Driverless fork lift truck

Abstract

The utility model discloses unmanned forklift capable of fully utilizing the space in chassis to set up oil tank, and the oil tank capacity is set to be larger, and the unmanned forklift can avoid hydraulic oil overheating. The unmanned forklift comprises: chassis for walking, and the chassis has a storage space; portal assembly, the portal assembly is supported on the chassis; pallet fork assembly, the pallet fork assembly is supported on the portal assembly and can move up and down; and oil pressure system, the oil pressure system has oil cylinder, oil pump, oil tank and oil pipeline, and the oil pump and the oil tank are stored in the storage space.

Description

Technical Field

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

[0002] An unmanned forklift is known, comprising a chassis, a mast supported on the chassis, and forks supported on the mast. The mast includes a lower mast and an upper mast, and is driven by hydraulic cylinders to raise and lower the upper mast relative to the lower mast. The hydraulic tank is considered to be located at the rear of the mast. However, the space at the rear of the mast is narrow, resulting in a small hydraulic tank capacity and the potential for hydraulic oil overheating during operation. Adding cooling equipment would complicate the structure and increase costs. Utility Model Content

[0003] The purpose of this invention is to provide an unmanned forklift that can make full use of the space inside the chassis to set up the oil tank, making it easy to set a large oil tank capacity and avoid overheating of the hydraulic oil.

[0004] This utility model provides an unmanned forklift, comprising: a chassis for walking, the chassis having a storage space; a mast assembly supported on the chassis; a fork assembly supported on the mast assembly for vertical movement; and a hydraulic system having a hydraulic cylinder, a hydraulic pump, a hydraulic tank and hydraulic pipelines, the hydraulic pump and the hydraulic tank being housed within the storage space.

[0005] According to this embodiment, the unmanned forklift makes full use of the space inside the chassis to set up the oil tank, which makes it easy to set a large oil tank capacity and avoid the hydraulic oil overheating.

[0006] In one embodiment, the unmanned forklift includes a cable chain, one end of which is fixed to the chassis and the other end to the mast assembly. The oil supply line includes a first flexible oil pipe, and the cable chain is sleeved around at least a portion of the outer periphery of the first flexible oil pipe. According to this structure, the first flexible oil pipe located between the chassis and the mast assembly can be protected, preventing damage to the first flexible oil pipe.

[0007] In one embodiment, the hydraulic system includes: a first adapter block fixed to a chassis; and a second adapter block fixed to the gantry assembly, with one end of the cable chain fixed to the first adapter block and the other end fixed to the second adapter block. According to the above structure, a first flexible hydraulic line between the first adapter block on the chassis and the second adapter block on the gantry assembly can be protected.

[0008] In one embodiment, the chassis is capable of traveling in a direction perpendicular to the pickup direction, the fork assembly has forks that extend and retract relative to the mast assembly in the pickup direction, and the driverless forklift further includes a mast moving part. The mast assembly is supported on the chassis via the mast moving part in the pickup direction in a reciprocating manner. The mast moving part has a free end that is further forward than the mast assembly, and the range of movement of the mast assembly 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 this structure, goods can be efficiently picked up and placed even in narrow aisles. Furthermore, compared to the case where the mast assembly is fixedly supported on the chassis and the forks extend and retract, the lever arm can be shortened, reducing the strength requirements on the forks. Furthermore, since the range of movement of the mast assembly and the mast moving part including the free end in the picking direction does not exceed the front and rear ends of the chassis in the picking direction, it is possible to reduce the counterweight used to balance the weight of the transported object being forked onto the unmanned forklift. It is also possible to make the length of the oil supply line between the chassis and the mast assembly shorter, making it easier to install the oil supply line between the mast assembly and the chassis.

[0009] In one embodiment, the mast assembly is supported on the chassis in a reciprocating manner in the pickup direction, and the ratio of the travel distance of the mast assembly in the pickup direction to the width of the chassis in the pickup direction is 0.7 or less. According to the above structure, counterweights used to balance the weight added to the unmanned forklift by the forked object can be reduced or eliminated. Furthermore, the length of the oil supply line between the chassis and the mast assembly can be shortened, making it easier to install the oil supply line between the mast assembly and the chassis.

[0010] In one embodiment, the mast assembly includes a first mast and a second mast, the fork assembly is vertically movably supported on the second mast, and the hydraulic cylinder includes a lifting cylinder that raises and lowers the second mast relative to the first mast. According to the above structure, it is possible to achieve loading and unloading at more different heights.

[0011] In one embodiment, the fork assembly has a plurality of forks, each having a fork-taking portion movable relative to the chassis in the pickup direction. The chassis has a plurality of notches corresponding to the forks, each notch opening forward in the pickup direction and extending vertically at least at a location corresponding to the fork, allowing the fork-taking portion of the corresponding fork to pass through. According to this structure, shorter objects placed on the ground can be picked up and dropped at a relatively low height. Furthermore, compared to a single, continuous notch corresponding to multiple forks, excessively large notches and chassis instability are avoided, improving chassis stability. It also increases space for electrical components, making it easier to reduce the overall size of the chassis and decrease the vehicle's turning diameter.

[0012] In one embodiment, two forks are arranged in an arrangement direction perpendicular to the picking direction, and two notches are provided corresponding to the two forks.

[0013] In one embodiment, the oil pump and the oil tank are arranged within the storage space along the pickup direction. When the chassis has a through-hole, the chassis storage space is limited; this arrangement makes it easier to reduce the chassis size in the direction perpendicular to the pickup direction, thus preventing the chassis from becoming too large.

[0014] In one embodiment, the fork assembly has a plurality of forks, each of the plurality of forks having a body portion and a fork take-up portion, and the hydraulic system includes a fork cylinder for each of the forks, the fork cylinder causing the fork take-up portion to move relative to the body portion in a pick-up direction.

[0015] In one embodiment, the fork cylinder includes: a cylinder body disposed on the main body; and a piston rod that extends and retracts relative to the cylinder body, wherein the fork take-up portion is driven by the piston rod to move in the pick-up direction. According to the above structure, fork extension and retraction can be achieved with a simple structure.

[0016] In one embodiment, the fork assembly has two forks, and the oil supply line includes a third adapter block having a first branched flow path and a second branched flow path. When one of the first and second branched flow paths causes hydraulic oil to flow separately to the cylinders of the two forks, the other branched flow path causes the hydraulic oil from the cylinders of the two forks to merge. According to this structure, the branching and merging of hydraulic oil for the two forks is achieved through the third adapter block, simplifying the structure of the oil supply line.

