CN113371647B - Remote control type small-sized electrically-driven folding forklift - Google Patents
Remote control type small-sized electrically-driven folding forklift Download PDFInfo
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- CN113371647B CN113371647B CN202110627424.0A CN202110627424A CN113371647B CN 113371647 B CN113371647 B CN 113371647B CN 202110627424 A CN202110627424 A CN 202110627424A CN 113371647 B CN113371647 B CN 113371647B
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 13
- 229910052744 lithium Inorganic materials 0.000 description 13
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 13
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
- B66F9/165—Foldable forks, i.e. where only the horizontal section moves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a remote control type small electric drive folding forklift which comprises a forklift frame, a portal folding and lifting system, a walking and steering system, an electric control system, a hydraulic system and a safety anti-collision system, wherein the portal folding and lifting system, the walking and steering system, the electric control system, the hydraulic system and the safety anti-collision system are arranged on the forklift frame; when in use, the forklift can greatly improve the operation performance of various operation environments of the forklift, is very suitable for material loading and unloading operation under field conditions, adopts an integral three-fulcrum rear-drive layout mode design, and has the characteristics of flexible steering and small turning radius when in use, and can walk and operate in a narrow space.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a remote control type small electric drive folding forklift.
Background
When carrying goods in a short distance, for example, carrying the goods from a truck to a portal or carrying the goods from the portal to the truck, a forklift is often needed, the forklift is convenient and quick to carry, and the labor intensity of operators is low;
In order to ensure the safety of goods, the traditional forklift needs a driver to sit in a control room for operation, and the operation speed is very slow and the efficiency is lower under the condition that the visual field of the driver is limited; in addition, the portal of fork truck is mostly vertical structure, non-collapsible, and self volume is great, weight is heavier, and in addition fork truck self running speed is not high, and the continuation of journey mileage is limited, is inconvenient for transportation and guarantee on-vehicle. Therefore, the traditional forklift is generally only suitable for a warehouse environment, and the application field is narrow;
Therefore, there is an urgent need to design a forklift that can be intelligently controlled and folded to meet the increasingly diverse use demands.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a remote control type small electric drive folding forklift which comprises a frame, a gantry folding and lifting system, a walking and steering system, an electric control system, a hydraulic system, a safety anti-collision system and the like, wherein the electric drive folding forklift is simple in structure, convenient to load and unload cargoes and carry along with the car, can greatly improve the operation performance of various operation environments of the forklift, is very suitable for material loading and unloading operation under field conditions, is designed in an integral three-fulcrum rear drive layout mode, and has the characteristics of flexible steering, small turning radius and capability of walking and operation in a narrow space when in use.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The utility model provides a folding fork truck is driven to small-size electricity of remote control formula, includes the frame, the portal that sets up on the frame is folding and play to rise system, walking and the steering system, electrical control system, hydraulic system and safety collision avoidance system, the portal is folding and play to rise the system and be responsible for fork and lift the goods to can fold on the frame under hydraulic system's drive, walking and steering system receive electrical control system's control command, control fork truck's walking and steering, electrical control system controls fork truck action, safety collision avoidance system is used for reporting to the police in fork truck backing a car and steering process, protects fork truck.
Preferably, the gantry folding and lifting system comprises a gantry, a lifting mechanism and an inclined folding mechanism, wherein the gantry is connected with the frame through a bearing, the gantry is driven to lift and turn over through the lifting mechanism and the inclined folding mechanism, and the frame and the gantry are provided with inclination sensors; the door frame comprises a folding fork, an inner door frame, an outer door frame and a fork frame, wherein the inner door frame is arranged in the outer door frame and slides along an inner side guide rail of the outer door frame; the fork frame is arranged on the inner door frame through the lifting mechanism, moves up and down along the inner door frame, the folding fork is arranged on the lower side of the fork frame through the turnover mechanism, connecting holes are further formed in two sides of the outer door frame, the outer door frame is rotatably arranged on the frame through the connecting holes and the inclined folding mechanism, and a fixing clamp used for fixing goods is arranged on the folding fork.
Preferably, the lifting mechanism is of a two-stage vertical portal structure and comprises a primary lifting mechanism and a secondary lifting mechanism; the primary lifting mechanism is a lifting oil cylinder, the lifting oil cylinder is arranged on the outer portal, and the piston movement of the lifting oil cylinder drives the inner portal to move up and down along the guide rail of the outer portal; the secondary lifting mechanism comprises chain wheels and chains, the chain wheels are symmetrically arranged on the inner door frame, the chains penetrate through the chain wheels to be connected with the fork frame, and the fork frame is driven to ascend or descend along the inner door frame at twice speed through the chains.
Preferably, the turnover mechanism comprises a connecting plate embedded on the inner side of the fork frame, a hinge ring arranged on the folding fork, a pin shaft, a connecting block and a buffer spring, wherein the hinge ring is connected with the connecting ring at the lower end of the connecting block through the pin shaft, an arc-shaped groove is formed in the side surface of the fork frame, the arc-shaped groove is matched with an arc-shaped inserting block arranged on the folding fork for use, and a handle is arranged on the outer side end surface of the arc-shaped inserting block; the connecting plate is provided with a movable cavity, the upper end part of the connecting block is movably arranged in the movable cavity, the tail part of the connecting block is also provided with a limiting block which is matched with the movable cavity, and the buffer spring is sleeved on the connecting block in the movable cavity.
Preferably, the tilting and folding mechanism is a folding/tilting oil cylinder, the folding/tilting oil cylinder is connected with the outer portal through a connecting hole and a bearing, the folding/tilting oil cylinder moves to drive the outer portal to turn over, the folding/tilting oil cylinder comprises an earring, a cylinder body, a piston body and a steel back bearing, the piston body is movably arranged in the cylinder body, and the earring is arranged at the outer side end part of the piston body and is connected with the frame; the cylinder body is also provided with a first inflatable column and a second inflatable column which are communicated with the internal cavity, wherein the second inflatable column is communicated with the internal cavity of the cylinder body through a pressurizing inflatable tube; the first air charging column and the pressurizing air charging pipe are respectively communicated with two ends of the cylinder body; the outer portal works with an inclination angle of 3 degrees forward or 5 degrees backward.
Preferably, the walking and steering system comprises a walking mechanism, a steering mechanism and a braking mechanism which are mutually independent, wherein the walking mechanism is arranged on the frame in a three-pivot rear-drive layout mode, the braking mechanism is an electromagnetic brake, the walking mechanism is driven to move by the electromagnetic brake, the steering mechanism is arranged on the walking mechanism, and the steering mechanism is driven to steer by a slewing bearing arranged on the steering mechanism.
