A walking mechanism with damping function for light-load unmanned forklift

Abstract

The utility model relates to light load unmanned forklift technical field, concretely is a kind of walking mechanism with shock-absorbing function for light load unmanned forklift, including the main body frame and support leg assembly of vertical connection, support leg assembly contains supporting leg and front end's gyro wheel;The outside surface of main body frame is provided with elastic rudder wheel component and universal wheel component, and elastic rudder wheel component contains driving wheel, and universal wheel component contains universal wheel, and driving wheel, universal wheel and gyro wheel bottom are horizontal when landing.Elastic rudder wheel component realizes elastic support by elastic component, with shock-absorbing function;It is also provided with driving part and steering part, realizes accurate driving and steering.Universal wheel component adopts hidden design of dark groove, cooperates with arc-shaped bottom plate to enclose, reduces external interference.This walking mechanism shock-absorbing effect is remarkable, structural layout optimization, driving steering precision, space adaptability is strong, can improve the operation stability and handling precision of light load unmanned forklift, reduces maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of light-duty unmanned forklift technology, and in particular to a walking mechanism with shock absorption function for light-duty unmanned forklifts. Background Technology

[0002] In the industrial logistics sector, light-duty automated forklifts are widely used in material handling scenarios in industries such as electronics, pharmaceuticals, and 3C products due to their automation and high efficiency. The walking mechanism, as the core component of a light-duty automated forklift, directly determines the forklift's operational stability, cargo handling accuracy, and equipment lifespan.

[0003] Patent CN 111847323 A discloses a self-driven rack and pinion forklift. Its walking mechanism mainly consists of a caster wheel assembly, a pull-out support leg assembly, and a linkage control component. Although it features adjustable support and flexible movement, it has the following drawbacks: First, it lacks a dedicated shock absorption design, making it prone to severe vibrations when traversing uneven surfaces or encountering small obstacles. This affects the stability of cargo handling and accelerates component wear. Second, the wheel system layout is unreasonable, with casters and other components being mostly exposed, making them highly susceptible to interference from external obstacles and causing operational malfunctions. Third, the drive and steering precision is insufficient, relying on manual or simple mechanical transmission, which is insufficient to meet the needs of high-precision material handling. Fourth, it has poor spatial adaptability and a relatively bulky structure, resulting in poor flexibility in confined warehouse environments.

[0004] Therefore, there is an urgent need to develop a lightweight unmanned forklift traveling mechanism that has shock absorption function, optimized structure, stable operation and strong spatial adaptability. Utility Model Content

[0005] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a walking mechanism with shock absorption function for light-load unmanned forklifts, which solves the technical problems of poor shock absorption effect, easy interference of wheel system, insufficient drive steering accuracy, and weak space adaptability of existing walking mechanisms.

[0006] The above objectives are achieved through the following technical solutions: A shock-absorbing walking mechanism for a light-load unmanned forklift includes a vertically connected main frame and a support leg assembly. The support leg assembly includes symmetrically arranged support legs, each with a roller at its front end. A frame wall panel is provided on the outer side of the main frame, and an elastic steering wheel assembly and a caster wheel assembly symmetrically arranged about the axis of the elastic steering wheel assembly are provided on the outer side of the frame wall panel. The elastic steering wheel assembly includes a drive wheel; the caster wheel assembly includes casters. In the ground-penetrating state, the bottoms of the drive wheel, the casters, and the rollers are horizontal. The elastic steering wheel assembly includes an elastic component for providing elastic support and a steering wheel module for driving the drive wheel.

[0007] Furthermore, the support leg assembly also includes a connecting plate and an outer side plate. The support leg is symmetrically arranged on the outside of the connecting plate, and two outer side plates are symmetrically arranged on the outside of the support leg. The bottom end of the main frame is perpendicularly connected to the two outer side plates. A roller bracket is provided at the front end of the support leg, and the roller is movably arranged in the roller bracket. Preferably, two rollers are provided and symmetrically distributed to enhance the stability of the support and the smoothness of walking.

[0008] Furthermore, the elastic component includes an upper beam plate, a lower beam plate, a spring shaft, a spring, and a slider, all arranged parallel to the outer side of the frame wall panel; the upper beam plate and the lower beam plate are connected by the spring shaft; the spring and the slider are connected in series on the spring shaft, the top end of the spring can abut against the bottom surface of the upper beam plate, the bottom end of the spring can abut against the slider, and the bottom surface of the slider can abut against the surface of the lower beam plate; through the compression and rebound of the spring, elastic support can be achieved, effectively buffering vibrations during travel.