[0017] In one embodiment, the third adapter block is fixed to one of the two forks. A first pipe section assembly and a second pipe section assembly are respectively provided between the first branch flow path and the second branch flow path and the cylinder of the other fork. At least one of the first pipe section assembly and the second pipe section assembly includes a first rigid pipe, an intermediate flexible pipe, and a second rigid pipe connected in sequence. According to the above structure, the oil supply line between the two forks can be easily assembled, allowing for a certain installation error between the two forks, thus improving the assemblability of the oil supply line. Furthermore, it easily avoids the oil supply line between the two forks getting caught in the transmission mechanism of the mast assembly, such as the flexible cable, during the second mast lifting process.

[0018] In one embodiment, the fork cylinder is a double-acting cylinder, wherein the first pipe section assembly is connected to the rod-side chamber of the cylinder body of the other of the two forks, and the second pipe section assembly is connected to the rodless chamber of the cylinder body of the other of the two forks.

[0019] In one embodiment, the mast assembly includes a first mast and a second mast, and the fork assembly is vertically movably supported on the second mast. The fork assembly has forks, each fork having a body and a fork-taking portion. The hydraulic cylinders include a lifting cylinder and a fork cylinder. The lifting cylinder raises and lowers the second mast relative to the first mast, and the fork cylinder moves the fork-taking portion relative to the body in a picking direction. The hydraulic lines include an inlet pipe, a return pipe, and a hydraulic block. The hydraulic block is configured to allow hydraulic oil in the inlet pipe to flow to the lifting cylinder and to return hydraulic oil from the lifting cylinder to the return pipe. Furthermore, it allows hydraulic oil in the inlet pipe to flow to the fork cylinder and to return hydraulic oil from the fork cylinder to the return pipe. According to the above structure, the lifting of the second mast and the extension / retraction of the forks are achieved through a single hydraulic system, simplifying the hydraulic system of the unmanned forklift. Attached Figure Description

[0020] Figure 1 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0021] Figure 2 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0022] Figure 3 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0023] Figure 4 This is a perspective view of the chassis of an unmanned forklift according to an embodiment of the present invention.

[0024] Figure 5 This is a perspective view showing an embodiment of the driverless forklift of the present invention.

[0025] Figure 6 yes Figure 5 A magnified view of a portion of the image.

[0026] Figure 7 This is a rear view showing an embodiment of the driverless forklift of the present invention.

[0027] Figure 8 This is a perspective view showing the mast assembly, mast moving part, and fork assembly of an unmanned forklift according to an embodiment of the present invention.

[0028] Figure 9This is a perspective view showing the mast moving part of an unmanned forklift according to an embodiment of the present invention.

[0029] Figure 10 This is a partial front view showing an embodiment of the driverless forklift of the present invention.

[0030] Figure 11 This is a perspective view of the forks of an unmanned forklift according to an embodiment of the present invention.

[0031] Figure 12 This is a perspective view showing the first pipe section assembly and the second pipe section assembly of an unmanned forklift according to an embodiment of the present invention.

[0032] Figure 13 This is a perspective view showing the gears and rack of an unmanned forklift according to an embodiment of the present invention.

[0033] (Symbol Explanation)

[0034] 10 Chassis; 11 Chassis Body; 12 Notch; 20 Mast Assembly; 22 Mast Moving Part; 23 Connecting Frame; 24 Pulley; 25 Flexible Cable; 27 Pulley; 30 Fork Assembly; 31 Fork; 31a First Fork; 31b Second Fork; 32 Base; 40 Hydraulic System; 41 Hydraulic Cylinder; 42 Hydraulic Pump; 43 Hydraulic Motor; 44 Oil Tank; 45 Controller; 46a Suction Pipe; 46b Lifting Pipe; 46c Inlet Pipe; 46c1 First Inlet Pipe; 46c2 Second Inlet Pipe; 46c3 Third Inlet Pipe; 46c4 First Inlet Pipe for Forks; 46c5 Second Inlet Pipe for Forks; 46c6 Third Inlet Pipe for Forks; 46c7 Attachment Adapter Pipe; 46d Return Pipe; 46d1 First return oil pipe; 46d2 Second return oil pipe; 46d3 Third return oil pipe; 46d4 Fourth oil pipe for forks; 46d5 Fifth oil pipe for forks; 46d6 Sixth oil pipe for forks; 46d7 Attachment adapter steel pipe; 47 Hydraulic block; 48 First adapter block; 49 Second adapter block; 50 Third adapter block; 51, 52 Rails; 61 Roller; 70 Mast drive mechanism; 71 Gear; 72 Rack; 80 Cable chain; 101 First chassis section; 102 Second chassis section; 103 Third chassis section; 111 Chassis shell; 111a Top plate; 111b Bottom plate; 111c Side plate; 111c1 Rear side plate; 112 Frame; 112a Crossbeam; 112b Rib; 121 First notch; 122 Second notch; 211 First mast; 212 Second mast; 213 Cover; 221, 222 Support parts; 221a, 222a First plate; 221b, 222b Second plate; 221c, 222c Extension part; 221d Third plate; 223 Connecting plate; 311 Main body; 311a First main body; 311b Second main body; 311c Third part; 311d Fourth part; 312 Forklift part; 312a First forklift part; 312a1 First forklift part housing; 312b Second forklift part; 312b1 Second forklift part housing; 401 First fork cylinder; 402 Second fork cylinder; 403 First cylinder body; 404 Second cylinder body; 405 Second piston rod; 461 First pipe section assembly; 462 Second pipe section assembly; 1211, 1221 Side wall; 4611, 4621 First rigid pipe; 4612, 4622 intermediate flexible pipe; 4613, 4623 second rigid pipe; G through section Detailed Implementation

[0035] 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.

[0036] <First Embodiment>

[0037] The unmanned forklift (hereinafter, sometimes referred to as "forklift") 100 involved in the first embodiment will be described below.

[0038] In the diagram, for ease of understanding, the intersecting Z, X, and Y directions are appropriately shown.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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" also includes generally parallel directions, and "perpendicular direction" also includes generally perpendicular directions.

