CN210236999U - Forklift device with high degree of freedom - Google Patents

Abstract

The utility model discloses a forklift device with high degree of freedom, which comprises a forklift body and a lifting mechanism for loading and unloading goods from top to bottom, wherein the lower part of the forklift body is provided with a steering mechanism for supporting, moving and steering the forklift body; a rotating frame mechanism is connected between the vehicle body and the hoisting mechanism, the rotating frame mechanism is fixedly connected with the hoisting mechanism, the rotating frame mechanism is rotatably connected with the vehicle body, the hoisting mechanism rotates around the vehicle body through the rotating frame mechanism, a groove matched with the vehicle body is formed in the rotating frame mechanism, at least one roller is arranged on two opposite side surfaces of the groove respectively, annular track grooves are formed in the upper surface and the lower surface of the vehicle body respectively, the rollers can be rotatably arranged in the annular track grooves, and the rotating frame mechanism rotates relative to the annular track grooves through the rollers; through the cooperation of hoisting mechanism, steering mechanism, swivel mount mechanism etc. realize fork truck's a plurality of degrees of freedom and adjust for fork truck flexibility is good, keep away the barrier ability reinforce, can satisfy the complicated transport environment of modern logistics storage.

Description

Forklift device with high degree of freedom

Technical Field

The utility model relates to a fork truck transport technical field especially relates to a fork truck device of high degree of freedom.

Background

The forklift is a mobile loading and unloading carrying machine with wide application, and is one of material carrying machines. The forklift is formed by additionally arranging a special loading and unloading working device on a trackless wheel type chassis provided with a power device. As a mobile carrying device for loading, unloading and short-distance transportation, a forklift is not only applied to the national infrastructure industry, but also commonly used in ports, stations, goods yards, warehouses, workshops, oil fields, airports and the like, and can enter a cabin and a container for operation, and meanwhile, the forklift is widely applied to military departments. However, a general forklift is provided with a mast at the front end, and the forks are arranged on the mast in a manner of moving up and down, and are usually driven by a chain to lift.

The forklift for warehousing is specially designed for carrying operations such as warehouse goods loading and unloading, stacking and the like, has the advantages of compact body, flexible movement and the like, and is widely applied to the warehousing industry. Except that some manual tray fork truck adopts the human drive, other adopt hydraulic drive more, however, along with the development of modern commodity circulation and to the continuous improvement of transport technical requirement, current storage fork truck has exposed a great deal of technical problem, at first the operating means of current storage fork truck is mostly the actuating mechanism of two degrees of freedom, the fork can only carry out the up-and-down motion except can the low-angle slope, the flexibility is poor, it is weak to keep away the barrier ability, is difficult to satisfy the complicated transport environment of modern commodity circulation storage. In addition, the working device of the existing storage forklift mostly adopts a hydraulic system to realize the lifting of the fork, and has the problems of high power, high energy consumption, poor reliability and the like.

SUMMERY OF THE UTILITY MODEL

Based on the technical problem that the background art exists, the utility model provides a fork truck device of high degree of freedom realizes that fork truck's a plurality of degrees of freedom are adjusted for fork truck flexibility is good, keep away the barrier ability reinforce, can satisfy the complicated transport environment of modern logistics storage.

The utility model provides a high-freedom forklift device, which comprises a forklift body and a lifting mechanism for loading and unloading goods from top to bottom, wherein the lower part of the forklift body is provided with a steering mechanism for supporting, moving and steering the forklift body; a rotating frame mechanism is connected between the vehicle body and the lifting mechanism, the rotating frame mechanism is fixedly connected with the lifting mechanism, the rotating frame mechanism is rotatably connected with the vehicle body, and the lifting mechanism rotates around the vehicle body through the rotating frame mechanism.

Furthermore, a groove matched with the vehicle body is formed in the rotating frame mechanism, at least one idler wheel is arranged on two opposite side faces of the groove respectively, annular track grooves are formed in the upper surface and the lower surface of the vehicle body respectively, the idler wheels are rotatably arranged in the annular track grooves, and the rotating frame mechanism rotates relative to the annular track grooves through the idler wheels.

Furthermore, an annular outer gear ring is arranged on the outer side surface of the vehicle body, the outer side surface is a surface connecting the opposite upper and lower surfaces of the vehicle body, and a first gear meshed with the annular outer gear ring and a rotating motor driving the first gear to rotate are arranged on the rotating frame mechanism; the idler wheels comprise a first idler wheel matched with the annular track groove on the upper surface of the vehicle body and a second idler wheel matched with the annular track groove on the lower surface of the vehicle body, the first idler wheel penetrates through the upper side face of the groove and is fixedly arranged, and the second idler wheel is fixed on the inner surface of the lower side of the groove.

Furthermore, the steering mechanism comprises a plurality of steering wheels, a driving motor for driving the steering wheels to move, a gear disc group for driving the steering wheels to steer and a steering motor for driving the gear disc group to rotate, and the steering motor is fixed at the lower part of the vehicle body; a reduction gearbox and an annular steering gear wheel are arranged at the position, close to the connecting position of the steering wheel and the vehicle body, the steering gear wheel is meshed with the gear wheel set, a driving motor is fixed on the lower surface inside the vehicle body, penetrates through the lower surface of the vehicle body and is in power connection with the steering wheel through the reduction gearbox.

Furthermore, the gear wheel set comprises a central gear wheel arranged at the central position of the lower part of the vehicle body, a central pinion meshed with the central gear wheel and a steering motor gear meshed with the central pinion, the steering motor gear is driven to rotate by a steering motor, the central gear wheel is meshed with the steering gear wheel, and the central gear wheel, the central pinion and the steering motor gear are all fixed at the bottom of the vehicle body; the central gear plate is provided with a gear groove at the central position, and the central pinion is meshed with the gear groove to drive the central gear plate to rotate.