Preferably, the travelling mechanism comprises a traction motor and wheels arranged on the frame, the traction motor is connected with the wheels through a speed reducer, and the wheels are driven to rotate through the traction motor; the steering mechanism comprises a pinion, a steering gear box, a steering motor, a supporting pinion, a pinion encoder and a mounting plate, wherein the steering gear box and the steering motor are arranged on the outer side of a hub of a wheel, the mounting plate is arranged on the upper side of the wheel, and the pinion, the pinion encoder and the slewing bearing are arranged on the wheel; the steering motor drives the steering gear box to rotate, the steering gear box drives the pinion to rotate, the pinion is meshed with the slewing bearing, the supporting pinion is meshed with the slewing bearing and is arranged on the upper side of the pinion encoder, the supporting pinion is driven to rotate through the pinion encoder, and the reduction ratio of the steering gear box is larger than 1:40.
Preferably, the electric control system comprises a walking subsystem, a steering subsystem, a lifting/folding subsystem, an interactive instrument, a remote control subsystem, a lithium battery subsystem, a DC-DC converter, an emergency stop subsystem and a charging protection function system, and is used for respectively controlling the forward, backward, lifting, descending, forward tilting, backward tilting, folding, unfolding, left steering, right steering, protection and conversion of the forklift; and handles of the systems are arranged on the remote control subsystem.
Preferably, the hydraulic system comprises an oil pump motor, a gear pump, a multi-way control valve, a mounting bracket, a lifting oil cylinder high-pressure rubber pipe, a front inclined rubber pipe, a rear inclined rubber pipe, a middle transition valve body, an oil pump oil suction pipe, a cover plate assembly and a multi-way valve oil return pipe, wherein the oil pump motor is arranged on a frame through the mounting bracket and is connected with the gear pump, the oil pump output end of the gear pump is connected with the multi-way control valve, the output control end of the multi-way control valve is respectively connected with the lifting oil cylinder high-pressure rubber pipe, the front inclined rubber pipe and the rear inclined rubber pipe, and the input control end of the multi-way control valve is respectively connected with the oil pump oil suction pipe, the cover plate assembly and the multi-way valve oil return pipe.
Preferably, the lifting oil cylinder high-pressure rubber pipe, the forward-inclined rubber pipe and the backward-inclined rubber pipe are all connected with the multi-way control valve through the intermediate transition valve body, wherein the lifting oil cylinder high-pressure rubber pipe is connected with the lifting oil cylinder, and the forward-inclined rubber pipe and the backward-inclined rubber pipe are both connected with the folding/inclined oil cylinder.
Preferably, the safety anti-collision system comprises a laser scanner, a controller and a car body alarm buzzer, wherein the scanning angle of the laser scanner is 200 degrees.
The beneficial effects of the invention are as follows: the invention discloses a remote control type small-sized electrically-driven folding forklift, which is improved compared with the prior art in that:
(1) The invention designs a remote control type small electric drive folding forklift, which comprises a portal folding and lifting system, a walking and steering system, an electric control system, a hydraulic system, a safety anti-collision system and a remote control system, wherein a frame is in a foldable design, and can be driven into a matched transportation box after the portal is folded, and transported along with transportation tools such as automobiles, so that accompanying guarantee is conveniently realized, and the problems of large volume of the automobile, inconvenience in transportation along with the automobiles and the like in the existing forklift are solved;
(2) The forklift is controlled in a remote control (supporting wireless and wired modes) operation mode, all actions of the forklift can be realized through a remote controller, folding, unfolding and switching are performed through a mode switch on the remote controller, unmanned driving is realized to a certain extent, a laser distance measuring device is arranged on a forklift body, an anti-collision function is realized, manpower resources are liberated, the operation cost is reduced, and remote intelligent control can be realized;
(3) The foldable electric drive forklift is powered by a lithium battery made of lithium iron phosphate, and has the characteristics of high energy density and long continuous working time;
(4) The forklift adopts a rear-drive three-pivot layout mode, has the characteristics of flexible steering and small turning radius, and can walk and operate in a narrow space;
(5) The forklift adopts a modularized design, and a walking power supply, a control system, a power supply system, a hydraulic pump station and the like are modularized integrated, so that the installation and maintenance efficiency of products can be improved on the premise of ensuring compact structure and reducing the size of the whole forklift.
Drawings
Fig. 1 is a schematic structural view of an electrically driven folding forklift of the present invention.
Fig. 2 is a schematic structural view of the gantry folding and lifting system of the present invention.
Fig. 3 is a side view of the fork carriage of the present invention with the folding fork not inverted.
Fig. 4 is a side view of the fork carriage of the present invention with the folding fork inverted.
Fig. 5 is a front view of the tilting mechanism of the present invention.
Fig. 6 is a schematic view of the structure of the folding fork of the present invention.
Fig. 7 is a front view of the folding/tilting cylinder of the present invention.
Fig. 8 is a cross-sectional view of the folding/tilting cylinder of the present invention.
Fig. 9 is a schematic structural view of the walking and steering system of the present invention.
FIG. 10 is a schematic diagram of the components of the electrical control system of the present invention.
Fig. 11 is a front view of a foldable electrically driven forklift remote control of the present invention.
Fig. 12 is an outline view of the walking and working motor controller assembly of the present invention.
Fig. 13 is a schematic view showing the construction of the hydraulic system of the present invention.
Fig. 14 is a schematic diagram of a hydraulic system of the present invention.
Fig. 15 is a schematic view of a safety collision avoidance system of the present invention.
Fig. 16 is a schematic view of a folding point drive forklift collision avoidance system region arrangement according to the present invention.