[0009] Furthermore, the outer sides of the two sliders are provided with L-shaped mounting seats, and the steering wheel module is provided on the mounting seats. The steering wheel module constitutes the driving component and steering component of the drive wheel, with high integration and compact structure.

[0010] Furthermore, the steering wheel module includes a travel motor and a steering motor. The travel motor is connected to a reduction gearbox, and one side of the reduction gearbox is connected to the drive wheel. A rotary gear is mounted on the reduction gearbox, and a steering gear is connected to the shaft of the steering motor, meshing with the rotary gear. Driven by the travel motor, the drive wheel can rotate clockwise or counterclockwise, thus enabling the forward and backward movement of the light-load unmanned forklift. Driven by the steering motor, the rotary gear can indirectly drive the drive wheel to turn left or right, achieving left or right steering control with high driving accuracy and fast response speed.

[0011] Furthermore, the swivel wheel assembly includes a short swivel wheel side plate, a long swivel wheel side plate, and a swivel wheel fixing plate. The short swivel wheel side plate and the long swivel wheel side plate are fixedly connected to the vehicle frame wall panel and the outer side plate. The swivel wheel fixing plate is disposed on the top of the short swivel wheel side plate and the long swivel wheel side plate, and the swivel wheel is movably connected to the swivel wheel fixing plate.

[0012] Furthermore, a radar is provided on the upper surface of the universal wheel fixing plate. This radar can optimize the path of the walking mechanism and improve the navigation accuracy of the light-load unmanned forklift. This is an extended function and does not affect the core performance of the walking mechanism.

[0013] Furthermore, the rear ends of the two casters do not extend beyond the rear ends of the drive wheel, and the contact points of the drive wheel and the two casters form an isosceles triangle support. This design not only ensures that the casters are not exposed on the outer side of the light-load unmanned forklift, reducing interference from external obstacles, but also makes the entire vehicle occupy less space and has a thinner structure, significantly improving its adaptability in narrow warehouse environments.

[0014] Furthermore, an arc-shaped base plate is provided on the outer side of the two outer side plates. The arc-shaped base plate can be connected to the outer ends of the short side plate and the long side plate of the omnidirectional wheel to form a reinforced support structure. It can also enclose the omnidirectional wheel and the drive wheel, further blocking external obstacles and preventing them from acting on the omnidirectional wheel and the drive wheel, thereby improving the operational reliability and service life of the walking mechanism.

[0015] Furthermore, the short side plate, long side plate, and fixing plate of the omnidirectional wheel constitute a hidden space for the omnidirectional wheel with a concealed groove.

[0016] Furthermore, two rollers are movably disposed within the roller bracket, and the two rollers are symmetrically distributed.

[0017] This utility model provides a shock-absorbing walking mechanism for light-load unmanned forklifts. Through the spring-buffered structure of the elastic steering wheel assembly, it solves the problem of lack of shock absorption in existing technologies, ensuring smooth cargo handling and extending component life. The concealed groove design of the universal wheels, combined with the arc-shaped base plate, avoids external interference, and the isosceles triangular support enhances stability. Integrated drive and steering motors enable precise control, the lightweight structure adapts to narrow spaces, and the modular design reduces maintenance costs, significantly improving the performance of the light-load unmanned forklift's walking mechanism. Specific beneficial effects are as follows: 1. Significant shock absorption effect: The spring buffer structure (elastic component) of the elastic steering wheel assembly can effectively absorb vibrations during movement, which not only ensures the stability of cargo handling, but also reduces component wear and extends the service life of the equipment.

[0018] 2. Structural layout optimization: The casters adopt a hidden groove design (composed of short side panels, long side panels, and a fixed plate), which, together with the arc-shaped base plate enclosure, avoids interference from external obstacles and improves operational stability; the multi-wheel horizontal isosceles triangular support structure ensures that the vehicle is not easy to tip over during operation.

[0019] 3. Precise drive and steering: The steering wheel module integrates the travel motor and the steering motor, and achieves precise steering and drive control through gear meshing transmission. It has a fast response speed and high control accuracy, which can meet the needs of high-precision material handling.

[0020] 4. Strong spatial adaptability: The overall structure of the walking mechanism is lightweight and thin, the casters are not exposed and the support legs are compactly designed, which can move flexibly in narrow warehouse environments and is suitable for various application scenarios in industries such as electronics and pharmaceuticals.