Furthermore, the hoisting mechanism comprises oppositely arranged door frames and a movable sliding frame arranged between the two door frames, wherein each door frame comprises an outer door frame, a cross beam fixedly connected with the top ends of the two outer door frames and an inner door frame movably nested in the outer door frame; a first lifting mechanism for driving the sliding frame to move along the length direction of the outer door frame is fixed on the sliding frame, and a second lifting mechanism for driving the inner door frame to move along the length direction of the outer door frame is fixed on the cross beam.

Furthermore, the first lifting mechanism comprises a first rack fixed in the length direction of the inner door frame, a first lifting gear in meshing transmission with the first rack and a first lifting motor for driving the first lifting gear to rotate, and the first lifting gear and the first lifting motor are both fixed on the sliding frame.

The second lifting mechanism comprises a second rack fixed in the length direction of the inner door frame, a second lifting gear in meshing transmission with the second rack and a second lifting motor for driving the second lifting gear to rotate, the second lifting motor and the second lifting gear are fixed on the cross beam, and the first rack and the second rack are respectively fixed on two vertical connecting surfaces of the inner door frame.

A first control box for controlling a first lifting motor is fixed on the sliding frame, the first lifting motor is fixed on the first control box, a first lifting gear is fixed in the first control box, a second control box for controlling a second lifting motor is fixed on the cross beam, the second lifting motor is fixed on the second control box, and the second lifting gear is fixed in the second control box.

Further, be provided with power supply unit in the automobile body, steering mechanism, automobile body, hoisting mechanism all pass through power supply unit power supply drive, power supply unit includes that lithium cell, automatically controlled bottom plate, current-collecting device and one end are fixed in the base stand of automobile body bottom, the base stand extends the center that passes current-collecting device's stiff end and automatically controlled bottom plate in proper order to keeping away from automobile body bottom direction, form the cavity that is used for placing the lithium cell between automatically controlled bottom plate and the automobile body bottom, current-collecting device's terminal sets up on the swivel mount mechanism, and with the outer cable junction of automobile body, current-collecting device's stiff end is the one end corresponding with the terminal, current-collecting device is circular motion along base stand axial.

The base upright post is provided with a slideway group and a wiring hole arranged at the lower part of the largest-diameter slideway group at the joint with the power receiving device, the slideway group comprises at least one slideway, and the wiring hole is communicated with the slideway in a one-to-one correspondence manner; the base stand is being close to and is offered the pencil export with the power device junction, and the cable conductor that is connected with the lithium cell in the automobile body stretches out the wiring hole to be connected with the stiff end of power device.

Furthermore, the lower end of the lifting mechanism is provided with a supporting device, the supporting device comprises a lower supporting leg fixed on the lower end face of the outer gantry, a sleeve inlay fixed on the lower supporting leg and a steel ball sleeved in the sleeve inlay, and the lowest end of the steel ball and the lowest end of the steering wheel are in the same plane.

The utility model provides a pair of fork truck device of high degree of freedom's advantage lies in: the utility model provides a fork truck device of high degree of freedom in the structure, through hoisting mechanism, steering mechanism, swivel mount mechanism etc. cooperation, realize the regulation of a plurality of degrees of freedom of fork truck, make fork truck flexibility good, keep away the barrier ability reinforce, can satisfy the complicated transport environment of modern logistics storage; the lifting mechanism rotates around the truck body by 360 degrees through the rotating frame mechanism, so that the lifting mechanism is not limited by the direction of the truck body, the rotation is flexible, the defect that the direction of the truck body needs to be adjusted firstly and then the goods are loaded and unloaded when the goods are loaded and unloaded by a traditional forklift is overcome, and the working efficiency of loading and unloading the goods is greatly improved; the motor drives the first gear to be in meshing transmission with the annular outer gear ring, so that the automatic rotation of the rotating frame mechanism around the vehicle body is realized, and the hoisting mechanism is rotated to a specified direction; the inner gantry is directly nested in the outer gantry, and the power supply device drives the inner gantry and the sliding frame to move, so that on one hand, the inner gantry can axially move along the outer gantry, the defect that the driving visual field is blocked due to the fact that the traditional gantry is positioned at the front end of the forklift is overcome, the space of structural arrangement is reduced, the structure is simplified, the space utilization rate is improved, on the other hand, the traditional hydraulic pipeline system is omitted, the arrangement of front and rear lifting oil cylinders in front of the sight of a driver is omitted, and the visual field of the driver is further improved; the steering wheel is driven to steer through the steering motor, so that the pivot steering 360-degree all-directional movement can be realized; the power of the forklift device is provided by a lithium battery and a motor, a complex hydraulic system is not needed, and the forklift device is energy-saving, environment-friendly and convenient to maintain; the power receiving device stably supplies power to the plurality of power utilization devices, and stable work of the power utilization devices is achieved.

Drawings

Fig. 1 is a schematic structural view of a high-degree-of-freedom forklift device according to the present invention;

fig. 2 is a schematic structural view of the rotating frame mechanism of the present invention;

fig. 3 is a schematic structural view of the steering mechanism of the present invention;

fig. 4 is a schematic structural diagram of the first lifting mechanism of the present invention;

fig. 5 is a schematic structural view of a second lifting mechanism of the present invention;

FIG. 6 is a schematic structural view of the front and rear tilting mechanism of the present invention;

fig. 7 is a schematic structural diagram of the power supply device of the present invention;

fig. 8 is a schematic structural view of the vehicle body of the present invention;

FIG. 9 is a schematic structural view of the base pillar of the present invention;