Wherein: 1. the frame, 2. Gantry folding and lifting system, 21. Folding fork, 211. Hinge loop, 212. Arc insert, 213. Handle, 22. Folding/tilting cylinder, 221. Oil cup, 222. Earring, 223. Small round nut, 224. Dust ring, 225. Flap, 226. Shaft seal, 227. Guide sleeve, 228. Flap, 229. O-ring, 2210. Cylinder, 2211. Piston body, 2212. T-shaped Kang Gelai. Ring, 2213. Hole support ring, 2214. Steel back bearing, 2215. Knuckle bearing, 2216. Hole retainer ring, 2217. First inflation column, 2218. Second inflation column, 2219. Pressurization tube, 23. Lifting cylinder, 24. Inner gantry, 25. Outer gantry, 26. Sprocket, 27. Chain, 28. Fork frame, 281. Link plate, 1. Movable cavity, 282. Arc groove, 283. Arc groove, 2831, 2832. Connection ring, 284, cushion spring, 29, connecting hole, 20, pin, 3, running steering system, 31, pinion, 32, steering gear box, 33, steering motor, 34, traction motor, 35, wheels, 36, support pinion, 37, electromagnetic brake, 38, pinion encoder, 39, mounting plate, 310, slewing bearing, 4, electrical control system, 41, running subsystem, 42, steering subsystem, 43, lifting/folding subsystem, 44, interactive instrument, 45, remote control subsystem, 451, right/left turn handle, 452, lowering/lifting handle, 453, backup handle, 454, unfolding/folding handle, 455, forward/backward handle, 456, forward/backward handle, 457, anti-collision release switch, 458, folding/unfolding auxiliary switch, 459, emergency stop button, 4510, 4511. the system comprises a front headlight switch 46, a lithium battery subsystem 47, a DC-DC converter 48, a sudden stop subsystem 49, a charging protection function system 5, a hydraulic system 51, an oil pump motor 52, a gear pump 53, a multi-way control valve 54, a mounting bracket 55, a lifting oil cylinder high-pressure rubber pipe 56, a forward-tilting rubber pipe 57, a rear-tilting rubber pipe 58, an intermediate transition valve body 59, an oil pump oil suction pipe 510, a cover plate assembly 511, a multi-way valve oil return pipe 6, a safety anti-collision system 61, a laser scanner 62, a controller 63 and a vehicle body alarm buzzer.
Detailed Description
In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Referring to the accompanying drawings 1-16, a remote control type small electric drive folding forklift comprises a frame 1, a gantry folding and lifting system 2, a walking and steering system 3, an electric control system 4, a hydraulic system 5 and a safety anti-collision system 6 which are arranged on the frame 1, wherein the gantry folding and lifting system 2 is responsible for forking and lifting cargoes, the gantry folding and lifting system can be folded on the frame 1 under the driving of the hydraulic system 5, the whole height of the forklift is reduced, the forklift is convenient to transport along with a vehicle, the walking and steering system 3 receives a control command of the electric control system 4, the walking and steering of the forklift are controlled, the electric control system 4 is used for controlling the action of the forklift, the safety anti-collision system 6 is used for giving an alarm in the reversing and steering process of the forklift, preventing the forklift from colliding with other objects, and protecting the forklift.
Preferably, the gantry folding and lifting system 2 comprises a gantry, a lifting mechanism and an inclined folding mechanism, wherein the gantry is connected with the frame 1 through a bearing, the gantry is driven to lift and overturn through the lifting mechanism and the inclined folding mechanism to load and transport cargoes, and inclination sensors are arranged on the frame 1 and the gantry and used for monitoring the inclination angles of the gantry and a vehicle body in real time and according to measured data; the door frame comprises a folding fork 21, an inner door frame 24, an outer door frame 25 and a fork frame 28, wherein the inner door frame 24 is arranged in the outer door frame 25 and slides up and down along a guide rail on the inner side of the outer door frame 25; the fork frame 28 is arranged on the inner door frame 24 through a lifting mechanism, moves up and down along the inner door frame 24, the folding fork 21 is arranged on the lower side of the fork frame 28 through a turnover mechanism, connecting holes 29 are further formed in two sides of the outer door frame 25, the outer door frame 25 is rotatably arranged on the frame 1 through the connecting holes 29 and the inclined folding mechanism, the door frame is driven to turn through the inclined folding mechanism, and a fixing clamp for fixing goods is arranged on the folding fork 21 to fix the goods, so that the goods are prevented from falling.
Preferably, the lifting mechanism is of a two-stage vertical portal structure and comprises a primary lifting mechanism and a secondary lifting mechanism; the primary lifting mechanism is a lifting oil cylinder 23, the lifting oil cylinder 23 is arranged on the outer portal 25, and the piston movement of the lifting oil cylinder 23 drives the inner portal 24 to move up and down along the guide rail of the outer portal 25 so as to lift cargoes; the secondary lifting mechanism comprises a chain wheel 26 and a chain 27, the chain wheel 26 is symmetrically arranged on the inner gantry 24, the chain 27 penetrates through the chain wheel 26 to be connected with a fork frame 28, the chain 27 drives the fork frame 28 to ascend or descend along the inner gantry 24 at twice speed, when lifting, the inner frame stretches out under the thrust of a piston of the lifting oil cylinder 23 to drive the chain wheel 26 to ascend, and the chain 26 drives the fork frame to ascend along the inner frame 24 at twice speed, so that a forklift can pass through a short space to transfer and transport cargoes.
Preferably, the turning mechanism includes a connecting plate 281 embedded inside the fork 28, a hinge ring 211 disposed on the folding fork 21, a pin shaft 20, a connecting block 283 and a buffer spring 284, the hinge ring 211 is connected with the connecting ring 2832 at the lower end of the connecting block 283 through the pin shaft 20, that is, the fork 28 is rotationally connected with the folding fork 21 through the pin shaft 20, and an arc slot 282 is formed on the side surface of the fork 28, the arc slot 282 is matched with an arc insert 212 disposed on the folding fork 21, that is, when the folding fork 21 is turned over relative to the fork 28, the arc insert 212 performs telescopic motion along the arc slot 282, when the folding fork 21 is horizontal, the arc insert 212 is tightly propped against the inner wall of the arc slot 282, the folding fork 21 forms bending constraint, and in order to facilitate the manual pushing of the fork 21 during the turning over of the fork 28, the handle 213 is disposed on the outer side surface of the arc insert 212; the connecting plate 281 is provided with a movable cavity 2811, the upper end part of the connecting plate 283 is movably arranged in the movable cavity 2811, a limiting block 2831 is further arranged at the tail part of the connecting plate 283 and is matched with the movable cavity 2811 for use, the position of the connecting plate 283 in the movable cavity 2811 is limited, and the buffering spring 284 is sleeved on the connecting plate 283 in the movable cavity 2811 and has a damping and buffering effect.
