CN219031671U - Primary and secondary formula unmanned transport fork truck - Google Patents

Abstract

The utility model provides a primary and secondary type unmanned forklift which is used for transporting goods, wherein the primary and secondary type unmanned forklift comprises a lifting vehicle, and the lifting vehicle comprises a first travelling device; the bearing vehicle comprises a second traveling device and a bearing part, wherein the bearing part is provided with a containing part for placing the lifting vehicle; and the lifting vehicle is connected with the bearing vehicle through the connecting device. According to the sub-and-mother type unmanned carrying forklift, the lifting of the cargoes and the carrying of the cargoes can be carried out step by step through the cooperation of the lifting car, the carrying car and the connecting device, so that the carrying stroke of the cargoes can be greatly increased, the overall stability of the vehicle is increased in the carrying process of the cargoes, the deviation of the vehicle is avoided, and the production faults are reduced; meanwhile, the lifting vehicle can be accommodated in the bearing vehicle, so that walking can be realized under a smaller turning radius, the requirement on the width of a channel is reduced, and the universality is improved.

Description

Primary and secondary formula unmanned transport fork truck

Technical Field

The application relates to the technical field of automatic guided vehicles, in particular to a primary and secondary unmanned carrying forklift.

Background

With the popularity of AGV technology (automated guided vehicle technology), more and more handling work is being done by AGVs. Currently, the mainstream AGVs in the market are generally two-wheel differential mechanisms, and the weight of the AGVs is low. At present, heavy goods are transported by forklift trucks, so that the forklift trucks play a great role as important equipment in the logistics industry. The existing mature AGV autonomous navigation technology is applied to the forklift, so that the AGV forklift which can be driven and operated manually is developed.

However, the existing unmanned forklift cannot realize long-distance cargo carrying due to the fact that the travel of the existing unmanned forklift is limited, and meanwhile, when the cargo is lifted, the universal wheels of the unmanned forklift can cause the overall deviation of the unmanned forklift.

Disclosure of Invention

In view of the above, in order to overcome the defects of the prior art, the utility model provides a primary and secondary type unmanned forklift, which effectively solves the problem that the existing unmanned forklift cannot realize long-distance goods transportation due to the fact that the existing unmanned forklift is limited by the travel of the existing unmanned forklift, and meanwhile, when the goods are lifted, the universal wheels arranged on the unmanned forklift can cause the integral deviation of the unmanned forklift.

The utility model provides a primary and secondary type unmanned carrying forklift, wherein the primary and secondary type unmanned carrying forklift comprises a lifting vehicle, and the lifting vehicle comprises a first travelling device; the bearing vehicle comprises a second traveling device and a bearing part, wherein the bearing part is provided with a containing part for placing the lifting vehicle; and the lifting vehicle is connected with the bearing vehicle through the connecting device.

Preferably, the vehicle includes a plurality of bearing parts, and the plurality of bearing parts includes a first bearing part, a second bearing part, and a third bearing part, which are formed in an E-shaped structure.

Preferably, the carrier vehicle includes a plurality of carrying parts, and the plurality of carrying parts includes a fourth carrying part and a fifth carrying part, which are formed in a U-shaped structure.

Preferably, a fixing part is arranged at the end part of the lifting vehicle, the connecting device is a cable drum, the main body of the cable drum is arranged at the end part of the bearing vehicle, and the cable tail end of the cable drum is connected with the fixing part.

Preferably, the lifting vehicle is formed into a U-shaped structure, and the size of the U-shaped structure is smaller than that of the accommodating part.

Preferably, the first travelling device comprises a motor, and is arranged at the first end of the lifting vehicle; the driving wheel is connected with the motor; the directional wheel is arranged at the second end of the lifting vehicle.

Preferably, the lift truck further comprises: the number of the lifting mechanisms is two, and the two lifting mechanisms are respectively arranged at two sides of the U-shaped structure.

Preferably, the second walking device comprises a motor, and is arranged at the first end of the carrier; the driving wheel is connected with the motor; the auxiliary wheel is arranged at the second end of the bearing vehicle, the auxiliary wheel is connected with the motor, and the auxiliary wheel is a universal wheel.

Preferably, the carrier further comprises a lifting mechanism, the lifting mechanism is arranged in the carrier, and the lifting mechanism comprises a lifting telescopic part which can be lifted and lowered, and is used for lifting and lowering the lifter.