FIG. 10 is a schematic view of the plane A of FIG. 9;

fig. 11 is a schematic structural view of the power receiving device of the present invention;

fig. 12 is a schematic structural view of the fixed end of the power receiving device of the present invention;

fig. 13 is a schematic structural view of the supporting device of the present invention;

fig. 14 is an exploded view of the support device of the present invention;

wherein, the device comprises 1, a rotating frame mechanism, 2, a steering mechanism, 3, a vehicle body, 4, a protective cover, 5, a lifting mechanism, 6, a lithium battery, 7, an electric control bottom plate, 8, a power receiving device, 9, a driving motor, 10, a base upright post, 1-1, a rotating motor, 1-2, a first roller, 1-4, a second roller, 1-6, a groove, 2-1, a central gear disc, 2-2, a steering gear disc, 2-3, a central pinion, 2-4, a steering motor, 2-5, a steering motor gear, 2-6, a reduction box, 2-7, a steering wheel, 3-1, a base, 3-2, an annular track groove, 3-3, an annular outer gear ring, 5-1, a first lifting motor, 5-2, a first control box, 5-3 and a first lifting gear, 5-4 parts of first rack, 5-5 parts of sliding frame, 5-6 parts of second lifting motor, 5-7 parts of second control box, 5-8 parts of second lifting gear, 5-9 parts of inner door frame, 5-10 parts of outer door frame, 5-11 parts of second rack, 5-12 parts of tilting motor, 5-13 parts of tilting control box, 5-14 parts of tilting screw rod, 5-15 parts of lower supporting leg, 5-16 parts of lower supporting leg, the wire harness connecting device comprises, by weight, 5-17 parts of an inlay, 5-18 parts of a steel ball, 5-19 parts of a cross beam, 5-20 parts of a fork frame, 8-1 parts of a fulcrum, 8-2 parts of a connector, 8-2 parts of a T-shaped wire groove, 8-3 parts of a rotating hole, 10-1 parts of a wiring hole, 10-2 parts of a slideway group, 10-3 parts of a shunting groove, 10-4 parts of a slideway, 10-5 parts of a wire harness outlet.

Detailed Description

The technical solutions of the present invention are explained in detail below with reference to specific embodiments, and many specific details are set forth in the following description to provide a thorough understanding of the present invention. The present invention can be embodied in many other forms than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1, the utility model provides a high-freedom forklift device, which comprises a forklift body 3 and a lifting mechanism 5 for loading and unloading goods from top to bottom, wherein a steering mechanism 2 for supporting, moving and steering the forklift body 3 is arranged at the lower part of the forklift body 3; a rotating frame mechanism 1 is connected between the vehicle body 3 and the lifting mechanism 5, the rotating frame mechanism 1 is fixedly connected with the lifting mechanism 5, the rotating frame mechanism 1 is rotatably connected with the vehicle body 3, and the lifting mechanism 5 rotates around the vehicle body 3 through the rotating frame mechanism 1.

Traditional fork truck is when needs turn, at first removes fork truck to the certain position of fork truck turning radius within range, then removes in order turning through controlling fork truck, the utility model provides a fork truck passes through steering mechanism 2 and can realize that the pivot in the automobile body operation process turns and removes, has improved fork truck's the high efficiency and the easy operability that turn to.

When the forklift moves to the position near the goods to be transported, the traditional forklift needs to adjust the position and the orientation of a lifting mechanism 3 in the forklift in advance to enable the lifting mechanism 3 to face the direction of the goods to be transported, and then the forklift is moved to the front of the goods to be transported to transport the goods; and the utility model discloses in can directly move near waiting to carry goods with fork truck, then through rotating swivel mount mechanism 1, it is preceding directly to waiting to carry goods with 3 rotations of hoist mechanism to carry goods. The time and the operation of the forklift for adjusting in advance are saved, and the running efficiency of the forklift is improved.

Through above steering mechanism 2 and hoist mechanism 3, improved traditional fork truck and can only promote from top to bottom and the defect of front and back slope for fork truck promotes a plurality of degrees of freedom by traditional 2 degrees of freedom, has improved fork truck's operating efficiency.

As shown in fig. 2 and 8, a groove 1-6 matched with a vehicle body 3 is formed in a rotating frame mechanism 1, at least one roller is respectively arranged on two opposite side surfaces of the groove 1-6, annular track grooves 3-2 are respectively arranged on the opposite upper and lower surfaces of the vehicle body 3, the rollers are rotatably arranged in the annular track grooves 3-2, and the rotating frame mechanism 1 rotates relative to the annular track grooves 3-2 through the rollers; an annular outer gear ring 3-3 is arranged on the outer side surface of the vehicle body 3, the outer side surface is a surface which is connected with the opposite upper and lower surfaces of the vehicle body 3, and a first gear which is meshed with the annular outer gear ring 3-3 and a rotating motor 1-1 which drives the first gear to rotate are arranged on the rotating frame mechanism 1. The rollers comprise a first roller 1-2 matched with the annular track groove 3-2 on the upper surface of the vehicle body 3 and a second roller 1-4 matched with the annular track groove 3-2 on the lower surface of the vehicle body 3, the first roller 1-2 penetrates through the upper side surface of the groove to be fixedly arranged, and the second roller 1-4 is fixed on the inner surface of the lower side of the groove

Specifically, the revolving rack mechanism 1 can rotate in the annular track grooves 3-2 through the rollers, so that the revolving rack mechanism 1 can rotate 360 degrees around the vehicle body 3, the revolving rack mechanism 1 rotates to drive the hoisting mechanism 5 to rotate, and further the goods on the hoisting mechanism 5 are driven to move to a specified position, so that on the premise that the direction of the vehicle body 3 is unchanged, the all-directional movement of the goods in-situ steering is realized, the hoisting mechanism 5 is not limited by the direction of the vehicle body, and further the goods can be effectively loaded and unloaded, the defect that the direction of the vehicle body needs to be adjusted firstly when the goods are loaded and unloaded by a traditional forklift is overcome, and then the goods are loaded and unloaded is overcome, and the working efficiency of loading and unloading goods.