Preferably, the tilting and folding mechanism is a folding/tilting cylinder 22, the folding/tilting cylinder 22 is connected with the outer door frame 25 through a connecting hole 29 and a bearing, the outer door frame 25 is driven to turn over by the movement of the folding/tilting cylinder 22, in a folding mode, the door frame can be driven to tilt forward by 3 degrees all the time and backward until the door frame is in a completely horizontal state, namely, the door frame is in a folding state, the overall height of the forklift can be greatly reduced after the door frame is folded, and the transportation along with a vehicle is facilitated; in the working mode, the portal can incline forward by 3 degrees and incline backward by 5 degrees so as to facilitate loading and unloading of cargoes; the folding/tilting cylinder 22 comprises an ear ring 222, a cylinder body 2210, a piston body 2211 and a steel back bearing 2214, wherein the piston body 2211 is movably arranged inside the cylinder body 2210, the ear ring 222 is arranged at the outer side end part of the piston body 2211, and the steel back bearing 2214 is arranged at the outer side end part of the cylinder body 2210 and is connected with the frame 1; the cylinder 2210 is further provided with a first inflation column 2217 and a second inflation column 2218 which are communicated with the internal cavity, wherein the second inflation column 2218 is communicated with the internal cavity of the cylinder 2210 through a pressurizing inflation tube 2219, the first inflation column 2217 and the pressurizing inflation tube 2219 are respectively communicated with two ends of the cylinder 2210, the cylinder 2210 is pressurized to enable the piston body 2211 to move in the cylinder 2210, and the outer door frame 25 is driven to overturn.
Preferably, the traveling and steering system 3 comprises a traveling mechanism, a steering mechanism and a braking mechanism which are mutually independent, the traveling mechanism is arranged on the frame 1 according to a three-pivot rear-drive layout mode, the braking mechanism is an electromagnetic brake 37, the traveling mechanism is driven to move through the electromagnetic brake 37 so as to drive a forklift to move, the steering mechanism is arranged on the traveling mechanism, and the steering mechanism is driven to steer through a slewing bearing 310 arranged on the steering mechanism, so that the steering of the forklift is realized;
The travelling mechanism comprises a traction motor 34 and wheels 35, the wheels 35 are arranged on the lower side of the frame 1 in a three-pivot arrangement, the traction motor 34 is connected with the wheels 35 through a speed reducer, the wheels 35 are driven to rotate through the traction motor 34, the horizontal movement of a forklift is realized, the travelling mechanism control route adopts a direct control mode of a storage battery-alternating current electric control-travelling driving unit, the waste of energy sources in intermediate links is avoided, and the travelling mechanism is simple and energy-saving; the braking mechanism is driven by a motor in the walking control unit, and after being powered on, the traction motor 34 is driven to rotate, and the wheel 35 is driven to rotate after being decelerated by the deceleration mechanism, so that the fork truck can move forwards and backwards; the steering mechanism comprises a pinion 31, a steering gear box 32, a steering motor 33, a supporting pinion 38, a pinion encoder 36 and a mounting plate 39, wherein the steering gear box 32 and the steering motor 33 are arranged on the outer side of a hub of a wheel 35, the mounting plate 39 is arranged on the upper side of the wheel 35, and the pinion 31, the pinion encoder 36 and a slewing bearing 310 are arranged on the wheel 35; when in use, the steering motor 33 drives the steering gear box 32 to rotate, the gear box 32 drives the pinion 31 to rotate, the pinion 31 is meshed with the slewing bearing 310, namely, the pinion 31 drives the slewing bearing 310 to rotate, the supporting pinion 38 is meshed with the slewing bearing 310 and is arranged on the upper side of the pinion encoder 36, and the pinion encoder 36 drives the supporting pinion 38 to rotate, namely, in the steering process, the steering mechanism drives the tire 35 to steer through the steering motor 33;
The steering system and the traveling system are independently controlled, the steering motor 33 drives the steering gear box 32, the pinion 31 and the slewing bearing 310 to drive the tire 35 to steer, and the reduction ratio of the steering gear box 32 is more than 1:40 so as to ensure the stable and controllable steering speed; the main parameters of the traveling driving mechanism and the traveling gear box parameters are shown in tables 1 and 2:
Table 1: main parameters of the travelling drive
| Asynchronous motor | Walking motor | Steering motor |
| Rated power (S2-60 min) | 1.4Kw | 0.3Kw |
| Motor voltage | 27V | 27V |
| Supply voltage | 48V | 48V |
| Rated rotational speed | 3500rpm | 2850rpm |
| Rated current | 36A | 8A |
| Rated torque of motor | 3.8N.m | 1N.m |
| Protection grade | IP44 | IP44 |
Table 2: walking gearbox parameters
Preferably, the electrical control system 4 adopts CAN bus signal transmission control to improve reliability of the electrical control system, and specifically includes a walking subsystem 41, a steering subsystem 42, a lifting/folding subsystem 43, an interactive instrument 44, a remote control subsystem 45, a lithium battery subsystem 46, a DC-DC converter 47, an emergency stop subsystem 48 and a charging protection function system 49, so as to respectively implement various actions and functions of forward, backward, lifting, descending, forward tilting, backward tilting, folding, unfolding, left steering, right steering, protection, conversion and the like of the forklift, and each handle is on the remote control subsystem 45;
Wherein: the walking subsystem 41 is controlled by a walking controller and mainly comprises elements such as a forward handle, a backward handle, an alternating current walking controller, an alternating current walking motor, a lithium battery, a remote controller and the like; the forward and backward actions and functions of the forklift are respectively realized, a key is connected, a forward handle is pulled, a remote controller transmits a forward signal to an alternating current walking controller, the controller sends a corresponding instruction according to the signal, the alternating current walking motor is controlled to rotate in the forward direction, a rotating speed sensor in the alternating current walking motor returns a rotating speed pulse signal to the controller, closed-loop control is realized, galloping and locked-up are prevented, and the backward direction is just opposite;
The model of the walking motor controller is the same as that of the working motor controller, a ZAPI alternating current controller is adopted, and main parameters are shown in table 3:
table 3: main parameters of walking motor controller and working motor controller
The steering subsystem 42 is controlled by a steering controller and mainly comprises a left-right steering handle, an alternating current steering controller, an alternating current steering motor, a lithium battery, a remote controller, a left-right limit position switch, a middle position sensor, a direction identification guide rail and other elements; respectively realizing the left turning action, the right turning action and the function of the forklift; the key is turned on, the left turning handle is pulled, the remote controller transmits a forward signal to the alternating current steering controller, the controller sends a corresponding instruction according to the signal, the alternating current motor is controlled to rotate in the left turning direction, meanwhile, a rotating speed sensor in the alternating current steering motor returns a rotating speed pulse signal to the controller, closed-loop control is realized, galloping and locked-up are prevented, and right turning is just opposite;
the steering controller adopts a ZAPI alternating current controller, mainly controls left and right turns of the vehicle, and automatically returns the wheels according to the instruction, and main parameters are shown in table 4:
Table 4: main parameters of steering controller
| Electric control model | ZAPI EPSAC0 AMPSEAL 48V/70A |
| Rated operating voltage | 48V |