Preferably, the end part of the carrier is also provided with a battery quick-change bin.

According to the primary and secondary unmanned carrying forklift, the lifting of the goods and the carrying of the goods can be carried out step by step through the cooperation of the lifting vehicle, the carrying vehicle and the connecting device, so that the travel of the carrying of the goods can be greatly increased, the overall stability of the vehicle is increased in the process of carrying the goods, the deviation of the vehicle is avoided, and the production faults are reduced; meanwhile, the lifting vehicle can be accommodated in the bearing vehicle, so that walking can be realized under a smaller turning radius, the requirement on the width of a channel is reduced, and the universality is improved.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic structural diagram of a primary and secondary type unmanned carrying forklift according to an embodiment of the present utility model;

FIG. 2 shows a schematic structural view of a lift truck according to an embodiment of the present utility model;

fig. 3 is a schematic view showing a structure of a lift truck recovery state of a primary and secondary type unmanned carrying forklift according to an embodiment of the present utility model;

fig. 4 is a schematic view showing a structure of a lift truck in an extended state of a primary and secondary type unmanned carrying forklift according to an embodiment of the present utility model;

fig. 5 shows a schematic structural diagram of another mother-son type unmanned forklift according to an embodiment of the present utility model.

Reference numerals: 1-a carrier; 101-a driving wheel; 102-a first auxiliary wheel; 103-a second auxiliary wheel; 104-a first carrier; 105-a second carrier; 106-a third carrier; 107-fourth carrier; 108-a fifth carrier; 2-lifting the vehicle; 201-a drive wheel; 202-driven wheel; 203-a first servo motor; 204-a first decelerator; 205-synchronizing wheel; 206-a synchronous belt; 3-a cable drum; 301-a cable; 302-a cable retention clip; 4-quick replacement of the battery; 5-a lifting mechanism; 501-a second servo motor; 502-a second decelerator; 503-coupling; 504-lifting the shaft; 505-lifting gear; 506-lifting the plate.

Detailed Description

The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example, and is not limited to the order set forth herein, but rather, obvious variations may be made upon an understanding of the present disclosure, other than operations that must occur in a specific order. In addition, descriptions of features known in the art may be omitted for the sake of clarity and conciseness.

The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided solely to illustrate some of the many possible ways of implementing the methods, devices, and/or systems described herein that will be apparent after a review of the disclosure of the present application.

In the entire specification, when an element (such as a layer, region or substrate) is described as being "on", "connected to", "bonded to", "over" or "covering" another element, it may be directly "on", "connected to", "bonded to", "over" or "covering" another element or there may be one or more other elements interposed therebetween. In contrast, when an element is referred to as being "directly on," directly connected to, "or" directly coupled to, "another element, directly on," or "directly covering" the other element, there may be no other element intervening therebetween.

As used herein, the term "and/or" includes any one of the listed items of interest and any combination of any two or more.

Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, component, region, layer or section discussed in examples described herein could also be termed a second member, component, region, layer or section without departing from the teachings of the examples.

For ease of description, spatially relative terms such as "above … …," "upper," "below … …," and "lower" may be used herein to describe one element's relationship to another element as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "upper" relative to another element would then be oriented "below" or "lower" relative to the other element. Thus, the term "above … …" includes both orientations "above … …" and "below … …" depending on the spatial orientation of the device. The device may also be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" are intended to specify the presence of stated features, integers, operations, elements, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, operations, elements, and/or groups thereof.

Variations from the shapes of the illustrations as a result, of manufacturing techniques and/or tolerances, are to be expected. Accordingly, the examples described herein are not limited to the particular shapes shown in the drawings, but include changes in shapes that occur during manufacture.

The features of the examples described herein may be combined in various ways that will be apparent after an understanding of the disclosure of the present application. Further, while the examples described herein have a variety of configurations, other configurations are possible as will be apparent after an understanding of the present disclosure.

According to the primary and secondary type unmanned forklift provided by the utility model, as shown in fig. 1 to 4, the primary and secondary type unmanned forklift can control the running direction of the unmanned forklift in a mode of electromagnetic induction guidance, laser guidance or magnet gyro guidance in the prior art. The primary and secondary unmanned carrying forklift comprises a carrying vehicle 1, a lifting vehicle 2 and a connecting device.