It should be understood that the shape of the car body 3 may be various, in this embodiment, the car body 3 is set to be cylindrical, the outer side surface of the car body 3 is a cylindrical surface, the rotating electrical machine 1-1 and the first gear are both fixed on the rotating frame mechanism 1, the rotating frame mechanism 1 can drive the first gear to engage with the annular outer gear ring 3-3 to rotate through the rotating electrical machine 1-1, so as to realize the automatic rotation of the rotating frame mechanism 1, it should be understood that, in addition to the above automatic rotation mode in which the motor drives the gear to engage, the rotating frame mechanism 1 can also be manually pushed, so that the rotating frame mechanism 1 rotates around the car body 3.

Specifically, the shape of the groove may have various shapes, and since the cylindrical surface portion of the vehicle body is disposed in the groove, it is preferable that the groove shape of the groove is an arc shape that fits the cylindrical surface. The upper side surface of the groove is provided with roller holes corresponding to the number of the first rollers 1-2 in a penetrating way, the first rollers 1-2 can be rotatably placed in the roller holes, and the rotating surface of the first rollers 1-2 is arranged in the annular track groove 3-2, so that the first rollers 1-2 can rotate in the annular track groove 3-2; the second rollers 1-4 play a role in supporting and guiding the rotating frame mechanism 1 to rotate, and the second rollers 1-4 rotate along two opposite surfaces of the annular track grooves 3-2.

As shown in fig. 3, the steering mechanism 2 comprises a plurality of steering wheels 2-7, a driving motor 9 for driving the steering wheels 2-7 to move, a gear disc group for driving the steering wheels 2-7 to steer, and a steering motor 2-4 for driving the gear disc group to rotate, wherein the steering motor 2-4 is fixed at the lower part of the vehicle body 3; a reduction gearbox 2-6 and an annular steering gear wheel 2-2 are arranged at the position, close to the connection part with the vehicle body 3, of the steering wheel 2-7, the steering gear wheel 2-2 is meshed with the gear wheel set, a driving motor 9 is fixed on a base 3-1 of the vehicle body 3, and the driving motor 9 penetrates through the base 3-1 of the vehicle body 3 and is in power connection with the steering wheel 2-7 through the reduction gearbox 2-6.

The gear disc set comprises a central gear disc 2-1 arranged at the central position of the lower part of the vehicle body 3, a central pinion 2-3 meshed with the central gear disc 2-1 and a steering motor gear 2-5 meshed with the central pinion 2-3, the steering motor gear 2-5 is driven to rotate by a steering motor 2-4, and the central gear disc 2-1, the central pinion 2-3 and the steering motor gear 2-5 are all fixed at the bottom of the vehicle body 3; the central gear disc 2-1 is provided with a gear groove at the central position, and the central pinion 2-3 is meshed with the gear groove to drive the central gear disc 2-1 to rotate.

It should be understood that the forklift device realizes the movement through the steering wheels 2-7, the driving motor 9 drives the steering wheels 2-7 to move, when the forklift device needs to turn, the driving motor 9 stops working, at the moment, the steering motors 2-4 work to drive the steering motor gears 2-5 to rotate, further, the steering wheels 2-7 are turned through a series of gear meshing transmission, when the forklift device turns to the set direction, the steering motors 2-4 stop working, at the moment, the driving motor 9 works to drive the steering wheels 2-7 to move. The steering wheels 2-7 realize the steering mode through a series of gear meshing transmission, so that the mechanical structure is simplified, the transmission efficiency is improved, and the forklift device can quickly reach the designated place.

In the embodiment, four steering wheels 2-7 are arranged, the steering wheels 2-7 are uniformly arranged at four positions of the bottom of a vehicle body 3, a central gear plate 2-1 is arranged in a space surrounded by the four steering wheels 2-7, the central gear plate 2-1 is meshed with the steering gear plates 2-2 on the four steering wheels 2-7, a steering motor gear 2-5 drives a central pinion 2-3 to rotate after being driven to rotate by a steering motor 2-4, the central gear plate 2-1 is further driven to rotate, and finally the four steering wheels 2-7 are driven to rotate by meshing transmission, so that the four steering wheels 2-7 are steered, and finally the vehicle body 3 is rotated in an all-round manner on site.

As shown in fig. 4 and 5, the hoisting mechanism 5 comprises oppositely arranged gantries and a movable carriage 5-5 arranged between the two gantries, wherein the gantries comprise outer gantries 5-10, cross beams 5-18 fixedly connecting the top ends of the two outer gantries 5-10 and inner gantries 5-9 movably nested in the outer gantries 5-10; a first lifting mechanism for driving the sliding frame 5-5 to move along the length direction of the outer door frame 5-10 is fixed on the sliding frame 5-5, and a second lifting mechanism for driving the inner door frame 5-9 to move along the length direction of the outer door frame 5-10 is fixed on the cross beam 5-18.

It should be understood that the revolving frame mechanism 1 is fixed on the two outer door frames 5-10, so that the revolving frame mechanism 1 rotates to drive the outer door frames 5-10 to rotate, and further the integral rotation of the hoisting mechanism 5 is realized; the outer door frames 5-10 can be channel steel, the inner door frames 5-9 can be I-steel or channel steel, the I-steel inner door frames 5-9 are arranged in the grooves of the channel steel outer door frames 5-10, and the outer door frames 5-10 are partially exposed along the direction axially vertical to the channel steel; the top ends of the two outer door frames 5-10 are fixedly connected through cross beams 5-18. The goods on the lifting mechanism 5 are lifted to the placing position through the first lifting mechanism and the second lifting mechanism, or the lifting mechanism 5 is lifted to the position of the goods to be carried through the first lifting mechanism and the second lifting mechanism, so that the goods are carried. The first lifting mechanism is used for lifting the sliding frame 5-5 (a forklift part for placing goods), and the second lifting mechanism is used for adjusting the height difference of the inner door frame 5-9 relative to the outer door frame 5-10 so as to further lift the forklift part for placing the goods, so that the lifted height of the goods is improved.