| Maximum operating current of 2 minutes | 70A |
| Continuous operating current | 35A |
| Waterproof grade of controller | IP65 |
The lifting/folding subsystem 43 mainly comprises lifting descending handles, forward tilting backward tilting handles, unfolding folding handles, an alternating current lifting controller, an alternating current lifting motor, a lithium battery, a remote controller and other elements; the actions and functions of lifting, descending, forward tilting, backward tilting, folding, unfolding and the like of the forklift are respectively realized; the method comprises the steps of switching on a key, pulling a lifting handle, transmitting a lifting signal to an alternating current lifting controller by a remote controller, sending a corresponding instruction by the controller according to the signal, controlling the alternating current lifting motor to operate according to the rotating speed required to be lifted, and simultaneously, enabling a corresponding electro-hydraulic proportional valve to be at a corresponding opening degree to realize lifting of a forklift; the folding and backward tilting handles control the same electro-hydraulic proportional valve through the controller, the backward tilting limit position of the portal is determined by the inclination angle sensor, and when the portal is backward tilted to the backward limit position, the controller closes the electro-hydraulic proportional valve to stop backward tilting; when the forklift needs to tilt forwards and backwards on the ramp, the tilt angle sensor on the frame plays a role in correcting the front and back tilt angle, and the front and back tilt angle of the forklift is guaranteed; when the controller cannot detect the inclination angle sensor, the backward inclination handle fails; when the controller detects that the folding of the portal is about to be finished, the oil supply of the electro-hydraulic proportional valve can be reduced, so that the folding is slow and stable;
The interactive instrument 44 is connected with the controller through a CAN line, and CAN display the voltage and the electric quantity of the storage battery, and the state information of the vehicle such as faults, running speed, working time and the like in real time; the instrument informs an operator of the state of the forklift in real time, and allows the operator to set parameters and adjust the forklift sensor;
The interactive instrument 44 is a ZAPI original inlet GRAPHIC SMART instrument, and the instrument is connected with the controller through a CAN line, so that vehicle state information such as the residual electric quantity of the storage battery, the running speed, the working time and the like CAN be displayed in real time; when a vehicle fails, the instrument can display related fault codes to help quickly diagnose the fault; the instrument keys are only used for debugging before the forklift leaves the factory, when the forklift leaves the factory, various parameters are already set, and the keys on the instrument are not pressed at will in the use process so as not to influence normal use;
The remote control subsystem 45 adopts an industrial remote controller, and can realize various actions and functions of forward, backward, lifting, descending, forward tilting, backward tilting, folding, unfolding, left steering, right steering, protection, conversion and the like of the forklift; the remote controller is controlled by adopting a Swedish SCANRECO industrial remote controller, the technology is mature, the control is flexible, and the response is sensitive; the remote controller can realize the forward and backward running actions, left turning actions, right turning actions and the like of the forklift; the actions of lifting, descending, forward tilting, backward tilting, unfolding, folding and the like of the portal frame can be realized; in addition, the remote controller can control the illumination and the loudspeaker of the forklift, emergency stop in emergency, etc., and the specific structure is shown in fig. 11, the upper row of the remote controller is sequentially provided with a right-turning/left-turning handle, a descending/lifting handle, a standby handle, an unfolding/folding handle, a forward/backward tilting handle and a forward/backward tilting handle from left to right, and the lower row is sequentially provided with an anti-collision release switch, a folding/unfolding auxiliary switch, an emergency stop button, a power supply/loudspeaker button and a headlight switch from left to right;
definition of each handle, switch and button tool action:
right/left turn handle 451: pulling the handle upwards and turning the forklift to the right; pulling down the handle and turning the forklift to the right;
Lowering/lifting handle 452: pulling the handle upwards and lowering the door frame; pulling down the handle and lifting the door frame;
Standby handle 453: the forklift is provided with the accessories and the like, and the handle is pulled downwards or upwards when the accessories are not installed, so that the forklift does not act;
Unfolding/folding handle 454: the handle is pulled upwards, and the door frame is unfolded from a horizontal state when being folded to an included angle between the door frame and the vehicle body of more than 85 degrees; the handle is downwards pulled, the door frame is backwards inclined until the door frame is in a horizontal state, the function is required to be matched with the operation of the folding/unfolding auxiliary button, and the handle is only pulled to be free of action;
Forward/backward handle 455: pulling the handle upwards and tilting the door frame forwards; pulling down the handle and tilting the door frame backwards; the front inclination angle of the bicycle is 3 degrees, and the rear inclination angle of the bicycle is 5 degrees;
Forward/reverse handle 456: pulling the handle upwards and allowing the vehicle to travel forwards; pulling down the handle and backing the vehicle;
Bump release switch 457: the switch is downwards dialed, the anti-collision function is started, the laser scanning radar is started to work, the anti-collision function can be realized within a certain range, and when the vehicle encounters an obstacle, the forklift gives a light alarm and an audible and visual alarm according to a preset anti-collision area until the vehicle stops; the switch is upwards dialed, the anti-collision function is relieved, at the moment, the forklift does not respond to the switch output of the laser scanner, no prompt is given when the forklift encounters an obstacle, the obstacle avoidance function cannot be realized, and in order to ensure safety, when the anti-collision switch is upwards dialed, the highest speed of the forklift is limited to 1.5km/h, and at the moment, the forklift can only be slowly moved;
Folding/unfolding auxiliary switch 458: the switch is effectively pulled to the left side, and the switch is automatically reset after the hand is loosened. When folding or unfolding operation is carried out, the switch is firstly required to be pulled leftwards and kept, and meanwhile, the unfolding/folding handle is pulled; after the hands are loosened, the folding/unfolding auxiliary switch automatically resets, and the unfolding/folding handle is pulled at the moment to avoid unsafe time caused by misoperation;
Scram button 459: the button is pressed downwards, the remote control is powered off, all handle buttons of the remote controller do not act, and meanwhile, the vehicle stops advancing;
Power switch/horn button 4510: the button is a double-action button, which is not only a power-on button of the remote controller, but also a horn button. Before using the forklift, the scram button on the remote controller is required to be rotated clockwise, then the button is pressed, and the remote controller is powered on; the remote control power is connected and the button is pressed after the communication with the host is normal, and the loudspeaker sounds;
Headlight switch 4511: the switch is upwards dialed, and the headlight is turned on; the switch is pulled backwards, and the headlight is turned off;
The remote controller is powered by a special lithium battery, and is provided with two batteries at random, and the battery capacity is 7.2V2000Ah. The single cell can be used continuously for about 3.5 hours. To ensure normal use, the two batteries are kept full before use, and after the first battery is used up, the standby battery is replaced and the first battery is charged immediately