[0043] (A rough outline of the structure of an unmanned forklift)

[0044] Figure 1 This is a perspective view of the unmanned forklift 100 according to the first embodiment of the present invention, showing the mast assembly 20 in the initial position and the forks 31 (the fork-taking portion 312) retracted. Figure 2This is a perspective view of the driverless forklift 100, showing the mast assembly 20 moved to a position further forward in the pickup direction (X direction X1) than its initial position and the forks 31 extended. Figure 3 This is a perspective view of the driverless forklift 100, showing the state where the second mast 212 is raised and the fork assembly 30 is raised. Figure 4 This is a 3D view of the chassis of the driverless forklift 100. Figure 5 This is a perspective view showing the driverless forklift 100, and the hydraulic system 40. Figure 6 yes Figure 5 A magnified view of a portion of the image. Figure 7 This is a rear view of the unmanned forklift 100 as seen from the other side X2 in the X direction. Figure 8 This is a perspective view showing the mast assembly, mast moving part, and fork assembly of the unmanned forklift 100. Figure 9 This is a perspective view showing the mast moving part of the driverless forklift 100. Figure 10 This is a partial front view showing the driverless forklift 100. Figure 11 This is a perspective view showing the forks 31 of the driverless forklift 100. Figure 12 This is a perspective view showing the first pipe section assembly and the second pipe section assembly of the unmanned forklift 100. Figure 13 This is a perspective view showing the gears and racks of an unmanned forklift 100. To simplify the drawing, sometimes... Figures 1 to 13 The illustration omits some components.

[0045] 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, a fork assembly 30, and a hydraulic system 40. 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.

[0046] The chassis 10 has a chassis housing 111. The chassis housing 111 has a storage space inside. That is, the chassis 10 has a storage space. Components stored in the storage space include, for example: the oil pump 42, hydraulic motor 43, oil tank 44 and controller 45 of the hydraulic system 40; a travel controller for walking; and a power module, etc.

[0047] The mast assembly 20 is supported on the chassis 10. The mast assembly 20 includes a first mast 211 and a second mast 212. The second mast 212 is vertically movable and supports the first mast 211. The fork assembly 30 is vertically movable and supports the second mast 212 of the mast assembly 20.

[0048] (Chassis)

[0049] 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 10 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.

[0050] For example, the wheels 15 used for walking may include one or more drive wheels and one or more casters, 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 to rotate; and a walking controller (not shown) for controlling the movement of the drive source for walking.

[0051] In this embodiment, the wheels 15 used for movement include two drive wheels and four omnidirectional wheels. By making the rotation axis of the drive wheels parallel to the pickup direction (X direction), movement is possible in the Y direction. Thus, the walking direction of the chassis 10 can be perpendicular to the pickup direction (X direction).

[0052] like Figure 1 and Figure 4 As shown, the chassis body 11 includes: a chassis shell 111; a frame 112 that is combined with the chassis shell 111; and components housed in a storage space.

[0053] The chassis housing 111 has: 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.

[0054] 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.

[0055] like Figure 4As 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 each have a first storage space P1, a second storage space, and a third storage space P3 internally, serving as storage spaces for the chassis shell 111. 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 panel 111c1. Therefore, 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, the base plate 111b is connected to each other 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. The first chassis portion 101 and the third chassis portion 103 are each supported on the ground by swivel casters.

[0056] The chassis 10 is provided with a plurality of notches 12 corresponding to the plurality of forks 31 described later. The plurality of notches 12 are arranged in the Y direction. Each of the plurality of notches 12 opens forward (X1 in the X direction) in the picking direction and extends vertically through at least at the location corresponding to the fork 31, forming a through portion G for the fork-taking part of the corresponding fork 31 to pass through. Here, "extends vertically through at the location corresponding to the fork for the fork-taking part of the corresponding fork to pass through" means that when the part of the fork 31 used to pick up the transported object (fork-taking part 312) is at the end of its travel stroke (X2 in the other X direction), the through portion G in the notch 12 coincides with the projection of the fork-taking part 312. Here, "projection" means projecting the relevant component onto a plane perpendicular to the vertical direction (Z direction). Because the notch 12 opens forward in the pickup direction (X direction) and extends 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 in the vertical direction when the mast assembly 20 is in its initial position. For example, the fork 31 can be lowered until the lower surface of the picking 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 picking portion 312 is flush with the lower surface of the base plate 111b, the picking portion 312 of the fork 31 can be moved further forward (to the X direction X1) and / or extended. Alternatively, the fork 31 can be lowered to a position lower than the lower surface of the base plate 111b. The lengths of the through portions G of the multiple notches 12 in the pickup direction (X direction) can be the same.

[0057] 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 4 As shown. The first notch 121 and the 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.

[0058] 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 4 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 (on the X direction side X1) of the gantry assembly 20 in the initial position serves as the mounting portion. Furthermore, the first chassis portion 101 and the second chassis portion 102 may also carry the transported object, while the second chassis portion 102 may not carry the transported object.

[0059] (Gantry assembly)

[0060] The gantry assembly 20 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).

[0061] In this embodiment, the gantry assembly 20 is supported on the chassis 10 in a reciprocating manner in the pickup direction (X direction).

[0062] The gantry assembly 20 includes a first gantry 211 and a second gantry 212. The second gantry 212 is vertically and vertically supported on the first gantry 211. The second gantry 212 is vertically and vertically supported on the first gantry 211 via a lifting 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 assemblies, and therefore will not be described further here.

[0063] In addition, the gantry assembly 20 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 3 As shown.

[0064] As described above, the mast assembly 20 is movable relative to the chassis 10 in the pickup direction (X direction). The initial position of the mast assembly 20 is the rearmost position (X2 on the other side of the X direction) of its travel, i.e., the rearmost end of its travel. In this embodiment, the range of movement of the mast assembly 20 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 assembly 20 within the chassis 10 in the pickup direction, compared to, for example, moving the mast assembly 20 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 assembly 20 within the chassis 10 can be achieved electronically.

[0065] Preferably, the ratio of the travel distance of the gantry assembly 20 in the pickup direction (X direction) to the width of the chassis 10 in the pickup direction is 0.7 or less, thereby reducing or eliminating the need for counterweight. Here, "width of the chassis in the pickup direction" refers to the distance between the front and rear ends of the chassis 10 in the pickup direction.

[0066] The forklift 100 also includes a mast moving part 22. The mast assembly 20 is supported on the chassis body 11 of the chassis 10 via the mast moving part 22, allowing it to reciprocate in the pickup direction (X direction). In other words, the mast moving part 22 supports the mast assembly 20 on the chassis 10 in a manner that allows it to reciprocate in the pickup direction (X direction). The mast moving part 22 has a free end that is further forward (X1 on the X direction side) than the mast assembly 20. The range of movement of the mast 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 is relatively close to the object to be picked up 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.

[0067] In this embodiment, the gantry moving part 22 moves together with the gantry assembly 20. The gantry moving part 22 is connected to and supports the gantry assembly 20. For example, the gantry moving part 22 supports the first gantry 211 of the gantry assembly 20 at its rear (X2 in the X direction) end.