As shown in fig. 4, the first lifting mechanism comprises a first rack 5-4 fixed in the length direction of the inner gantry 5-9, a first lifting gear 5-3 in meshing transmission with the first rack 5-4, and a first lifting motor 5-1 for driving the first lifting gear 5-3 to rotate, wherein the first lifting gear 5-3 and the first lifting motor 5-1 are both fixed on the carriage 5-5; a first control box 5-2 for controlling a first lifting motor 5-1 is fixed on the sliding frame 5-5, and the first lifting motor 5-1 is in signal connection with the first control box 5-2; the first lifting motor 5-1 is fixed on the first control box 5-2, the first lifting gear 5-3 is fixed in the first control box 5-2, and the first lifting motor 5-1 drives the first lifting gear 5-3 to rotate so as to realize the lifting of the sliding frame 5-5.

It should be understood that the up-and-down movement of the carriage 5-5 can be controlled by controlling the forward and reverse rotation of the first lifting motor 5-1 through the first control box 5-2, and the up-and-down movement speed of the carriage 5-5 can be controlled by controlling the rotation speed of the first lifting motor 5-1 through the first control box 5-2, so as to realize the stable movement of the goods, when the first lifting motor 5-1 works, the first lifting gear 5-3 rotates, since the first rack 5-4 is engaged with the first lifting gear 5-3, and the first rack 5-4 is fixed on the inner gantry 5-9, so that when the first lifting gear 5-3 rotates, the first lifting gear will move in the direction engaged with the first rack 5-4, so as to drive the movement of the carriage 5-5, the goods are placed on the carriage 5-5, so that the movement of the carriage 5-5, so that the goods move up and down.

As shown in fig. 5, the second lifting mechanism comprises a second rack 5-11 fixed in the length direction of the inner gantry 5-9, a second lifting gear 5-8 in meshing transmission with the second rack 5-11, and a second lifting motor 5-6 for driving the second lifting gear 5-8 to rotate, wherein the second lifting motor 5-6 and the second lifting gear 5-8 are both fixed on the cross beam 5-18; a second control box 5-7 for controlling a second lifting motor 5-6 is fixed on the cross beam 5-18, and the second lifting motor 5-6 is in signal connection with the second control box 5-7; the second lifting motor 5-6 is fixed on the second control box 5-7, the second lifting gear 5-8 is fixed in the second control box 5-7, and the second lifting motor 5-6 drives the second lifting gear 5-8 to rotate so as to realize the lifting of the inner door frame 5-9.

It should be understood that the second control box 5-7 can control the forward and reverse rotation of the second lifting motor 5-6 to control the up-and-down movement of the inner door frame 5-9, and the second control box 5-7 can also control the rotation speed of the second lifting motor 5-6 to control the up-and-down movement speed of the inner door frame 5-9 to realize the stable movement of the goods. When the second lifting motor 5-6 works, the second lifting gear 5-8 is driven to rotate, and as the second lifting gear 5-8 is fixed on the cross beam 5-18, the cross beam 5-18 is fixed, and the inner door frame 5-9 is movable, the up-and-down movement of the inner door frame 5-9 is realized through the meshing transmission of the second lifting gear 5-8 and the second rack 5-11, so that the sliding frame 5-5 moves up and down.

Specifically, as shown in fig. 4 and 5, the first rack 5-4 and the second rack 5-11 are respectively fixed on two vertical connecting surfaces of the inner door frames 5-9, so that the structure is compact, the installation space is saved, and the whole forklift is small and convenient; the carriage 5-5 and the inner door frame 5-9 can be vertically movably arranged, so that the lifting height of the goods is improved. The lifting space is saved, the inner door frames 5-9 are directly nested in the outer door frames 5-10, and the power supply device drives the inner door frames and the sliding frames to move, on one hand, the inner door frames can move along the axial direction of the outer door frames, the defect that the driving visual field is blocked due to the fact that the traditional door frames are located at the front end of the forklift is overcome, the space of structural arrangement is reduced, the structure is simplified, the space utilization rate is improved, on the other hand, the traditional hydraulic pipeline system is omitted, the arrangement of front and rear lifting oil cylinders in front of the visual line of a driver is omitted, and the visual field of the driver is further improved.

As shown in fig. 7 to 10, a power supply device is arranged in the vehicle body 3, the steering mechanism 2, the vehicle body 3 and the hoisting mechanism 5 are all driven by the power supply device, power supply unit includes lithium cell 6, automatically controlled bottom plate 7, the base stand 10 in 3 bottoms of automobile body is fixed in to power device 8 and one end, base stand 10 extends the stiff end that passes power device 8 in proper order to keeping away from 3 bottoms of automobile body, the center of automatically controlled bottom plate 7, form the cavity that is used for placing lithium cell 6 between automatically controlled bottom plate 7 and the 3 bottoms of automobile body, power device 8's terminal sets up on swivel mount mechanism 1, and with 3 outer cable junction of automobile body, circular motion is along base stand 10 axial to power device 8, power device 8's stiff end is the one end that corresponds with the terminal end, power device 8 gives each outside consumer power supply through circular motion.

As shown in fig. 9 and 10, a base column 10 is provided with a slideway group 10-2 and a wiring hole 10-1 opened at a lower portion of the largest diameter slideway group 10-2 at a connection portion with a power receiving device 8, the slideway group 10-2 includes at least one slideway 10-4, the wiring hole 10-1 is in one-to-one correspondence communication with the slideway 10-4, the base column 10 is provided with a harness outlet 10-5 near the connection portion with the power receiving device 8, a cable connected with a lithium battery 6 in a vehicle body extends out of the wiring hole 10-1 and is connected with a fixed end of the power receiving device 8, the cable outside the vehicle body is connected with a terminal end of the power receiving device 8, and the power receiving device 8 may have more than one and built-in electric.