[0021] 5. Low maintenance cost: The flexible steering wheel assembly adopts a modular design, and vulnerable parts such as springs and sliders can be replaced individually, which greatly reduces the difficulty and cost of later maintenance. Attached Figure Description

[0022] Figure 1 This is a first-view structural diagram of a walking mechanism with shock absorption function for a light-load unmanned forklift according to the present invention. Figure 2 This is a second-view structural diagram of a shock-absorbing walking mechanism for a light-load unmanned forklift according to the present invention. Figure 3 This is a third-view structural diagram of a shock-absorbing walking mechanism for a light-load unmanned forklift according to the present invention. Figure 4 This is a first-view structural schematic diagram of the elastic steering wheel assembly in the shock-absorbing walking mechanism of a light-load unmanned forklift according to the present invention. Figure 5 This is a second-view structural schematic diagram of the elastic steering wheel assembly in the shock-absorbing walking mechanism of a light-load unmanned forklift according to the present invention. Figure 6 This is a schematic diagram of a walking mechanism with shock absorption function for a light-load unmanned forklift, as described in this utility model, in which radar is installed.

[0023] Illustration markings: 1-Main framework; 2-Outer leg assembly, 201-Support leg, 202-Connecting plate, 203-Outer side plate, 204-Roller bracket, 205-Roller; 3-Frame wall panels; 4-Elastic steering wheel assembly, 401-Drive wheel, 402-Upper beam plate, 403-Lower beam plate, 404-Spring shaft, 405-Spring, 406-Slider, 407-Mounting base, 408-Steering wheel module, 409-Walking motor, 410-Steering motor, 411-Reduction gearbox, 412-Rotating gear, 413-Steering gear; 5-Wheel assembly, 501-Wheel, 502-Wheel short side plate, 503-Wheel long side plate, 504-Wheel fixing plate; 6-Arc-shaped base plate; 7-Radar. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] like Figures 1-3 As shown, this solution provides a shock-absorbing walking mechanism for a light-load unmanned forklift, comprising a vertically connected main frame 1 and outrigger assemblies 2. Support legs 201 are symmetrically arranged on the outer side of the connecting plate 202 of the outrigger assembly 2. Outer plates 203 are symmetrically fixed to the outer sides of the two support legs 201. The bottom end of the main frame 1 is vertically connected to the two outer plates 203, forming a stable frame support structure. A roller bracket 204 is installed at the front end of each support leg 201, and two symmetrically distributed rollers 205 are movably arranged within the roller bracket 204 for auxiliary support and movement.

[0026] A frame wall panel 3 is fixed to the outer side of the main frame 1. A flexible steering wheel assembly 4 is installed on the outer side of the frame wall panel 3, and the flexible steering wheel assembly 4 includes a drive wheel 401. A caster wheel assembly 5 is also symmetrically arranged on the outer side of the frame wall panel 3 about the flexible steering wheel assembly 4, and the caster wheel assembly 5 includes casters 501. When on the ground, the bottoms of the drive wheel 401, the two casters 501, and each roller 205 remain horizontal, jointly supporting the entire walking mechanism.

[0027] like Figure 4 and Figure 5As shown, the upper beam plate 402 and lower beam plate 403 of the elastic steering wheel assembly 4 are connected by a pair of spring shafts 404, with a spring 405 and a slider 406 connected in series on each spring shaft 404. The top end of the spring 405 abuts against the bottom surface of the upper beam plate 402, and the bottom end abuts against the slider 406. The bottom surface of the slider 406 abuts against the surface of the lower beam plate 403. L-shaped mounting seats 407 are fixed to the outer sides of the two sliders 406, and steering wheel modules 408 are mounted on the mounting seats 407. It should be noted that the steering wheel module 408 described in this embodiment is a well-known technology in the art, and its internal structure, connection relationship and transmission principle are also common knowledge in the art, so they will not be described in detail here.

[0028] A travel motor 409 and a steering motor 410 are fixed on the mounting base 407 of the steering wheel module 408. The travel motor 409 is connected to the reduction gearbox 411 below, and one side of the reduction gearbox 411 is connected to the drive wheel 401. A rotary gear 412 is provided on the reduction gearbox 411, and a steering gear 413 is connected to the shaft of the steering motor 410. The steering gear 413 meshes with the rotary gear 412. The travel motor 409 drives the drive wheel 401 to rotate in both directions to achieve forward and backward movement, and the steering motor 410 drives the steering gear 413 to rotate the rotary gear 412, thereby turning the drive wheel 401.