The lithium battery subsystem 46 is used as a whole vehicle power supply for providing electric energy and is provided with a power management system for monitoring the battery state at any time; the lithium battery subsystem 46 adopts a lithium iron phosphate lithium battery, and has the characteristics of higher energy density and good safety;
The lithium iron phosphate battery adopts a lithium iron phosphate power storage battery, the lithium iron phosphate battery is called as the lithium ion battery with lithium iron phosphate as the positive electrode material, the P-O bond in the lithium iron phosphate crystal is stable and difficult to decompose, and the lithium iron phosphate battery does not generate structural collapse and heat or form strong oxidizing substances like the lithium battery with other materials as the positive electrode material even at high temperature or in overcharging, so that the lithium iron phosphate battery has good safety; the lithium iron phosphate battery has no memory phenomenon, no matter what state the battery is in, the battery can be used with charging without being put up and recharged, and compared with the traditional lead-acid storage battery, the lithium iron phosphate battery has the following advantages:
(1) The energy density is high: the nominal voltage is 3.2V, the energy density is about 4 times of that of a lead-acid battery, and the volume is small and the weight is light;
(2) The safety is strong: the lithium iron phosphate anode material has good electrochemical performance, a charging and discharging platform is very stable, a structure is stable in the charging and discharging process, and the battery is not burnt, does not explode and has good safety;
(3) The high-temperature performance is good: the battery works normally at an external temperature of 55 ℃;
(4) High power output: standard discharge is 0.2C, and 3C can be charged and discharged;
(5) Long cycle life: charging and discharging at normal temperature of 1C, wherein the capacity of the monomer is still more than 80% after 2000 times of circulation;
(6) Environmental protection: the whole production process is clean and nontoxic, and all raw materials are nontoxic;
specific parameters of the lithium iron phosphate battery are shown in table 5;
Table 5: specific parameters of lithium iron phosphate batteries
In order to facilitate the use, the lithium battery of the vehicle is designed in a different charge-discharge port, and a discharge terminal is not required to be disconnected with a power line during charging, and the charging terminal is directly connected with an output terminal of a charger; the charging power supply is 220V commercial power, and the power line is required to bear at least more than 10A of current;
In order to ensure the safety of the battery, the power BMS automatically cuts off a discharge port during charging, namely, the whole machine does not have any action during charging;
The maximum charging current of the vehicle-mounted power transmitter is 30A, and the charger charges with 25-30A at the initial charging stage until the charging later stage, and the charger automatically reduces the charging current until the vehicle-mounted power transmitter is completely full. From 80% of discharge to full charge of the battery, the charging time is more than 6 hours, and in order to ensure enough charging time, 8 hours of single day work are recommended, and the night time is utilized for charging; if the single-day vehicle use time is shorter, the charging is not needed every day, but before the use, the residual electric quantity is observed through the instrument, if the residual electric quantity is less than two grids, or the fork truck automatically reduces the vehicle speed or the lifting speed of the portal frame, the operation is stopped in time, and the charging is carried out in time;
The DC-DC converter 47 converts the 48V electricity of the battery into 24V electricity for use by electrical components such as lamps and sensors, and the main parameters of the DC-DC converter are shown in table 6:
table 6: DC-DC converter main parameters
| Project | Operating parameters |
| Rated input voltage | 48V |
| Operating voltage range | 37.5～60V |
| Input current | ＜10A |
| Output voltage | 24V |
| Output current | 12.5A |
| Rated output power | 300W |
The vehicle is provided with an inclination sensor on a door frame and a vehicle body respectively, and is used for monitoring the inclination angles of the door frame and the vehicle body in real time and according to measured data, the parameters of the inclination sensor are shown in a table 7:
table 7: parameters of tilt sensor
| Mounting part | Work device | Vehicle body |
| Model number | ROB100-1Z | ROB100-2Z |
| Measuring range | ±45° | ±100° |
| Nonlinear characteristics | 0.05％Of FS | 0.05％Of FS |
| Operating voltage | 24V D.C | 24V D.C |
| Operating temperature | -40～+85℃ | -40～+85℃ |
| Protection grade | IP67 | IP67 |
The inclination sensor is a precise device, and is finely adjusted before the forklift leaves the factory, so that the parameters of the whole forklift meet the use requirements; in the use process, any one of the portal inclination sensor and the frame inclination sensor is not manually removed or changed, otherwise, the inclination angle output error can be caused, and even serious safety accidents can be caused;
The emergency stop subsystem 48 has a function of stopping the folding forklift in an emergency. When the system scram button is pressed, the remote control subsystem 45 is powered off, all handle buttons on the remote control subsystem 45 do not act, and the vehicle stops advancing at the same time;
the charge protection function system 49 is composed of a charge-discharge conversion switch and a protection circuit in the lithium battery, and realizes the charge-discharge conversion function; opening a charging window, closing a change-over switch, powering off a discharging plug, powering on the charging plug, and closing the charging plug reversely; when the key is opened first, the charging window is opened, the discharging plug is still electrified, and the charging plug is still powered off.
Preferably, the hydraulic system 5 mainly provides hydraulic power oil for actuating mechanisms of a working device, namely a folding/tilting cylinder 22 and a lifting cylinder 23, and comprises an oil pump motor 51, a gear pump 52, a multi-way control valve 53, a mounting bracket 54, a lifting cylinder high-pressure rubber tube 55, a front-tipping rubber tube 56, a rear-tipping rubber tube 57, an intermediate transition valve 58, an oil pump oil suction tube 59, a cover plate assembly 510 and a multi-way valve oil return tube 511, wherein the oil pump motor 51 is arranged on a frame 1 through the mounting bracket 54 and is connected with the gear pump 52, an oil pump output end of the gear pump 52 is connected with the multi-way control valve 53, oil is distributed to each actuating mechanism through the multi-way control valve 53, an output control end of the multi-way control valve 53 is respectively connected with the lifting cylinder high-pressure rubber tube 55, the front-tipping rubber tube 56 and the rear-tipping rubber tube 57, and an input control end of the multi-way control valve 53 is respectively connected with the oil pump oil suction tube 59, the cover plate assembly 510 and the multi-way valve oil return tube 511 for pumping and lowering oil pressure; wherein, the high-pressure rubber tube 55, the forward-inclined rubber tube 56 and the backward-inclined rubber tube 57 of the lifting oil cylinder are all connected with the multi-way control valve 53 through the intermediate transition valve body 58, wherein, the high-pressure rubber tube 55 of the lifting oil cylinder is connected with the lifting oil cylinder 23, and the forward-inclined rubber tube 56 and the backward-inclined rubber tube 57 are both connected with the folding/inclined oil cylinder 22; in order to improve the action stability of the executing mechanism, the multi-way control valve 53 is an electro-hydraulic proportional valve, and the hydraulic oil flow passing through the multi-way valve is dynamically adjusted by controlling the current of the proportional electromagnet, so that the preset function of the system is realized, and the hydraulic oil flow control device has the characteristics of strong flow capacity, accurate control, high reliability and the like.