Specifically, can place the consumer on automatically controlled bottom plate 7, a plurality of simultaneously with the consumer when more, can carry out the successive layer stack, separate with electrically controlled bottom plate 7 between layer and layer, save the occupation space of consumer, automatically controlled bottom plate 7 separates lithium cell 6 with the consumer simultaneously, fixes lithium cell 6 on the one hand, and on the other hand makes whole device overhaul convenient. Meanwhile, the lithium batteries 6 can be separated by the electric control bottom plate 7 and are arranged into a plurality of layers, so that the forklift with large electric energy demand works, and when the lithium batteries 6 are arranged into the plurality of layers, each layer is provided with the slideway group 10-2.

It should be understood that the power of the forklift device is provided by the lithium batteries and the motors of all groups, so that on one hand, the energy is saved, the environment is protected, and on the other hand, the maintenance is convenient. The power generated by the lithium battery 6 is supplied to the electrical appliance through the power receiving device 8.

The lithium battery 6 is connected with the power receiving device 8 through a cable, for the sake of attractive appearance and fixation of the cable, the cable is arranged in an axial cavity of the base upright post 10, one end of the cable is connected with the output end of the lithium battery 6, the other end of the cable is connected into the wiring hole 10-1 through a wire harness outlet 10-5, when the external electrical appliance needs different power supply, a plurality of slideways 10-4 can be arranged, and the slideways 10-4 are separated from each other through a passage groove 10-3; the one-to-one correspondence relationship between the wiring holes 10-1 and the slideways 10-4 is that the cables in each slideway 10-4 can be provided with cables which are connected with the powered device 8 and have different control functions, the cables with different functions are in one-to-one correspondence with the output of the terminal end of the power receiving device 8, and are separated by the shunting grooves 10-3 to separate different control circuits, so that the powered device 8 supplies power for external electric devices with different requirements, and the application range of the power supply device to the power supply of the forklift is improved.

In fig. 9 and 10 of the present embodiment, three different diameter slide way groups 10-2, which are small, medium and large, are sequentially arranged on the base upright post 10, and each slide way group 10-2 is divided into two slide ways 10-4 by a channel dividing groove 10-3, so that there are six slide ways 10-4 in total, and each slide way 10-4 is in one-to-one correspondence communication with six wiring holes 10-1, and is not interfered with each other.

As shown in fig. 11 and 12, the terminal end of the power receiving device 8 is provided with a plurality of interfaces 8-1, each interface 8-1 is connected to a cable in one of the slideways 10-4, and the inner wall of the fixed end of the power receiving device 8 is matched with the slideway 10-4 and the shunting groove 10-3 on the base upright 10, so that the fixed end of the power receiving device 8 can rotate axially around the base upright 10 while being connected to the corresponding cable; the power receiving device 8 is provided with a T-shaped wire slot 8-2 between the fixed end and the terminal end, and a cable wire connected into the terminal end from the fixed end is placed in the T-shaped wire slot 8-2, so that orderly wiring is realized, disorder of the cable wire is avoided, and attractiveness is affected. When the power receiving device 8 is installed, the T-shaped wire casing 8-2 is arranged facing the bottom of the vehicle body 3, and the interface 8-1 at the end of the terminal post is arranged in the direction far away from the bottom of the vehicle body 3. In this embodiment, a fixed end of the power receiving device 8 may be provided with a rotation hole 8-3, and the inner surface of the rotation hole 8-3 may be provided with a plurality of annular rings with alternating concave surfaces and convex surfaces, which rotate in cooperation with the slideway 10-4 and the shunting groove 10-3 on the base upright post 10, on the one hand, and transmit the electric energy of the lithium battery to the lifting mechanism 5 and other external electric devices through the electric brushes on the contact surfaces of the base upright post 10 and the annular rings with alternating concave surfaces and convex surfaces, on the other hand.

As shown in fig. 13 and 14, the lower end of the hoisting mechanism 5 is provided with a supporting device, the supporting device comprises lower supporting legs 5-15, sleeve inlays 5-16 and steel balls 5-17 sleeved in the sleeve inlays 5-16, and the lowest ends of the steel balls 5-17 and the lowest ends of the steering wheels 2-7 are in the same plane; the sleeve inlay 5-16 is arranged into a hollow hemisphere, the top end is cut off, and the steel ball 5-17 is nested in the hollow hemisphere to prevent the steel ball 5-17 from falling off.

The lower supporting leg 5-15 is provided with a first hole, the steel ball 5-17 can be placed in the first hole, in order to improve the fixing strength of the steel ball 5-17, a set of inlay 5-16 is arranged on the outer surface of the steel ball 5-17, the set of inlay 5-16 is in contact with the lower supporting leg 5-15, on one hand, the contact strength of the steel ball 5-17 and the lower supporting leg 5-15 is improved, on the other hand, the steel ball 5-17 realizes 360-degree rotation through the annular inlay 5-16 to be matched with the rotation of the steering wheel 2-7.

The lower supporting leg 5-15 is fixed on the lower end surface of the outer door frame 5-10, the steel ball 5-17 is fixed on the lower supporting leg 5-15 through the sleeve inlay 5-16, because the inner door frames 5-9 move along the outer door frames 5-10 and the outer door frames 5-10 are always kept still, the supporting device can not move up and down, so that the steel balls 5-17 are always contacted with the ground, the lowest ends of the steel balls 5-17 and the lowest ends of the steering wheels 2-7 are in the same plane, the supporting point of the vehicle body 3 can move forward, the lever ratio of the vehicle body 3 is increased, the whole radius and weight of the vehicle body 3 can be greatly reduced under the condition of unchanged rated load, therefore, the supporting device can reduce the weight of the vehicle body 3 and the radius of the whole vehicle under the condition of normal operation of the forklift, and save the cost and the occupied space of the forklift.