[0029] The short side plate 502 and long side plate 503 of the caster wheel assembly 5 are fixedly connected to the frame wall panel 3 and the outer side panel 203. A caster wheel fixing plate 504 is provided on the top. The three together form a concealed space for the caster wheel. The caster wheel 501 is movably connected to the caster wheel fixing plate 504. The rear ends of the two caster wheels 501 do not extend beyond the rear ends of the drive wheel 401. The contact points of the three together form an isosceles triangle support.

[0030] like Figure 1 and Figure 2 As shown, an arc-shaped base plate 6 is also installed on the outside of the two outer side plates 203. The arc-shaped base plate 6 is connected to the outer ends of the short side plate 502 and the long side plate 503 of the universal wheel, thus enclosing the universal wheel 501 and the drive wheel 401.

[0031] like Figure 6 As shown, as an optimization of this solution, a radar 7 is provided on the upper surface of the universal wheel fixing plate 504 for path optimization. The principle of its implementation is common knowledge in this field and will not be elaborated here.

[0032] Work process: When the light-load unmanned forklift receives a handling command, the walking mechanism starts to operate: First, the walking motor 409 in the steering wheel module 408 is powered on and started. Its output shaft transmits power to the reduction gearbox 411 under the mounting base 407. The reduction gearbox 411 reduces the speed and increases the torque through the internal gear set, driving the drive wheel 401 on one side to rotate. If the walking motor 409 rotates clockwise, the drive wheel 401 rotates clockwise in sync, pushing the forklift forward; if the walking motor 409 rotates counterclockwise, the drive wheel 401 rotates counterclockwise accordingly, realizing the forklift moving backward. The power transmission is stable throughout the driving process, and the driving speed can be flexibly adjusted according to the command.

[0033] When the driving direction needs to be adjusted, the steering motor 410 is started, and its shaft drives the steering gear 413 at the end to rotate. Since the steering gear 413 meshes with the rotary gear 412 on the reduction gearbox 411, the rotation of the steering gear 413 will drive the rotary gear 412 to rotate synchronously, thereby causing the reduction gearbox 411 and the drive wheel 401 connected to it to deflect as a whole. When the steering motor 410 rotates forward, the drive wheel 401 deflects to the left, and the forklift turns left; when the steering motor 410 rotates in reverse, the drive wheel 401 deflects to the right, completing a right turn. The steering process is responsive and the angle control is precise, which is suitable for the flexible steering needs in warehouse scenarios.

[0034] When the forklift travels on uneven surfaces or encounters small obstacles such as bumps or pebbles, the drive wheel 401 experiences an upward impact force. This impact force is transmitted to the slider 406 via the gearbox 411 and mounting base 407, causing the slider 406 to slide upward along the spring shaft 404 and compress the spring 405. The spring 405 undergoes elastic deformation under compression, converting part of the impact force into elastic potential energy while simultaneously buffering the transmission of vibration. After passing over the obstacle, the spring 405 releases its elastic potential energy, pushing the slider 406 back to its original position, and the drive wheel 401 returns to stable contact with the ground. This effectively reduces vibration throughout the entire process, preventing goods from shifting or being damaged due to vibration and ensuring stable handling.

[0035] During this process, the casters 501 of the caster assembly 5 remain in contact with the ground. On one hand, they roll synchronously with the drive wheels 401, assisting the forklift in maintaining a straight line or adjusting its direction with steering. On the other hand, together with the rollers 205 in the front roller bracket 204 of the support leg 201, they form a multi-point support, distributing the weight of the forklift and goods, preventing the forklift from tilting, and improving driving stability. At the same time, the arc-shaped base plate 6 on the outer side of the outer plate 203 is set around the drive wheels 401 and the casters 501, which can prevent ground debris such as chips and weeds from being rolled into the wheels, or prevent external obstacles such as the corners of the shelves from directly colliding with the wheel system, reducing the risk of failure. If the radar 7 on the caster fixing plate 504 is activated, it can scan the surrounding environment in real time, plan the optimal driving path, and further improve the automated operation efficiency of the traveling mechanism.

