mast moving part 22 when the mast 21 is in the initial position, or a position further rearward (in the opposite X direction X2) than that position.

[0103] In this embodiment, a first detection device is provided between the gantry assembly 20 and the chassis 10. The rear limiting mechanism 90 includes the first detection device and a gantry control unit. The first detection device includes: a first sensor 91 disposed on the chassis 10; and a trigger plate 92 disposed on the gantry assembly 20 and moving together with the gantry 21 and the gantry moving part 22. The first sensor 91 may be an inductive proximity switch sensor. The trigger plate 92 may be a metal plate. Figure 12 and Figure 14 As shown, the first sensor 91 is fixed to the rib 112b of the chassis 10 by a bracket via bolts or other fasteners. Figure 15 As shown, the trigger plate 92 is fixed to the gantry moving part 22 by bolts or other fasteners. The trigger plate 92 and the first sensor 91 are opposite each other in the pickup direction (X direction). As the gantry moving part 22 moves relative to the chassis 10 in the pickup direction, the distance between the trigger plate 92 and the first sensor 91 changes.

[0104] When the trigger plate 92 moves to a distance less than a predetermined distance from the first sensor 91 and triggers the first sensor 91, the first sensor 91 sends a first signal to the gantry control unit. Upon receiving the first signal, the gantry control unit stops the aforementioned drive source from operating.

[0105] (Forklift assembly)

[0106] The forks 31 may extend or retract relative to the mast 21 in the pickup direction, or they may not extend or retract. For example, if the mast 21 is movable in the pickup direction (X direction) and supported on the chassis 10, the forks 31 may extend or retract relative to the mast 21 in the pickup direction, or they may not extend or retract. As another example, if the mast is fixedly supported on the chassis 10 (i.e., does not move relative to the chassis in the pickup direction (X direction), the forks 31 may extend or retract relative to the mast 21 in the pickup direction.

[0107] In this embodiment, the forks 31 can extend and retract forward away from the mast (X1 in the X direction) or backward toward the mast (X2 in the X direction) in the picking direction.

[0108] As described above, the fork assembly 30 is vertically movable and supported on the mast 21. This allows for loading and unloading goods at different heights. More specifically, the fork assembly 30 is vertically movable and supported on the second mast 212. Figure 7 As shown, the fork assembly 30 has forks 31 and a base 32.

[0109] The base 32 is vertically supported on the second mast 212 of the mast 21. The forks 31 are supported on the base 32 by hooking, fastening, or other means, and move up and down together with the base 32. In this embodiment, the unmanned forklift 100 includes a pulley 24 and a flexible cable 25. The pulley 24 is mounted on the second mast 212. The flexible cable 25 passes around the pulley 24 and its two ends are respectively connected to the fork assembly 30 and the first mast 211. As the second mast 212 rises or falls, the fork assembly 30 slides (rises and falls) in the vertical direction under the action of the flexible cable 25. More specifically, the pulley 24 is mounted near the top of the second mast 212. The flexible cable 25 can be a rope, a timing belt, or a chain. One end of the flexible cable 25 is fixed to the base 32, and the other end extends upward, passes around the pulley 24, extends downward, and is fixed to the first mast 211. When the second mast 212 is moved by the hydraulic cylinder 41, the base 32 is pulled up by the flexible cable 25. The height to which the base 32 (fork assembly 30) rises is twice the height to which the second mast 212 rises.

[0110] In this embodiment, two forks 31 are provided. More specifically, two forks 31 are arranged in the Y direction. The two forks 31 can be formed with the same structure. Viewed in the pickup direction, the forks 31 are located on the front side (X1 side in the X direction) of the mast 21. The forks 31 can extend and retract forward away from the mast 21 or backward toward the mast 21 in the pickup direction. For example, the chassis 10 travels with the mast 21 in its initial position and the forks 31 (the forking portion 312) retracted. Figure 3 and Figure 6 As shown, when the mast 21 is in the initial position and the forks 31 are retracted, the projection of the forks 31 is within the range of the chassis 10, thereby preventing the forks from interfering with surrounding objects when the chassis 10 is moving. Furthermore, when the mast 21 is in the initial position and the forks 31 are not retracted, the projection of the forks 31 can be within or beyond the range of the chassis 10.

[0111] In this embodiment, the forks have a two-section telescopic structure. For example... Figure 4 and Figure 10 As shown, the fork 31 has a main body 311 and a fork-taking part 312. The fork-taking part 312 can slide and extend relative to the main body 311. The main body 311 has an "L" shape when viewed from the side, and the main body 311 can be divided into a third part 311a extending in the X direction and a fourth part 311b extending upward from the rear end of the third part 311a.

[0112] The forklift portion 312 extends along the X direction. The forklift portion 312 is the part that contacts the object being transported. For example, the upper surface of the forklift portion 312 contacts the object being transported. Pallets carrying goods can be picked up using the forklift portion 312, as can pallets without goods.

[0113] In this embodiment, the unmanned forklift 100 also includes a fork drive mechanism that extends and retracts the fork-taking portion 312 of the fork 31.