As shown in fig. 6, the forklift device further comprises a front-rear tilting mechanism, the front-rear tilting mechanism comprises a tilting screw 5-14, a tilting motor 5-12 for driving the tilting screw 5-14 to rotate, and a tilting control box 5-13, the tilting control box 5-13 is in signal connection with the tilting motor 5-12, the tilting control box 5-13 is installed on the carriage 5-5, the tilting motor 5-12 and the driving tilting screw 5-14 are installed on the tilting control box 5-13, and the installation position relation of the tilting motor 5-12 and the driving tilting screw 5-14 on the tilting control box 5-13 can be determined by adopting the existing forklift tilting mechanism.

Alternatively, a fork frame for placing goods is rotatably connected to the carriage 5-5, the inclined screw 5-14 is connected to the fork frame at an angle, and the inclination control box 5-13 controls the inclined motor 5-12 to rotate the inclined screw 5-14 to tilt the lifting mechanism 5 back and forth. The extension and retraction of the tilt screws 5-14 allows the fork carriage to tilt back and forth about a pivot point connected to the carriage 5-5.

When the forklift is loading and unloading goods, the hoisting mechanism 5 needs to be inclined so as to facilitate loading and unloading of the goods, and the inclined motor 5-12 drives the inclined screw rod 5-14 to rotate so as to realize inclination of the hoisting mechanism 5.

As shown in fig. 1 and 2, the cargo handling process: the goods to be loaded and unloaded are placed on the hoisting mechanism 5, the rotating motor 1-1 on the rotating frame mechanism 1 is started to drive the first gear to rotate, the rotating frame mechanism 1 rotates around the vehicle body 3 through the meshing transmission of the first gear and the annular outer gear ring 3-3, when the rotating frame mechanism is rotated to a specified direction, the rotating motor 1-1 stops, the goods to be loaded and unloaded are loaded and unloaded at a specified position, the defect that the direction of the vehicle body needs to be adjusted firstly when the goods are loaded and unloaded by a traditional forklift, and then the goods are loaded and unloaded is overcome, and the working efficiency of loading and unloading the goods is greatly improved.

As shown in fig. 3 and 8, the forklift steering process: the driving motor 9 works to drive the steering wheels 2-7 to move so as to drive the forklift device to move, when the forklift device in operation needs to turn, the steering motor 2-4 works to drive the steering motor gear 2-5 to rotate, the central pinion 2-3 is rotated through the meshing transmission of the steering motor gear 2-5 and the central pinion 2-3, further through the meshing transmission of the central pinion 2-3 and the central gear disc 2-1, so that the central gear plate 2-1 rotates to finally drive the steering gear plate 2-2 on the steering wheel 3 to rotate, the running direction of the steering wheel 3 is changed, the steering wheel 3 moves towards the appointed direction, through the meshing transmission of the motor and the gear set, the operation steering of the forklift device is realized, the structure is simplified, and the space utilization rate is improved.

As shown in fig. 4, the carriage lifting process of the lifting mechanism: the first control box 5-2 controls the first lifting motor 5-1 to work to drive the first lifting gear 5-3 to rotate, and the first lifting gear 5-3 drives the sliding frame 5-5 to move up and down through meshing transmission with the first rack 5-4 so as to drive the goods to move up and down.

As shown in fig. 5, the lifting process of the inner door frames 5-9 is as follows: the second control box 5-7 controls the second lifting motor 5-6 to work to drive the second lifting gear 5-8 to rotate, and the second lifting gear 5-8 drives the inner door frame 5-9 to move up and down through the meshing transmission with the second rack 5-11, so as to drive the goods to move up and down.

It should be understood that, in the above working process, the power transmission is provided by the lithium battery 6 and the motor, and the lithium battery 6 transmits power electric energy to each external electric device through the power receiving device 8 so as to supply power to each external electric device. 3 upper portions of automobile body are provided with detachable protection casing 4, and protection casing 4 can cover the device that sets up in the automobile body 3 on the one hand, improves the outward appearance neatness nature of automobile body 3, and device and external world in the isolated automobile body 3 of on the other hand avoid the device operation to the interference of noise interference or dust etc. to the device in the external world.

The signal connection comprises wired connection and wireless connection; the wired connection comprises broadband connection and optical fiber connection; the wireless connection comprises WIFI connection and radio connection.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (10)

1. A forklift device with high degree of freedom comprises a forklift body (3) and a lifting mechanism (5) for loading and unloading goods up and down, and is characterized in that the lower part of the forklift body (3) is provided with a steering mechanism (2) for supporting, moving and steering the forklift body (3);

a rotating frame mechanism (1) is connected between the vehicle body (3) and the lifting mechanism (5), the rotating frame mechanism (1) is fixedly connected with the lifting mechanism (5), the rotating frame mechanism (1) is rotatably connected with the vehicle body (3), and the lifting mechanism (5) rotates around the vehicle body (3) through the rotating frame mechanism (1).

2. The forklift device with high degree of freedom according to claim 1, wherein the rotating frame mechanism (1) is provided with grooves (1-6) which are matched with the forklift body (3), two opposite side surfaces of the grooves (1-6) are respectively provided with at least one roller, the opposite upper and lower surfaces of the forklift body (3) are respectively provided with an annular track groove (3-2), the rollers are rotatably arranged in the annular track grooves (3-2), and the rotating frame mechanism (1) rotates relative to the annular track grooves (3-2) through the rollers.

3. The forklift device with high degree of freedom according to claim 2, wherein the vehicle body (3) is provided with an annular outer ring gear (3-3) on an outer side surface thereof which is a surface connecting opposite upper and lower surfaces of the vehicle body (3), and the rotating frame mechanism (1) is provided with a first gear engaged with the annular outer ring gear (3-3) and a rotating motor (1-1) for driving the first gear to rotate;

the roller comprises a first roller (1-2) matched with an annular track groove (3-2) on the upper surface of the vehicle body (3) and a second roller (1-4) matched with the annular track groove (3-2) on the lower surface of the vehicle body (3), the first roller (1-2) penetrates through the groove (1-6) to be fixedly arranged on the upper side face, and the second roller (1-4) is fixed on the inner surface of the lower side of the groove (1-6).