[0068] like Figure 8 and Figure 9 As shown, the gantry moving part 22 includes a pair of support parts 221 and 222. The front (X-direction X1) end of the support parts 221 and 222 serves as the aforementioned free end. The support parts 221 and 222 may have the same shape.

[0069] In this embodiment, the support portions 221 and 222 are connected to the gantry assembly 20. 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 located 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.

[0070] 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 portions 221 and 222; extension portions 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 portion 221c is positioned at a position Y1 further in the Y direction than the gantry assembly 20. The extension portion 222c is positioned at a position Y2 further in the Y direction than the gantry assembly 20. The connecting plate 223 has an upward-facing surface for supporting the gantry assembly 20. For example, the two extension portions 221c and 222c, the third plates 221d and 222d, and the first gantry 211 can be fastened together by fasteners such as bolts. Alternatively, the gantry moving part 22 can also be integrally formed with the first gantry 211.

[0071] In addition, the forklift 100 includes a connecting frame 23 that connects the rear ends of the two extensions 221c, 222c. The connecting frame 23 covers a portion of the mast assembly 20 from the rear.

[0072] 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 4 As shown, the first notch 121 has a sidewall 1211 facing the Y2 side in the Y direction. The sidewall 1211 is also part of the first chassis portion 101. A track 51 is provided on the sidewall 1211. The track 51 extends in the X direction. The second notch 122 has a sidewall 1221 facing the Y1 side in the Y direction. The sidewall 1221 is also part of the third chassis portion 103. A track 52 is provided on the sidewall 1221. The track 52 extends in the X direction. Support portions 221 and 222 are each equipped with a plurality of rollers 61 and are supported on the tracks 51 and 52 via the plurality of rollers 61. Thus, support portions 221 and 222 are supported on the sidewalls 1211 and 1221, respectively.

[0073] (Gantry drive mechanism)

[0074] When the mast assembly 20 is movably supported on the chassis 10 in the pickup direction (X direction), the driverless forklift 100 also includes a mast drive mechanism 70 that moves the mast assembly 20 in the pickup direction.

[0075] The gantry drive mechanism 70 is used to move the gantry assembly 20 in the pickup direction. The gantry drive mechanism 70 has a drive source (not shown) for moving the gantry assembly 20 in the pickup direction. Furthermore, the unmanned forklift 100 also includes a gantry control unit. The gantry control unit controls the operation of the aforementioned drive source.

[0076] In this embodiment, the gantry drive mechanism 70 includes: a gear 71 rotatably supported on the gantry moving part 22; a rack 72 meshing with the gear 71 and mounted on the chassis body 11; and a motor (not shown) serving as the drive source for rotating the gear 71. The connection and assembly relationship between the gear 71 and the gantry assembly 20, and the connection and assembly relationship between the rack 72 and the chassis 10, are the same as those of existing gantry drive mechanisms, and therefore will not be described in detail here.

[0077] (Hydraulic system)

[0078] The hydraulic system 40 includes a lifting cylinder 41 for raising and lowering the second gantry 212, an oil pump 42, a hydraulic motor 43, an oil tank 44, a controller 45, oil supply lines, a hydraulic block 47, a first adapter block 48, and a second adapter block 49. The oil pump 42, hydraulic motor 43, oil tank 44, controller 45, and a portion of the oil supply lines are housed within the storage space of the chassis 10. The oil pump 42 (and hydraulic motor 43) and oil tank 44 are arranged within the chassis housing 111 along the pickup direction (X direction). In this embodiment, the oil pump 42 (and hydraulic motor 43) and oil tank 44 are arranged along the pickup direction within a third storage space P3.

[0079] In the hydraulic system 40, the connection between the various fittings or the connection between the fittings and any of the cylinders, pumps, tanks, hydraulic blocks, adapters, or cylinder bodies refers to a connection in a manner that allows for the flow of fluid energy. The term "fitting" refers to a pipe, a connector (also called a coupling), or a combination of pipe and connector.

[0080] The lifting cylinder 41 is used to raise and lower the second gantry 212 relative to the first gantry 211. The lifting cylinder 41 is, for example, a single-acting cylinder. The lifting cylinder 41 includes: a cylinder body supported on the first gantry 211; and a piston rod that extends and retracts relative to the cylinder body, with its front end connected to the second gantry 212. The connection and assembly relationships between the cylinder body and piston rod of the lifting cylinder 41 and the first gantry 211 and the second gantry 212 are the same as those of existing gantry assemblies, and therefore will not be described further here.

[0081] The oil pump 42 is driven by the hydraulic motor 43 to pressurize and pump out the hydraulic oil drawn from the oil tank 44. The oil pump 42 can be a gear pump. The hydraulic motor 43 is electrically connected to the controller 45, which controls the operation of the hydraulic motor 43. The flow rate and pressure of the hydraulic oil can be controlled by the oil pump 42 and the hydraulic motor 43.

[0082] The oil pipeline includes a suction pipe 46a, a lifting pipe 46b, an inlet pipe 46c, and a return pipe 46d. The suction pipe 46a connects the outlet of the oil tank 44 and the suction port of the oil pump 42.

[0083] The hydraulic block 47 is fixed to the mast moving part 22 by bolts or other fasteners. The hydraulic block 47 is configured to allow hydraulic oil in the inlet pipe 46c to flow to the lifting cylinder 41, and to allow hydraulic oil from the lifting cylinder 41 to flow back to the return pipe 46d. Furthermore, the hydraulic block 47 is configured to allow hydraulic oil in the inlet pipe 46c to flow to the fork cylinder (described later), and to allow hydraulic oil from the fork cylinder to flow back to the return pipe 46d.

[0084] The lifting oil pipe 46b connects the internal flow path of the hydraulic block 47 to the cylinder body of the lifting cylinder 41. For example, the same lifting oil pipe 46b is used to supply and return oil between the lifting cylinder 41 and the hydraulic block 47, and the direction of the pressurized oil flow in the lifting oil pipe 46b is switched by a switching valve located on the hydraulic block 47. The operation of the switching valve is controlled, for example, by an industrial control computer.

[0085] The oil inlet pipe 46c includes, in sequence from the upstream side of the hydraulic oil flow to the downstream side, a first oil inlet pipe 46c1, a second oil inlet pipe 46c2 (equivalent to the "first flexible oil pipe" of this utility model), and a third oil inlet pipe 46c3.