[0114] The fork-taking portion 312 extends and retracts relative to the main body portion 311 in the picking direction (X direction) to pick up the object being transported. For example, the forks 31 are driven by hydraulic oil. The main body portion 311 is provided with a cylinder. For example, a third part 311a can be used as the cylinder. The fork-taking portion 312 includes a fork-taking housing 312a. When the forks are retracted, the fork-taking housing 312a is fitted over the outside of the main body portion 311. The forks 31 also include a piston rod (not shown) that extends and retracts relative to the aforementioned cylinder. The fork-taking portion 312 is driven by the piston rod to move in the picking direction. The piston rod extends in the X direction, and at least a portion of it extends into the fork-taking housing 312a.

[0115] Preferably, when the fork 31 descends to its lowest position in the vertical direction (the position closest to the opposite Z2 direction), the lower surface SF1 of the fork-taking portion 312 (the surface on the opposite Z2 direction) is lower than the upper surface SF2 of the support portions 221 and 222 (the surface on one Z1 direction) (the surface on the opposite Z2 direction). Therefore, when the fork 31 descends to its lowest position, the height of the fork 31 can be lower than the upper surface SF2 of the support portions 221 and 222, achieving a lower picking and placing height. More preferably, when the fork 31 descends to its lowest position, the upper surface SF3 of the fork-taking portion 312 is lower than the lower surface SF4 of the support portions 221 and 222, such as... Figure 11 As shown. This allows for even lower loading and unloading heights.

[0116] In addition, a second sensor 14 is installed at the front end of the chassis 10, such as Figure 4 As shown. The second sensor 14 identifies the outline of a pallet placed on the ground. Based on the detection results of the second sensor 14, the forks can be adjusted to an appropriate height to pick up the pallet. The second sensor can be radar. By installing the second sensor 14 at the front end of the chassis 10, it is not necessary to install a sensor at the front end of the forks 31 for adjusting the height during low-position picking, thus making it easier to reduce the thickness of the forks 31 in the vertical direction.

[0117] By setting a through-hole G and installing a second sensor 14 at the front end of the chassis 10, a lower picking and placing height can be achieved. In particular, the grid pallet has a pallet guard between the pallet socket and the ground. When the socket height is low, picking up the pallet is difficult, requiring thinner forks and the ability to lower the forks to a lower height. The unmanned forklift 100 according to this invention can pick up grid pallets with low socket heights.

[0118] In one example, the unmanned forklift 100 of this invention is able to pick up pallets with a hole height of less than 100mm, such as crisscross pallets and grid pallets.

[0119] In addition, the fork 31 has an upwardly protruding stop bar 313 at the rear end of the fork-taking part 312, which can prevent the transported object picked up by the fork-taking part 312 from contacting the main body 311 and hinder the extension and retraction of the fork 31.

[0120] In addition, the driverless forklift 100 may include sensors for recognizing the outline of the pallet at a location away from the ground.

[0121] In this embodiment, the mast 21 is supported on the chassis 10 and can move back and forth in the picking direction. The forks 31 are located on the front side of the mast 21. The fork-taking part 312 of the forks 31 can slide and extend relative to the main body 311. Thus, even in narrow aisles, goods can be easily picked up and put down from deep inside.

[0122] The unmanned forklift 100 of this utility model can retrieve goods from high positions such as shelves far from the ground, place goods on high positions such as shelves far from the ground, retrieve goods from low positions (including the ground) close to the ground, and place goods on low positions close to the ground.

[0123] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above embodiments and modifications.

[0124] For example, the support portions 221 and 222 do not necessarily have a shape that extends in the X direction; at least a portion may be bent or tilted relative to the X direction.

[0125] For example, there may be more than three forks 31. In this case, it is preferable to have more than three notches on the chassis 10 corresponding to the three or more forks.

[0126] The specific shape of the fork 31 is not particularly limited. It can be any shape other than those described in the above embodiments and variations, as long as it has a fork-taking part on the front side to pick up the object being transported.

[0127] For example, the support for the gantry moving part can also be supported on a part of the chassis body other than the side wall of the notch.

[0128] For example, a limit mechanism can also limit the movement of a gantry.

[0129] For example, the driverless forklift 100 can be configured to travel in multiple directions. The chassis can also be configured as an omnidirectional chassis.

[0130] For example, the mast can be fixedly supported on the chassis 10 (i.e., it does not move relative to the chassis in the picking direction (X direction)). In this case, the forks are configured to be telescopic.

[0131] The specific embodiments of this utility model have been described above in conjunction with the accompanying drawings. However, it is understood that the above description does not limit this utility model in any way, and the technical features of each embodiment can be combined with each other in any way to constitute new embodiments. Furthermore, those skilled in the art, after understanding the above specific embodiments, can make various other modifications and changes to this utility model as needed. These modifications and changes do not depart from the essential content of this utility model.