4. The forklift device with high degree of freedom according to claim 1, wherein the steering mechanism (2) comprises a plurality of steering wheels (2-7), a driving motor (9) for driving the steering wheels (2-7) to move, a gear wheel set for driving the steering wheels (2-7) to steer and a steering motor (2-4) for driving the gear wheel set to rotate, the steering motor (2-4) is fixed at the lower part of the forklift body (3);

a reduction gearbox (2-6) and an annular steering gear wheel (2-2) are arranged at the position, close to the connection part of the steering wheel (2-7) and the vehicle body (3), the steering gear wheel (2-2) is meshed with the gear wheel set, a driving motor (9) is fixed on the lower surface inside the vehicle body (3), and the driving motor (9) penetrates through the lower surface of the vehicle body (3) and is in power connection with the steering wheel (2-7) through the reduction gearbox (2-6).

5. The high-freedom forklift device according to claim 4, wherein the gear wheel set comprises a central gear wheel (2-1) arranged at the center of the lower part of the forklift body (3), a central pinion (2-3) meshed with the central gear wheel (2-1) and a steering motor gear (2-5) meshed with the central pinion (2-3), the steering motor gear (2-5) is driven to rotate by a steering motor (2-4), the central gear wheel (2-1) is meshed with the steering gear wheel (2-2), and the central gear wheel (2-1), the central pinion (2-3) and the steering motor gear (2-5) are all fixed at the bottom of the forklift body (3);

the central gear disc (2-1) is provided with a gear groove at the central position, and the central pinion (2-3) is meshed with the gear groove to drive the central gear disc (2-1) to rotate.

6. A high degree of freedom forklift device according to claim 1, c h a r a c t e r i z e d in that the hoisting mechanism (5) comprises oppositely arranged gantries and a movable carriage (5-5) arranged between the gantries, said gantries comprising outer gantries (5-10), a transverse beam (5-18) fixedly connecting the top ends of the outer gantries (5-10) and an inner gantry (5-9) movably nested in the outer gantries (5-10);

a first lifting mechanism for driving the sliding frame (5-5) to move along the length direction of the outer door frame (5-10) is fixed on the sliding frame (5-5), and a second lifting mechanism for driving the inner door frame (5-9) to move along the length direction of the outer door frame (5-10) is fixed on the cross beam (5-18).

7. The high-freedom forklift device according to claim 6, wherein the first lifting mechanism comprises a first rack (5-4) fixed in the length direction of the inner mast (5-9), a first lifting gear (5-3) in meshing transmission with the first rack (5-4), and a first lifting motor (5-1) for driving the first lifting gear (5-3) to rotate, and the first lifting gear (5-3) and the first lifting motor (5-1) are fixed on the carriage (5-5);

the second lifting mechanism comprises a second rack (5-11) fixed in the length direction of the inner door frame (5-9), a second lifting gear (5-8) in meshing transmission with the second rack (5-11) and a second lifting motor (5-6) for driving the second lifting gear (5-8) to rotate, and the second lifting motor (5-6) and the second lifting gear (5-8) are both fixed on the cross beam (5-18);

the first rack (5-4) and the second rack (5-11) are respectively fixed on two vertical connecting surfaces of the inner door frame (5-9);

a first control box (5-2) for controlling a first lifting motor (5-1) is fixed on the sliding frame (5-5), the first lifting motor (5-1) is fixed on the first control box (5-2), and a first lifting gear (5-3) is fixed in the first control box (5-2);

a second control box (5-7) for controlling a second lifting motor (5-6) is fixed on the cross beam (5-18), the second lifting motor (5-6) is fixed on the second control box (5-7), and a second lifting gear (5-8) is fixed in the second control box (5-7).

8. The high-freedom forklift device according to any one of claims 1-7, wherein the body (3) is provided with a power supply device, the steering mechanism (2), the body (3), and the hoisting mechanism (5) are driven by the power supply device, the power supply device comprises a lithium battery (6), an electric control bottom plate (7), a power receiving device (8), and a base column (10) with one end fixed to the bottom of the body (3), the base column (10) extends in a direction away from the bottom of the body (3) to sequentially pass through a fixed end of the power receiving device (8) and the center of the electric control bottom plate (7), a cavity for placing the lithium battery (6) is formed between the electric control bottom plate (7) and the bottom of the body (3), a terminal end of the power receiving device (8) is disposed on the rotating frame mechanism (1) and connected to a cable outside the body (3), the fixed end of the power receiving device (8) is an end corresponding to the terminal end, the power receiving device (8) does circular motion along the axial direction of the base upright post (10).

9. The forklift device with high degree of freedom according to claim 8, wherein the base pillar (10) is provided with a slideway group (10-2) and a wiring hole (10-1) arranged at the lower part of the slideway group (10-2) with the maximum diameter at the joint with the powered device (8), the slideway group (10-2) comprises at least one slideway (10-4), and the wiring hole (10-1) is communicated with the slideway (10-4) in a one-to-one correspondence manner;

a wire harness outlet (10-5) is formed in the position, close to the joint of the base upright column (10) and the power receiving device (8), of the base upright column, and a cable connected with the lithium battery (6) in the vehicle body (3) extends out of the wiring hole (10-1) and is connected with the fixed end of the power receiving device (8).

10. The high-freedom forklift device according to any one of claims 1 to 7, wherein a supporting device is provided at a lower end of the hoisting mechanism (5), the supporting device comprises lower supporting legs (5-15) fixed to a lower end surface of the outer gantry (5-10), sleeve inserts (5-16) fixed to the lower supporting legs (5-15), and steel balls (5-17) sleeved in the sleeve inserts (5-16), and a lowest end of each steel ball (5-17) is in the same plane as a lowest end of each steering wheel (2-7).

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