As shown in the hydraulic system architecture hydraulic system schematic diagram of fig. 13, during specific operation, the hydraulic system controls the oil tank, the oil inlet filter, the oil pump motor 51, the gear pump 52, the proportional reversing valve, the load feedback proportional reversing valve, the two-way compensating valve, the double-balance valve, the lifting oil cylinder 23, the folding/tilting oil cylinder 22,
Hydraulic elements such as a manual unloading valve work; the safety pressure of the system is set by the main overflow valve, and when the maximum pressure of the system is greater than the safety pressure set by the main overflow valve, the main overflow valve is opened for unloading so as to protect the safety of the system;
Lifting movement of the lifting oil cylinder 23 is controlled by two proportional reversing valves, and folding and tilting movement of the folding/tilting oil cylinder 22 is controlled by a load feedback proportional reversing valve;
When the lifting oil cylinder 23 performs lifting movement, high-pressure oil enters a plunger cavity of the lifting oil cylinder from a left proportional reversing valve, a plunger rod of the lifting oil cylinder is pushed to move upwards, and the lifting movement speed of the oil cylinder is controlled by the left proportional reversing valve; when the lifting oil cylinder moves downwards, oil in the plunger cavity flows back to the oil tank through the right proportional reversing valve, and the speed of the descending movement of the oil cylinder is controlled by the right proportional reversing valve; when the folding/tilting cylinder 22 tilts forwards (the piston rod of the folding/tilting cylinder is retracted), high-pressure oil enters the upper cavity of the folding/tilting cylinder through a two-way compensation valve, a load feedback proportional reversing valve and a left balance valve, oil in the lower cavity flows back to the oil tank through a right balance valve and a load feedback proportional reversing valve, the forward tilting speed of the cylinder is controlled by the load feedback proportional reversing valve, and the two-way compensation valve is used for keeping the inlet and outlet pressures of the proportional valve constant, so that the movement speed of the piston rod of the folding/tilting cylinder is ensured to be stable; when the folding/tilting cylinder 22 tilts backwards (the piston rod of the folding/tilting cylinder stretches out), high-pressure oil enters the lower cavity of the folding/tilting cylinder 22 through the two-way compensation valve, the load feedback proportional reversing valve and the right balance valve, oil in the upper cavity flows back to the oil tank through the left balance valve and the load feedback proportional reversing valve, and the backward tilting speed of the cylinder is controlled by the load feedback proportional reversing valve.
In addition, the lifting oil cylinder 23 can realize manual descending movement through a manual unloading valve, and when the manual unloading valve of the loop is unscrewed (used for emergency manual descending), oil in a plunger cavity of the lifting oil cylinder directly flows back to an oil tank through the manual unloading valve, so that emergency descending movement of the lifting oil cylinder 23 is realized; the folding tilting cylinder can realize manual folding movement through two manual unloading valves (for emergency manual folding), when the manual unloading valves of the loop are unscrewed (for emergency manual folding), the front cavity and the back cavity of the folding tilting cylinder are in a floating communication state with the oil tank, and at the moment, the folding movement of the folding tilting cylinder can be realized by manual operation.
Preferably, the safety anti-collision system 6 has the functions that in the reversing and steering processes of the vehicle, if the vehicle meets an obstacle, the vehicle body can automatically slow down the speed of the vehicle, and an alarm message is sent out through a vehicle body alarm buzzer to prompt an operator to safely operate; the vehicle frame 1 can automatically slow down when a forklift approaches an obstacle, and the vehicle frame sends out alarm information through the vehicle body alarm buzzer 63 to prompt an operator to safely operate so as to realize parking protection; the scanner 61 used by the system has sensitive signals, wide sensing range and a scanning angle of 200 degrees, and can monitor obstacles around the vehicle in a large range; when the forklift approaches an obstacle, the laser scanner outputs in 3 paths according to the distance from the obstacle, and the light alarm, the sound and light alarm and the sound and light alarm are sequentially given out with emergency reversing, so that parking protection is realized.