Claims

1. An unmanned forklift, characterized in that, include: Chassis for walking; A gantry assembly having a gantry supported on the chassis; as well as A fork assembly, which is vertically movably supported on the mast, and has a plurality of forks, each of which has a fork take-up portion movable relative to the chassis in a pick-up direction. The chassis is provided with multiple notches corresponding to the multiple forks. Each of the multiple notches opens forward in the picking direction and is through in the vertical direction at least at the part corresponding to the fork, so that the corresponding fork picking part can pass through.

2. The unmanned forklift according to claim 1, characterized in that, The gantry assembly further includes a gantry moving part, via which the gantry is reciprocally supported on the chassis in the pickup direction, the gantry moving part having a free end that is further forward than the gantry. The range of movement of the gantry and the gantry moving part including the free end in the pickup direction does not exceed the front and rear ends of the chassis in the pickup direction.

3. The unmanned forklift according to claim 2, characterized in that, The gantry moving part moves together with the gantry. The gantry moving part includes a support part that is connected to or integrally formed with the gantry, and the support part is in sliding or rolling contact with the chassis.

4. The unmanned forklift according to claim 3, characterized in that, The support portion and the forks do not overlap in the vertical direction.

5. The unmanned forklift according to claim 4, characterized in that, When the forks are lowered to their lowest position, the lower surface of the fork-taking portion is lower than the upper surface of the support portion.

6. The unmanned forklift according to claim 5, characterized in that, When the forks are lowered to their lowest position, the upper surface of the fork-taking part is lower than the lower surface of the support part.

7. The unmanned forklift according to claim 3, characterized in that, The sidewall of the notch is provided with a track. The support portion is equipped with rollers and is supported on the track via the rollers. The travel distance of the gantry is shorter than the length of the notch in the pickup direction.

8. The unmanned forklift according to claim 7, characterized in that, The support portion includes a front end and a rear end along the picking direction. The rollers are provided in multiple quantities. The plurality of rollers includes: a first roller mounted near the front end; and a second roller mounted near the rear end.

9. The unmanned forklift according to claim 3, characterized in that, The ratio of the dimension of the support in the pickup direction to the width of the chassis in the pickup direction is 0.35 to 0.

75.

10. The unmanned forklift according to claim 9, characterized in that, The ratio of the dimension of the support in the pickup direction to the width of the chassis in the pickup direction is 0.40 to 0.

70.

11. The unmanned forklift according to any one of claims 2 to 10, characterized in that, The system includes a limiting mechanism disposed on at least one of the gantry assembly and the chassis, the limiting mechanism being configured to restrict the movement of the gantry moving portion beyond the front end of the chassis.

12. The unmanned forklift according to claim 11, characterized in that, The limiting mechanism includes a first part and a second part, the first part being disposed on the gantry assembly, and the second part being disposed on the chassis. Before the gantry moving part moves beyond the front end of the chassis, the first part is locked to the second part.

13. The unmanned forklift according to claim 12, characterized in that, The second part is a limiting block disposed on the chassis in front of the gantry moving part. The front end of the gantry moving part becomes the first part.

14. The unmanned forklift according to any one of claims 2 to 10, characterized in that, The system includes a rear-end limiting mechanism disposed on at least one of the gantry assembly and the chassis, the rear-end limiting mechanism being configured to restrict the gantry moving part from moving backward beyond a predetermined position.

15. The unmanned forklift according to claim 14, characterized in that, Includes a drive mechanism having a drive source for moving the gantry in the pickup direction. The rear-end limiting mechanism includes a control unit and a first detection device. The first detection device is provided between the gantry assembly and the chassis. The first detection device includes: a first sensor disposed on the chassis; and a trigger plate disposed on the gantry assembly and moving together with the gantry and the gantry moving part. When the trigger plate moves to a distance less than a predetermined distance from the first sensor and triggers the first sensor, the first sensor sends a first signal to the control unit, and the control unit, upon receiving the first signal, causes the drive source to stop operating.

16. The unmanned forklift according to claim 1, characterized in that, The chassis can travel in a direction perpendicular to the pickup direction. The gantry is supported on the chassis and can move back and forth in the pickup direction. The ratio of the travel distance of the gantry in the pickup direction to the width of the chassis in the pickup direction is 0.7 or less.

17. The unmanned forklift according to claim 1, characterized in that, A second sensor is installed at the front end of the chassis, which identifies the outline of the pallet placed on the ground as the object to be transported.

18. The unmanned forklift according to claim 1, characterized in that, Two forks are arranged in a direction perpendicular to the picking direction, and two notches are provided corresponding to the two forks. The chassis includes a mounting section for carrying transported objects, the mounting section including portions located on both sides of the arrangement direction of each of the notches.

19. The unmanned forklift according to claim 1, characterized in that, Viewed along the pickup direction, the forks are located on the front side of the mast. The forks have a main body, and the fork-taking portion is capable of sliding and extending relative to the main body. An upwardly protruding stop bar is provided at the rear end of the fork section.

20. The unmanned forklift according to claim 1, characterized in that, The gantry includes: a first gantry; and a second gantry, the second gantry being vertically and vertically supported by the first gantry. The fork assembly is vertically movable and supported on the second mast.

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