[0086] By incorporating a first flexible oil pipe, it is easy to place the oil tank, oil pump, and other components within the storage space of the chassis 10. This helps to lower the overall center of gravity of the vehicle, reduce the counterweight on the chassis 10, and simplify the mechanical structure of the mast assembly. A cable chain 80 is used to wrap around the first flexible oil pipe to protect it from damage, thus resolving issues such as the first flexible pipe curling or tangling, and obstructing movement during the mast assembly's movement.

[0087] In addition, the oil supply line includes a first oil pipe connected to the rod chamber of the first fork cylinder 401 and the second fork cylinder 402 described later. The first oil pipe includes a first oil pipe 46c4 for forks, a second oil pipe 46c5 for forks, a third oil pipe 46c6 for forks, an attachment adapter steel pipe 46c7, and a first pipe section assembly 461.

[0088] One end of the first oil inlet pipe 46c1 is connected to the outlet of the oil pump 42.

[0089] For example, the first adapter block 48 is fixed to the inner surface of the chassis 10, such as the chassis housing 111, by fasteners such as bolts.

[0090] The second oil inlet pipe 46c2 is a flexible pipe. The other end of the first oil inlet pipe 46c1 is connected to one end of the second oil inlet pipe 46c2 via the internal flow path of the first adapter block 48, and is fixed to the chassis 10 via the first adapter block 48. That is, one end of the second oil inlet pipe 46c2 is fixed to the chassis 10. The second oil inlet pipe 46c2 is connected to the first oil inlet pipe 46c1 through the internal flow path of the first adapter block 48.

[0091] For example, the second adapter block 49 is fixed to the gantry moving part 22 by fasteners such as bolts. The other end of the second oil inlet pipe 46c2 is fixed to the gantry moving part 22 via the second adapter block 49. Since the gantry moving part 22 is fastened to the first gantry 211 of the gantry assembly 20, the second adapter block 49 is (indirectly) fixed to the gantry assembly 20, and the other end of the second oil inlet pipe 46c2 is (indirectly) fixed to the first gantry 211 of the gantry assembly 20 via the second adapter block 49. That is, the other end of the second oil inlet pipe 46c2 is fixed to the gantry assembly 20.

[0092] One end of the third oil inlet pipe 46c3 is connected to the other end of the second oil inlet pipe 46c2 via the internal flow path of the second transition block 49. The other end of the third oil inlet pipe 46c3 is connected to the internal flow path of the hydraulic block 47. A switching valve located on the hydraulic block 47 can be used to switch between the state where the third oil inlet pipe 46c3 is connected to the first oil pipe and the state where the third oil inlet pipe 46c3 is connected to the second oil pipe, corresponding to the extension and retraction of the fork-taking part 312 of the fork 31. The operation of the other switching valve can be controlled, for example, by an industrial control computer.

[0093] One end of the first hydraulic pipe 46c4 for the forks is connected to the internal flow path of the hydraulic block 47. Through another switching valve located in the hydraulic block 47, the connection between the first hydraulic pipe 46c4 and the third inlet pipe 46c3 and the third return pipe 46d3 (described later) can be switched in accordance with the extension and retraction of the forks 31. The other end of the first hydraulic pipe 46c4 for the forks is connected to one end of the second hydraulic pipe 46c5 for the forks.

[0094] The second hydraulic hose 46c5 for the forks is, for example, a steel pipe and is secured to the first mast 211 by at least one fastener. The other end of the second hydraulic hose 46c5 for the forks is connected to one end of the third hydraulic hose 46c6 for the forks.

[0095] The third hydraulic hose 46c6 for the forks is a flexible hose. The unmanned forklift 100 also includes a pulley 27, which is mounted near the top of the second mast 212. The third hydraulic hose 46c6 for the forks extends downwards after passing over the pulley 27. When the second mast 212 rises or falls, the third hydraulic hose 46c6 for the forks slides along the pulley 27. The other end of the third hydraulic hose 46c6 for the forks is connected to one end of the attachment adapter hose 46c7.

[0096] The return oil pipe 46d includes, in sequence from the downstream side of the hydraulic oil flow toward the upstream side, a first return oil pipe 46d1, a second return oil pipe 46d2 (equivalent to the "first flexible oil pipe" of this utility model), and a third return oil pipe 46d3.

[0097] In addition, the oil supply line includes a second oil pipe connected to the rodless chamber of the first fork cylinder 401 and the second fork cylinder 402. The second oil pipe includes a fourth oil pipe 46d4 for the forks, a fifth oil pipe 46d5 for the forks, a sixth oil pipe 46d6 for the forks, an attachment adapter steel pipe 46d7, and a second pipe section assembly 462.

[0098] One end of the first return oil pipe 46d1 is connected to the inlet of the oil tank 44, and the other end is connected to the internal flow path of the first adapter block 48.

[0099] The second return oil pipe 46d2 is a flexible pipe. One end of the second return oil pipe 46d2 is connected to the other end of the first return oil pipe 46d1 via the internal flow path of the first adapter block 48, and is fixed to the chassis 10 via the first adapter block 48. That is, one end of the second return oil pipe 46d2 is fixed to the chassis 10. The second return oil pipe 46d2 is connected to the first return oil pipe 46d1 via the internal flow path of the first adapter block 48. The other end of the second return oil pipe 46d2 is connected to one end of the third return oil pipe 46d3 via the internal flow path of the second adapter block 49, and is fixed to the gantry moving part 22 via the second adapter block 49. Since the gantry moving part 22 is fastened to the first gantry 211 of the gantry assembly 20, the other end of the second return oil pipe 46d2 is (indirectly) fixed to the first gantry 211 of the gantry assembly 20 via the second adapter block 49. That is, the other end of the second return oil pipe 46d2 is fixed to the gantry assembly 20.

[0100] The other end of the third return oil pipe 46d3 is connected to the internal flow path of the hydraulic block 47. By means of another switching valve provided in the hydraulic block 47, the state in which the third return oil pipe 46d3 is connected to the first oil pipe and the state in which the third return oil pipe 46d3 is connected to the second oil pipe can be switched in accordance with the extension and retraction of the fork 31.

[0101] One end of the fourth hydraulic pipe 46d4 for the forks is connected to the internal flow path of the hydraulic block 47. Through another switching valve located in the hydraulic block 47, the connection between the fourth hydraulic pipe 46d4 and the third inlet pipe 46c3 can be switched in accordance with the extension and retraction of the forks 31. The other end of the fourth hydraulic pipe 46d4 for the forks is connected to one end of the fifth hydraulic pipe 46d5 for the forks.

[0102] The fifth hydraulic pipe 46d5 for the forks is, for example, a steel pipe and is secured to the first mast 211 by at least one fastener. The other end of the fifth hydraulic pipe 46d5 for the forks is connected to one end of the sixth hydraulic pipe 46d6 for the forks.