In the following description, detailed structures of the carrier 1, the lift truck 2, and the connection device of the sub-and-sub type unmanned forklift will be specifically described with reference to fig. 1 to 4. As shown in fig. 1, in the embodiment, a mother vehicle of the primary-secondary type unmanned forklift is a carrier vehicle 1, a child vehicle is a lifting vehicle 2, and the mother vehicle and the child vehicle are connected by a connecting device.

Specifically, as shown in fig. 1, in one embodiment, the vehicle 1 may be, for example, formed in an E-shaped structure, where the vehicle 1 of the E-shaped structure is formed with three bearing portions, which are herein referred to as a first bearing portion 104, a second bearing portion 105, and a third bearing portion 106, respectively, for convenience of description, where a first accommodating portion is formed between the first bearing portion 104 and the second bearing portion 105, and a second accommodating portion is formed between the second bearing portion 105 and the third bearing portion 106, and the first accommodating portion and the second accommodating portion are used for accommodating the lift vehicle 2. Here, the bottoms of the first bearing portion 104 and the third bearing portion 106 are provided with wheels and contact with the ground, and the second bearing portion 105 is not in contact with the ground and has a distance from the ground higher than the height of the lift truck 2, so that interference during recovery of the lift truck 2 is avoided.

As shown in fig. 3 and 4, in an embodiment, the vehicle 1 further comprises a second running gear, which may comprise a driving wheel 101, a first auxiliary wheel 102 and a second auxiliary wheel 103. Specifically, the bottoms of the first bearing portion 104 and the third bearing portion 106 are each formed with a driving wheel 101, a first auxiliary wheel 102, and a second auxiliary wheel 103. The driving wheel 101 is installed at the middle of the bottom of the first bearing part 104 or the third bearing part 106, and the first auxiliary wheel 102 and the second auxiliary wheel 103 are respectively installed at both ends of the bottom of the first bearing part 104 or the third bearing part 106. The driving wheel 101 may for example be a directional wheel for powering and for letting the vehicle 1 move smoothly, and the first auxiliary wheel 102 and the second auxiliary wheel 103 may for example be universal wheels for adjusting the direction and for letting the vehicle 1 move smoothly. The driving wheel 101, the first auxiliary wheel 102 and the second auxiliary wheel 103 are all electrically connected to the power supply and control system of the vehicle 1.

As shown in fig. 3 and 4, in an embodiment, the end of the vehicle 1 is preferably also fitted with a battery quick change compartment 4. The battery quick-change cartridge 4 is used for carrying a power battery and can be quickly replaced, and the battery quick-change cartridge 4 can be, for example, a device of the prior art. The setting of the battery quick replacement bin 4 makes this primary and secondary formula unmanned carrying fork truck can be through power battery power supply, can work under the circumstances that breaks away from external power source, can not be limited by the influence of factors such as the length of power cord, the position of power arrangement, power transmission's mode, and then work more flexibly. Meanwhile, as the battery rapid replacement bin 4 is arranged outside the carrier vehicle 1, the power battery is convenient to replace by an operator, the replacement time is shortened, and the working efficiency is improved.

As shown in fig. 1 to 4, in the embodiment, the lifting vehicle 2 may be formed into a U-shaped structure, and two sides of the U-shaped structure correspond to the first accommodating portion and the second accommodating portion, so as to facilitate recovery of the lifting vehicle 2. Specifically, as shown in fig. 2, in the embodiment, the two sides of the U-shaped structure may be respectively installed with the lifting mechanism 5, and since the lifting mechanisms 5 installed at the two sides have the same structure, one side is described herein for convenience of description. The lifting mechanism 5 includes: a second servo motor 501, a second decelerator 502, a coupling 503, a lifting shaft 504, a lifting gear 505 and a lifting plate 506. The second servomotor 501 may be mounted at a first end of the lift truck 2 (the first end refers to an end near the carrier truck 1 when the lift truck 2 is in an extended state, as shown in fig. 4), and an output end of the second servomotor 501 is connected to the second speed reducer 502 for matching the rotation speed; the lifting shaft 504 is connected with the output end of the second speed reducer 502 through a coupling 503, a lifting gear 505 is mounted on the lifting shaft 504, and a lifting plate 506 is connected with the lifting gear 505 and the lifting shaft 504 through a scissor assembly (not shown). The scissor assembly may be, for example, a scissor structure in the prior art, and the second servo motor 501 drives the lifting shaft 504 and the lifting gear 505 to move similar to a screw nut structure, so as to drive the scissor assembly to lift by using a parallelogram structure of the scissor assembly, and further drive the lifting plate 506 to lift. However, the lifting mechanism 5 is not limited thereto, and may be, for example, a lifting cylinder driven by a motor, and a telescopic rod of the lifting cylinder drives the lifting plate 506 to lift, so long as the lifting plate 506 can lift.