The remote control type small electric drive folding forklift realizes unmanned operation, liberates manpower, enlarges the visual field range of operators and improves the working efficiency; through folding the recovery of portal, realized fork truck's miniaturization, improved its trafficability characteristic, be convenient for realize vehicle-mounted guarantee and field operation.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A remote control type small-sized electrically-driven folding forklift is characterized in that: the forklift truck comprises a frame (1), a portal folding and lifting system (2), a walking and steering system (3), an electrical control system (4), a hydraulic system (5) and a safety anti-collision system (6), wherein the portal folding and lifting system (2) is arranged on the frame (1), the portal folding and lifting system (2) is responsible for forking and lifting cargoes, the portal folding and lifting system can be folded on the frame (1) under the driving of the hydraulic system (5), the walking and steering system (3) receives a control command of the electrical control system (4) to control the walking and steering of the forklift, the electrical control system (4) controls the forklift to act, and the safety anti-collision system (6) is used for alarming in the reversing and steering process of the forklift to protect the forklift;
The portal folding and lifting system (2) comprises a portal, a lifting mechanism and an inclined folding mechanism, wherein the portal is connected with the frame (1) through a bearing, the portal is driven to lift and turn over through the lifting mechanism and the inclined folding mechanism, and inclination sensors are arranged on the frame (1) and the portal; the gantry comprises a folding fork (21), an inner gantry (24), an outer gantry (25) and a fork frame (28), wherein the inner gantry (24) is arranged in the outer gantry (25) and slides along an inner side guide rail of the outer gantry (25); the fork frame (28) is arranged on the inner door frame (24) through a lifting mechanism, moves up and down along the inner door frame (24), the folding fork (21) is arranged on the lower side of the fork frame (28) through a turnover mechanism, connecting holes (29) are further formed in two sides of the outer door frame (25), the outer door frame (25) is rotatably arranged on the frame (1) through the connecting holes (29) and the inclined folding mechanism, and a fixing clamp for fixing cargoes is arranged on the folding fork (21);
The turnover mechanism comprises a connecting plate (281) embedded inside a fork frame (28), a hinge ring (211), a pin shaft (20), a connecting block (283) and a buffer spring (284) which are arranged on the folding fork (21), wherein the hinge ring (211) is connected with a connecting ring (2832) at the lower end of the connecting block (283) through the pin shaft (20), an arc groove (282) is formed in the side face of the fork frame (28), the arc groove (282) is matched with an arc inserting block (212) arranged on the folding fork (21) for use, and a handle (213) is arranged on the outer side end face of the arc inserting block (212); the connecting plate (281) is provided with a movable cavity (2811), the upper end part of the connecting block (283) is movably arranged in the movable cavity (2811), the tail part of the connecting block (283) is also provided with a limiting block (2831) which is matched with the movable cavity (2811), and the buffer spring (284) is sleeved on the connecting block (283) in the movable cavity (2811); when the folding fork is horizontal, the arc-shaped inserting block is tightly propped against the inner wall of the arc-shaped groove, and the folding fork forms bending constraint;
The tilting folding mechanism is a folding/tilting oil cylinder (22), the folding/tilting oil cylinder (22) is connected with the outer door frame (25) through a connecting hole (29) and a bearing, and the outer door frame (25) is driven to turn over through the movement of the folding/tilting oil cylinder (22); the folding/tilting cylinder (22) comprises an earring (222), a cylinder body (2210), a piston body (2211) and a steel back bearing (2214), wherein the piston body (2211) is movably arranged inside the cylinder body (2210), and the earring (222) is arranged at the outer side end part of the piston body (2211) and is connected with the frame (1);
The traveling and steering system (3) comprises a traveling mechanism, a steering mechanism and a braking mechanism which are mutually independent, wherein the traveling mechanism is arranged on the frame (1) in a three-pivot rear-drive layout mode, the braking mechanism is an electromagnetic brake (37), the steering mechanism is arranged on the traveling mechanism, and the traveling mechanism is driven to steer through a rotary bearing (310) arranged on the steering mechanism; the travelling mechanism comprises a traction motor (34) and wheels (35) arranged on the frame (1), the traction motor (34) is connected with the wheels (35) through a speed reducer, and the wheels (35) are driven to rotate through the traction motor (34); the steering mechanism comprises a pinion (31), a steering gear box (32), a steering motor (33), a supporting pinion (38), a pinion encoder (36) and a mounting plate (39), wherein the steering gear box (32) and the steering motor (33) are arranged on the outer side of a hub of a wheel (35), the mounting plate (39) is arranged on the upper side of the wheel (35), and the pinion (31), the pinion encoder (36) and a slewing bearing (310) are arranged on the wheel (35); the pinion (31) is driven to rotate through the steering motor (33), the pinion (31) is meshed with the slewing bearing (310), the supporting pinion (38) is meshed with the slewing bearing (310) and is arranged on the upper side of the pinion encoder (36), the supporting pinion (38) is driven to rotate through the pinion encoder (36), and the reduction ratio of the steering gear box (32) is larger than 1:40;
The hydraulic system (5) comprises an oil pump motor (51), a gear pump (52), a multi-way control valve (53), a mounting bracket (54), a lifting oil cylinder high-pressure rubber tube (55), a front-inclined rubber tube (56), a rear-inclined rubber tube (57), an intermediate transition valve body (58), an oil pump oil suction tube (59), a cover plate assembly (510) and a multi-way valve oil return tube (511), wherein the oil pump motor (51) is arranged on a frame (1) through the mounting bracket (54) and is connected with the gear pump (52), the oil pump output end of the gear pump (52) is connected with the multi-way control valve (53), the output control end of the multi-way control valve (53) is respectively connected with the lifting oil cylinder high-pressure rubber tube (55), the front-inclined rubber tube (56) and the rear-inclined rubber tube (57), and the input control end of the multi-way control valve (53) is respectively connected with the oil pump oil suction tube (59) and the multi-way valve oil return tube (511). The lifting oil cylinder high-pressure rubber tube (55), the forward-tilting rubber tube (56) and the backward-tilting rubber tube (57) are connected with the multi-way control valve (53) through the intermediate transition valve body (58), wherein the lifting oil cylinder high-pressure rubber tube (55) is connected with the lifting oil cylinder (23), and the forward-tilting rubber tube (56) and the backward-tilting rubber tube (57) are connected with the folding/tilting oil cylinder (22).
2. The remotely controlled small electrically driven folding forklift as claimed in claim 1, wherein: the lifting mechanism is of a two-stage vertical portal structure and comprises a primary lifting mechanism and a secondary lifting mechanism; the primary lifting mechanism is a lifting oil cylinder (23), the lifting oil cylinder (23) is arranged on the outer portal (25), and the piston movement of the lifting oil cylinder (23) drives the inner portal (24) to move up and down along the guide rail of the outer portal (25); the secondary lifting mechanism comprises a chain wheel (26) and a chain (27), wherein the chain wheel (26) is symmetrically arranged on the inner portal (24), the chain (27) penetrates through the chain wheel (26) to be connected with the fork frame (28), and the chain (27) drives the fork frame (28) to ascend or descend along the inner portal (24) at twice speed.
3. The remotely controlled small electrically driven folding forklift as claimed in claim 1, wherein: the safety anti-collision system (6) comprises a laser scanner (61), a controller (62) and a car body alarming buzzer (63), wherein the scanning angle of the laser scanner (61) is 200 degrees.
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| CN113979365A (en) * | 2021-11-05 | 2022-01-28 | 安徽合力股份有限公司 | Forklift, automatic forklift control system and control method thereof |
| CN114329707A (en) * | 2021-12-24 | 2022-04-12 | 重庆市工程管理有限公司 | BIM technology-based medical equipment hoisting method |
| CN114538332B (en) * | 2022-03-02 | 2022-11-01 | 保定绍瑞机电设备有限公司 | Control method for wireless remote control new energy forklift and new energy forklift |
| CN114604805A (en) * | 2022-03-18 | 2022-06-10 | 湖南爱力液压密封技术有限公司 | Control system of remote control electric forklift |
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