[0103] The sixth hydraulic pipe 46d6 for the forks is a flexible pipe. It is installed side-by-side with the third hydraulic pipe 46c6 for the forks. The sixth hydraulic pipe 46d6 also extends downwards after passing over the pulley 27. When the second mast 212 rises and falls, the sixth hydraulic pipe 46d6 slides along the pulley. The other end of the sixth hydraulic pipe 46d6 is connected to one end of the attachment adapter pipe 46d7.

[0104] The hydraulic system also includes a third adapter block 50, such as Figure 12 As shown. The other end of the adapter steel pipe 46c7 and the other end of the adapter steel pipe 46d7 are respectively connected to the internal flow path of the third adapter block 50.

[0105] In addition, the unmanned forklift 100 includes a cable chain 80. One end of the cable chain 80 is fixed to the chassis 10, and the other end is fixed to the mast assembly 20. In this embodiment, one end of the cable chain 80 is fixed to the first adapter block 48 by bolts or other fasteners, and the other end is fixed to the second adapter block 49 by bolts or other fasteners.

[0106] The drag chain 80 is fitted around the second oil inlet pipe 46c2 and the second oil return pipe 46d2 to protect the second oil inlet pipe 46c2 and the second oil return pipe 46d2 from damage caused by them getting caught on other components when the gantry assembly 20 moves.

[0107] (Forklift assembly)

[0108] The fork assembly 30 is vertically movable and supported on the second mast 212. This allows for loading and unloading goods at different heights. Figure 8 As shown, the fork assembly 30 has forks 31 and a base 32.

[0109] The fork assembly 30 is slidably connected to the second mast 212 in the vertical direction. More specifically, the base 32 of the fork assembly 30 is vertically supported (slidably connected to) the second mast 212. The forks 31 are supported on the base 32 by means of hooking, fastening, etc., and move vertically together with the base 32.

[0110] 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 over the pulley 24 and its two ends are connected to the fork assembly 30 and the first mast 211, respectively. As the second mast 212 rises or falls, the fork assembly 30 slides (lifts) vertically 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 over the pulley 24, and then extends downward and is fixed to the first mast 211. When the second mast 212 is moved by the lifting 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.

[0111] The fork assembly 30 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 pick-up direction (X direction). "Movement relative to the chassis in the pick-up direction" includes both movement in one direction and movement in the other direction. In this embodiment, the fork take-up portion 312 is slidably telescoping relative to the main body portion 311.

[0112] In this embodiment, two forks 31 are provided. The two forks 31 can be formed with the same structure. More specifically, the forks 31 include a first fork 31a and a second fork 31b, such as... Figure 8 As shown. The first fork 31a and the second fork 31b are arranged in the Y direction. The first fork 31a is positioned at a position Y1 further in the Y1 direction than the second fork 31b. Hereinafter, without distinguishing between the first fork 31a and the second fork 31b, "first fork 31a" and "second fork 31b" will be collectively referred to as "fork 31".

[0113] Viewed in the pickup direction, the forks 31 are located on the front (X1 side in the X direction) side of the mast assembly 20. The forks 31 are configured to extend or retract relative to the mast assembly 20 in the pickup direction.

[0114] In this embodiment, the fork 31 has a two-section telescopic structure. For example... Figure 2 and Figure 11As shown, each fork 31 has a main body 311 and a fork-taking portion 312. More specifically, the first fork 31a has a first main body 311a and a first fork-taking portion 312a, and the second fork has a second main body 311b and a second fork-taking portion 312b. Figure 11 In this illustration, for the sake of clarity, only a portion of the second fork-taking portion 312b is shown. Hereinafter, without distinguishing between the first main body portion 311a and the second main body portion 311b, "first main body portion 311a" and "second main body portion 311b" will be collectively referred to as "main body portion 311"; and without distinguishing between the first fork-taking portion 312a and the second fork-taking portion 312b, "first fork-taking portion 312a" and "second fork-taking portion 312b" will be collectively referred to as "fork-taking portion 312".

[0115] 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 311c extending along the X direction and a fourth part 311d extending upward from the rear end of the third part 311c.

[0116] 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.

[0117] 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.

[0118] The fork-taking section 312 extends and retracts relative to the main body section 311 in the picking direction (X direction) to pick up the object being transported. In this embodiment, the forks 31 are driven by hydraulic oil. The hydraulic system 40 includes a fork cylinder for each fork 31, which moves the fork-taking section 312 relative to the main body section 31 in the picking direction.

[0119] In this embodiment, the hydraulic system 40 includes a first fork cylinder 401 and a second fork cylinder 402. The first fork cylinder 401 and the second fork cylinder 402 are, for example, double-acting cylinders. The first fork cylinder 401 moves the first fork take-up portion 312a relative to the first main body portion 311a in the pick-up direction (X direction). The second fork cylinder 402 moves the second fork take-up portion 312b relative to the second main body portion 311b in the pick-up direction. Hereinafter, without distinguishing between the first fork cylinder 401 and the second fork cylinder 402, both "first fork cylinder 401" and "second fork cylinder 402" will be collectively referred to as "fork cylinders".

[0120] The first fork cylinder 401 includes: a first cylinder body 403 disposed in the first main body 311a; and a first piston rod (not shown) that retracts and extends relative to the first cylinder body 403 in the pickup direction (X direction). A third portion 311c of the first main body 311a can be used as the first cylinder body 403. For example, a cavity is formed inside the third portion 311c to form the first cylinder body 403. The first cylinder body 403 has a rodless chamber and a rod chamber; when oil is supplied to the rodless chamber and returned from the rod chamber, the piston rod extends; when oil is supplied to the rod chamber and returned from the rodless chamber, the piston rod retracts. More specifically, the first fork take-up portion 312a includes a first fork take-up portion housing 312a1. When the first fork 31a retracts, the first fork take-up portion housing 312a1 is fitted onto the outside of the first main body 311a. The first piston rod extends along the X direction, and at least a portion of it extends into the first fork-taking housing 312a1, with its front end connected to the first fork-taking housing 312a1. The first fork-taking portion 312a is driven by the first piston rod to move in the picking direction. Furthermore, the connection and assembly relationship between the first piston rod and the first cylinder body 403 is the same as that of existing double-acting hydraulic cylinders, and therefore will not be described further here.