[0036] The above description is only for illustrating the embodiments of this utility model and is not intended to limit this utility model. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A shock-absorbing walking mechanism for a light-load unmanned forklift, characterized in that, It includes a vertically connected main frame (1) and a leg assembly (2), the leg assembly (2) including symmetrically arranged support legs (201), and the front end of the support legs (201) is provided with a roller (205); The outer side of the main frame (1) is provided with a frame wall panel (3), and an elastic steering wheel assembly (4) and a universal wheel assembly (5) arranged symmetrically about the elastic steering wheel assembly (4) are provided on the outer side of the frame wall panel (3); the elastic steering wheel assembly (4) includes a drive wheel (401); the universal wheel assembly (5) includes a universal wheel (501); in the ground state, the bottom of the drive wheel (401), the universal wheel (501) and the roller (205) are horizontal; The elastic steering wheel assembly (4) includes an elastic component for achieving elastic support and a steering wheel module (408) for driving the drive wheel (401).

2. The walking mechanism with shock absorption function for a light-load unmanned forklift according to claim 1, characterized in that, The leg assembly (2) further includes a connecting plate (202) and an outer plate (203). The supporting leg (201) is symmetrically arranged on the outside of the connecting plate (202), and two outer plates (203) are symmetrically arranged on the outside of the supporting leg (201). The bottom end of the main frame (1) is vertically connected to the two outer plates (203). A roller bracket (204) is provided at the front end of the supporting leg (201), and the roller (205) is movably arranged in the roller bracket (204).

3. The walking mechanism with shock absorption function for a light-load unmanned forklift according to claim 1, characterized in that, The elastic component includes an upper beam plate (402), a lower beam plate (403), a spring shaft (404), a spring (405), and a slider (406) arranged parallel to the outer side of the frame wall panel (3); the upper beam plate (402) and the lower beam plate (403) are connected by the spring shaft (404); the spring (405) and the slider (406) are connected in series on the spring shaft (404), the top end of the spring (405) can abut against the bottom surface of the upper beam plate (402), the bottom end of the spring (405) can abut against the slider (406), and the bottom surface of the slider (406) can abut against the surface of the lower beam plate (403).

4. A shock-absorbing walking mechanism for a light-load unmanned forklift according to claim 3, characterized in that, The outer sides of the two sliders (406) are provided with L-shaped mounting seats (407), and the steering wheel module (408) is provided on the mounting seats (407).

5. A shock-absorbing walking mechanism for a light-load unmanned forklift according to claim 4, characterized in that, The steering wheel module (408) includes a travel motor (409) and a steering motor (410). The travel motor (409) is connected to a reduction gearbox (411) and one side of the reduction gearbox (411) is connected to the drive wheel (401). A rotary gear (412) is provided on the reduction gearbox (411), and a steering gear (413) is connected to the shaft of the steering motor (410). The steering gear (413) meshes with the rotary gear (412).

6. A walking mechanism with shock absorption function for a light-load unmanned forklift according to claim 2, characterized in that, The omnidirectional wheel assembly (5) includes a short omnidirectional wheel side plate (502), a long omnidirectional wheel side plate (503), and an omnidirectional wheel fixing plate (504). The short omnidirectional wheel side plate (502) and the long omnidirectional wheel side plate (503) are fixedly connected to the frame wall plate (3) and the outer side plate (203). The omnidirectional wheel fixing plate (504) is disposed on the top of the short omnidirectional wheel side plate (502) and the long omnidirectional wheel side plate (503). The omnidirectional wheel (501) is movably connected to the omnidirectional wheel fixing plate (504).

7. A shock-absorbing walking mechanism for a light-load unmanned forklift according to claim 6, characterized in that, The rear ends of the two casters (501) do not extend beyond the rear end of the drive wheel (401), and the contact points of the drive wheel (401) and the two casters (501) form an isosceles triangle support.

8. A shock-absorbing walking mechanism for a light-load unmanned forklift according to claim 6, characterized in that, An arc-shaped base plate (6) is also provided on the outer side of the two outer side plates (203), and the arc-shaped base plate (6) can be connected to the outer end of the short side plate (502) and the long side plate (503) of the universal wheel.

9. A walking mechanism with shock absorption function for a light-load unmanned forklift according to claim 8, characterized in that, The short side plate (502), long side plate (503), and fixing plate (504) of the universal wheel constitute a hidden space for the universal wheel.

10. A shock-absorbing walking mechanism for a light-load unmanned forklift according to claim 2, characterized in that, Two rollers (205) are movably disposed inside the roller bracket (204), and the two rollers (205) are symmetrically distributed.

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