As shown in fig. 2 to 3, in an embodiment, the lift truck 2 further comprises a first running gear, which may comprise a driving wheel 201, a driven wheel 202, a first servo motor 203, a first decelerator 204, a synchronizing wheel 205 and a synchronizing belt 206. The lift truck 2 formed in a U-shaped structure is provided with first traveling means on both sides, and one of the sides is described herein for convenience of description. Specifically, as shown in fig. 2, in an embodiment, a first servomotor 203 may be installed at a first end of the lift truck 2, and an installation position may be close to the second servomotor 501, where an output end of the first servomotor 203 is connected to a first speed reducer 204 for matching a rotation speed; the output end of the first speed reducer 204 is connected with the synchronous wheel 205, and one end of the driving wheel 201 is connected with the synchronous wheel 205 through the synchronous belt 206, so that when the first servo motor 203 rotates, the driving wheel 201 can be driven through the synchronous wheel 205 and the synchronous belt 206. The driven wheel 202 is arranged at a second end of the lift car 2 (the second end refers to the end of the lift car 2 remote from the carrier car 1 when in the extended state, as shown in fig. 4), and the driven wheel 202 and the driving wheel 201 are arranged such that the lift car 2 moves smoothly during operation. Further, the driven wheel 202 and the driving wheel 201 are directional wheels, so that when the lift truck 2 is extended, it is advanced only in one direction without being deviated, and when the lift truck 2 is retracted, it is retracted only in one direction without being deviated as well. Here, the lifting mechanism 5 and the first travelling device described above are each electrically connected to the power supply and control system of the vehicle 1.

As shown in fig. 1 to 5, in an embodiment the connection means may be, for example, a cable drum 3. The body of the cable drum 3 is arranged at the end of the carriage 1 remote from the lift car 2, a first end of the lift car 2 being fitted with a cable fixing clip 302 for fixing the end of the cable 301. The cable drum 3 serves to provide a power source, a control source and control signals, and the power source, movement and work of the lift truck 2 are transmitted by the cable drum 3.

In addition, preferably, the carrier 1 may further include a lifting mechanism (not shown), as shown in fig. 3, when the carrier 2 is in the retracted state, the lifting mechanism of the carrier 1 lifts the carrier 2 and breaks away from the ground, so that the carrier 1 can control the movement and the steering of the primary-secondary type unmanned forklift, and the primary-secondary type unmanned forklift can work more flexibly and conveniently. Specifically, the lifting mechanism may be, for example, mounted at two ends of the first bearing portion 104 and two ends (i.e., four in number) of the third bearing portion 106, respectively, and close to the first receiving portion and the second receiving portion, and is described herein for convenience of description as a lifting mechanism mounted at one end of the first bearing portion 104 close to the cable drum 3. Lifting mechanism can include slip table cylinder, flexible cylinder and lift board, and the slip table cylinder is installed perpendicularly in the one end of first carrier 104 along vertical direction for the slip table can be along vertical direction ground motion up and down, and flexible cylinder's cylinder main part is through using fastening screw and slip table fixed connection, and makes flexible cylinder's telescopic link can be along horizontal direction motion. The telescopic rod of the telescopic cylinder is fixedly connected with the lifting plate through the fastening screw, so that the lifting plate can move in the vertical direction and the horizontal direction. In this way, the lifting mechanism has two extreme states, namely a fully retracted state in which the lifting mechanism is at the highest point in the vertical direction and the furthest point away from the lift truck 2 in the horizontal direction, and a fully extended state in which the lifting mechanism is at the lowest point in the vertical direction and the closest point near the lift truck 2 in the horizontal direction, and it is to be noted that when the lifting mechanism is in the fully retracted state, the lifting plate is fully retracted into the first carrying portion 104 without interfering with the first carrying portion 104 and the lift truck 2; when the lifting mechanism is in a fully extended state, the lifting plate extends into the bottom of the lifting vehicle 2 and cooperates with the lifting plates of other lifting mechanisms to lift the lifting vehicle 2. The lifting mechanism is electrically connected to the power supply and control system of the vehicle 1.