[0121] The second fork cylinder 402 includes: a second cylinder body 404 disposed in the second main body portion 311b; and a second piston rod 405 that retracts and extends relative to the second cylinder body 404 in the pickup direction (X direction). A third portion 311c of the second main body portion 311b can be used as the second cylinder body 404. For example, a cavity is formed inside the third portion 311c to form the second cylinder body 404. The second cylinder body 404 also has a rodless cavity and a rod cavity. More specifically, the second fork take-up portion 312b includes a second fork take-up portion housing 312b1. When the second fork 31b retracts, the second fork take-up portion housing 312b1 is fitted onto the outside of the second main body portion 311b. The second piston rod 405 extends in the X direction, and at least a portion of it extends into the second fork take-up portion housing 312b1, with its front end connected to the second fork take-up portion housing 312b1. The second fork take-up portion 312b is moved in the pickup direction by the second piston rod 405. Furthermore, the connection and assembly relationship between the second piston rod 405 and the second cylinder 404 is the same as that of the existing double-acting hydraulic cylinder, so it will not be described in detail here.

[0122] The third adapter block 50, the first pipe section assembly 461, and the second pipe section assembly 462 are used for the synchronous extension and retraction of the first fork 31a and the second fork 31b. The first pipe section assembly 461 has a first flow path for hydraulic oil to circulate. The second pipe section assembly 462 has a second flow path for hydraulic oil to circulate.

[0123] The third adapter block 50 is fixed to one of the two forks 31. In this embodiment, the third adapter block 50 is fixed to the first fork 31a. The third adapter block 50 has a first branched flow path and a second branched flow path, wherein when one of the first branched flow path and the second branched flow path causes hydraulic oil to flow separately to the cylinders of the two forks, the other of the first branched flow path and the second branched flow path causes the hydraulic oil from the cylinders of the two forks to flow together. For example, when the first branched flow path causes hydraulic oil to flow separately to the cylinders of the two forks, the second branched flow path causes the hydraulic oil from the cylinders of the two forks to flow together; when the second branched flow path causes hydraulic oil to flow separately to the cylinders of the two forks, the first branched flow path causes the hydraulic oil from the cylinders of the two forks to flow together.

[0124] The first pipe section assembly 461 and the second pipe section assembly 462 are respectively disposed between the first branch flow path and the second cylinder 404 of the second fork 31b, and between the second branch flow path and the second cylinder 404. The first branch flow path branches the attachment adapter pipe 46c7 to the first cylinder 403 and the first flow path. The second branch flow path branches the attachment adapter pipe 46d7 to the second flow path and the first cylinder 403. For example, the first pipe section assembly 461 is connected to the rod-side cavity of the second cylinder 404 of the second fork 31b, and the second pipe section assembly 462 is connected to the rodless cavity of the second cylinder 404.

[0125] At least one of the first pipe segment assembly 461 and the second pipe segment assembly 462 includes a first rigid pipe, an intermediate flexible pipe, and a second rigid pipe connected in sequence. The first pipe segment assembly 461 and the second pipe segment assembly 462 may have the same or different shapes. In this embodiment, the first pipe segment assembly 461 and the second pipe segment assembly 462 each include a first rigid pipe, an intermediate flexible pipe, and a second rigid pipe connected in sequence. This facilitates easy assembly of the oil pipeline between the first fork 31a and the second fork 31b, improving the assemblability of the oil pipeline. The first rigid pipe may be a steel pipe, such as a 90-degree bent steel pipe.

[0126] The first pipe segment assembly 461 includes a first rigid pipe 4611, an intermediate flexible pipe 4612, and a second rigid pipe 4613. More specifically, one end of the first rigid pipe 4611 is connected to and fixed to a third adapter block 50 by, for example, threaded fastening. Since the third adapter block 50 is fixed to the first fork 31a, one end of the first rigid pipe 4611 is (indirectly) fixed to the first fork 31a via the third adapter block 50. That is, one end of the first rigid pipe 4611 is fixed to the first fork 31a. The other end of the first rigid pipe 4611 faces the side where the second fork 31b is located (in this embodiment, the Y-direction is the opposite side, Y2). One end of the intermediate flexible pipe 4612 is connected to the other end of the first rigid pipe 4611. One end of the second rigid pipe 4613 is connected to the other end of the intermediate flexible pipe 4612, and the other end of the second rigid pipe 4613 is fixed to the second fork 61b and connected to the second cylinder 404. One end of the second rigid tube 4613 faces the side where the first fork 31a is located (in this embodiment, the Y-direction side Y1 side). In addition, the first rigid tube 4611 and the intermediate flexible tube 4612, and the intermediate flexible tube 4612 and the second rigid tube 4613 are connected to each other, for example, by means of threaded fastening.

[0127] The second pipe section assembly 462 includes a first rigid pipe 4621, an intermediate flexible pipe 4622, and a second rigid pipe 4623. More specifically, one end of the first rigid pipe 4621 is fixed to the third adapter block 50, that is, one end of the first rigid pipe 4621 is (indirectly) fixed to the first fork 31a. The other end of the first rigid pipe 4621 faces the side where the second fork 31b is located. One end of the intermediate flexible pipe 4622 is connected to the other end of the first rigid pipe 4621. One end of the second rigid pipe 4623 is connected to the other end of the intermediate flexible pipe 4622, and the other end of the second rigid pipe 4623 is fixed to the second fork 61b and connected to the second cylinder 404. One end of the second rigid pipe 4623 faces the side where the first fork 31a is located. Furthermore, the first rigid pipe 4621 and the intermediate flexible pipe 4622, and the intermediate flexible pipe 4622 and the second rigid pipe 4623 are connected to each other, for example, by means of threaded fastening.

[0128] By employing a first rigid tube as a rigid bend tube, an intermediate flexible tube, and a second rigid tube as a rigid bend tube, the first tube assembly 461 and the second tube assembly 462 can reduce the height occupied by the second mast (fork assembly) when it is raised to its highest position (overall mast height). For example, if the first tube assembly is entirely made of flexible tube, the flexible tube cannot achieve a 90-degree bend, and the overall mast height will increase. Alternatively, either the first tube assembly or the second tube assembly can be entirely made of flexible tube.

[0129] The unmanned forklift 100 of this utility model can realize the functions of picking up goods from high positions such as shelves far away from the ground, placing goods on high positions such as shelves far away from the ground, picking up goods from low positions (including the ground) near the ground, and placing goods on low positions near the ground.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] For example, the mast assembly 20 may not have a lifting mechanism. In this case, the fork assembly can be supported on the mast assembly by moving it up and down via an additional moving mechanism such as a hydraulic cylinder.

[0134] For example, the driverless forklift 100 can be configured to travel in multiple directions. The chassis can also be configured as an omnidirectional chassis.

[0135] 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.

[0136] Furthermore, the oil inlet pipe 46c is not limited to the first oil inlet pipe 46c1, the second oil inlet pipe 46c2, and the third oil inlet pipe 46c3 connected in sequence. The oil inlet pipe 46c can also be constituted by a single flexible oil inlet pipe (equivalent to the "first flexible oil pipe" of this utility model), which connects the oil pump 42 and the hydraulic block 47. Preferably, the cable chain 80 is sleeved on the outer periphery of a portion of the flexible oil inlet pipe. In addition, the oil inlet pipe 46c can also be constituted by two or more oil pipes, preferably including a flexible oil pipe (equivalent to the "first flexible oil pipe" of this utility model) sleeved on the outer periphery by the cable chain 80.

[0137] The return oil pipe 46d is not limited to the first return oil pipe 46d1, the second return oil pipe 46d2, and the third return oil pipe 46d3 connected in sequence. The return oil pipe 46d can also be constructed from a single flexible return oil pipe (equivalent to the "first flexible oil pipe" of this utility model), which connects the oil tank 44 and the hydraulic block 47. Preferably, the cable chain 80 is sleeved on the outer periphery of a portion of the flexible return oil pipe. In addition, the return oil pipe 46d can also be constructed from two or more oil pipes, preferably including a flexible oil pipe (equivalent to the "first flexible oil pipe" of this utility model) sleeved on the outer periphery by the cable chain 80.

[0138] 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: A chassis for walking, the chassis having storage space; A gantry assembly supported on the chassis; A fork assembly that is vertically movable and supported on the mast assembly; as well as A hydraulic system, comprising a hydraulic cylinder, a hydraulic pump, an oil tank, and an oil pipeline, wherein the hydraulic pump and the oil tank are housed within a housing space.

2. The unmanned forklift according to claim 1, characterized in that, The system includes a cable chain, one end of which is fixed to the chassis, and the other end of which is fixed to the gantry assembly. The oil pipeline includes a first flexible oil pipe. The cable chain is fitted around at least a portion of the outer periphery of the first flexible oil pipe.

3. The unmanned forklift according to claim 2, characterized in that, The hydraulic system includes: a first adapter block fixed to the chassis; and a second adapter block fixed to the gantry assembly. One end of the cable chain is fixed to the first adapter block, and the other end is fixed to the second adapter block.

4. The unmanned forklift according to claim 1, characterized in that, The chassis can travel in a direction perpendicular to the pickup direction. The fork assembly has forks that extend and retract relative to the mast assembly in the pickup direction. The unmanned forklift also includes a mast moving part, the mast assembly being supported on the chassis via the mast moving part to reciprocate in the picking direction, the mast moving part having a free end that is further forward than the mast assembly. The range of movement of the gantry assembly 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.

5. The unmanned forklift according to claim 1, characterized in that, The gantry assembly is supported on the chassis and is capable of reciprocating in the pickup direction. The ratio of the travel distance of the gantry assembly in the pickup direction to the width of the chassis in the pickup direction is 0.7 or less.

6. The unmanned forklift according to claim 1, characterized in that, The gantry assembly includes a first gantry and a second gantry. The fork assembly is vertically movable and supported on the second mast. The hydraulic cylinder includes a lifting cylinder that causes the second gantry to rise or fall relative to the first gantry.

7. The unmanned forklift according to claim 1, characterized in that, The fork assembly has multiple forks, each of which has a fork-taking portion movable relative to the chassis in the picking direction. The chassis is provided with multiple notches corresponding to the multiple forks. Each of the plurality of notches opens forward in the picking direction and extends vertically at least at the location corresponding to the fork, so that the fork-taking portion of the corresponding fork can pass through.

8. The unmanned forklift according to claim 7, 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.

9. The unmanned forklift according to claim 7, characterized in that, The oil pump and the oil tank are arranged in the storage space along the pickup direction.

10. The unmanned forklift according to claim 1, characterized in that, The fork assembly has multiple forks, each of which has a main body and a fork-taking section. The hydraulic system includes a fork cylinder for each fork, which moves the fork-taking portion relative to the main body in the picking direction.

11. The unmanned forklift according to claim 10, characterized in that, The forklift cylinder includes: a cylinder body disposed on the main body; and a piston rod that extends and retracts relative to the cylinder body, wherein the forklift portion is driven by the piston rod to move in the pickup direction.

12. The unmanned forklift according to claim 11, characterized in that, The fork assembly has two forks. The oil pipeline includes a third transition block. The third adapter block has a first branched flow path and a second branched flow path, wherein when one of the first branched flow path and the second branched flow path causes hydraulic oil to flow separately to the cylinders of the two forks, the other of the first branched flow path and the second branched flow path causes the hydraulic oil from the cylinders of the two forks to merge.

13. The unmanned forklift according to claim 12, characterized in that, The third adapter block is fixed to one of the two forks. A first pipe section assembly and a second pipe section assembly are respectively provided between the first branch flow path and the second branch flow path and the cylinder of the other of the two forks. At least one of the first pipe segment assembly and the second pipe segment assembly includes a first rigid pipe, an intermediate flexible pipe and a second rigid pipe connected in sequence.

14. The unmanned forklift according to claim 12, characterized in that, The third adapter block is fixed to one of the two forks. A first pipe section assembly and a second pipe section assembly are respectively provided between the first branch flow path and the second branch flow path and the cylinder of the other of the two forks. The first pipe segment assembly or the second pipe segment assembly is made entirely of flexible pipe.

15. The driverless forklift according to claim 13 or 14, characterized in that, The forklift cylinder is a double-acting cylinder. The first tube segment assembly is connected to the rod-side chamber of the cylinder of the other of the two forks, and the second tube segment assembly is connected to the rodless chamber of the cylinder of the other of the two forks.

16. The unmanned forklift according to claim 1, characterized in that, The gantry assembly includes a first gantry and a second gantry. The fork assembly is vertically movable and supported on the second mast. The fork assembly includes forks, each fork having a main body and a fork-taking portion. The hydraulic cylinder includes a lifting cylinder and a fork cylinder. The lifting cylinder raises and lowers the second mast relative to the first mast, and the fork cylinder moves the fork-taking portion relative to the main body in the picking direction. The oil pipeline includes an inlet pipe, a return pipe, and a hydraulic block. The hydraulic block is configured to allow hydraulic oil in the inlet pipe to flow to the lifting cylinder and hydraulic oil from the lifting cylinder to flow back to the return pipe, and also allows hydraulic oil in the inlet pipe to flow to the fork cylinder and hydraulic oil from the fork cylinder to flow back to the return pipe.

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