Furthermore, as shown in fig. 5, in another embodiment, the vehicle 1 may be formed, for example, as a U-shaped structure, which may include two bearing portions, namely, a fourth bearing portion 107 and a fifth bearing portion 108, such that the receiving portions are spaces formed between the fourth bearing portion 107 and the fifth bearing portion 108. The vehicle 1 formed in a U-shaped structure is light in overall weight, can be used to carry light-weight cargo, and is convenient to transport. Thus, when carrying heavy goods, the E-shaped configuration of the vehicle 1 may be selected to provide additional support, and also avoid the problem that the pallet carrying heavy goods may be deformed due to the one less carrier.

The working process of the primary and secondary unmanned carrying forklift is as follows: the appropriate vehicle 1 is selected according to the weight of the goods, the vehicle 1 with a U-shaped structure is selected when the weight is lighter, and the vehicle 1 with an E-shaped structure is selected when the weight is heavier. The primary and secondary unmanned carrying forklift is in a recovery state as shown in fig. 3 when moving along a set track (the track does not represent the track in the practical sense, but refers to a navigation path or a navigation track in the AGV technology), the lifting vehicle 2 is lifted in the accommodating part of the carrying vehicle 1 through a lifting mechanism, the carrying vehicle 1 contacts the ground, main power is provided through the driving wheel 101, and the direction adjustment is performed by the first auxiliary wheel 102 and the second auxiliary wheel 103. When moving to the face of goods to be carried, the lifting mechanism puts down the lifting vehicle 2, when the lifting vehicle 2 contacts the ground, the driving wheel 201 moves to move the lifting vehicle 2 to the position below the goods tray, at the moment, the lifting mechanism 5 moves to lift the goods, the lifting height is higher than the height of the carrying vehicle 1, then the lifting vehicle 2 is recovered to the accommodating part, and the goods tray is placed on the carrying vehicle 1 through the lifting mechanism 5. Finally, the lifting mechanism lifts the lifting vehicle 2, the carrying vehicle 1 finishes loading the goods, and moves to the appointed place at the next place along the track, unloading the goods is performed, and the unloading process is the same as that of loading, and is not repeated here.

According to the sub-and-mother type unmanned carrying forklift, the lifting of the goods and the carrying of the goods can be carried out step by step through the cooperation of the lifting vehicle 2, the carrying vehicle 1 and the connecting device, so that the travel of carrying the goods can be greatly increased, the overall stability of the vehicle is increased in the process of carrying the goods, the vehicle deviation is avoided, and the production faults are reduced; meanwhile, as the lifting vehicle 2 can be accommodated in the carrier vehicle 1, walking with smaller turning radius can be realized, the requirement on the width of a channel is reduced, and the universality is increased.

Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a primary and secondary formula unmanned transport fork truck for carry the goods, a serial communication port, primary and secondary formula unmanned transport fork truck includes:

the lifting vehicle comprises a first travelling device;

the bearing vehicle comprises a second traveling device and a bearing part, wherein the bearing part is provided with a containing part for placing the lifting vehicle;

and the lifting vehicle is connected with the bearing vehicle through the connecting device.

2. The automated guided vehicle of claim 1, wherein the carrier comprises a plurality of carriers, the plurality of carriers comprising a first carrier, a second carrier, and a third carrier, the first carrier, the second carrier, and the third carrier being formed in an E-shaped configuration.

3. The automated guided vehicle of claim 1, wherein the carrier comprises a plurality of carriers, the plurality of carriers comprising a fourth carrier and a fifth carrier, the fourth carrier and the fifth carrier being formed in a U-shaped configuration.

4. A primary and secondary unmanned forklift as claimed in claim 2 or 3, wherein the end of the lift truck is provided with a fixing portion, the connecting means is a cable drum, the main body of the cable drum is provided at the end of the carrier truck, and the cable end of the cable drum is connected to the fixing portion.

5. The automated guided vehicle of claim 1, wherein the lift truck is formed in a U-shaped configuration having a size smaller than the receiving portion.

6. The robotic handling forklift of claim 5, wherein said first travel device comprises:

the motor is arranged at the first end of the lifting vehicle;

the driving wheel is connected with the motor;

the directional wheel is arranged at the second end of the lifting vehicle.

7. The automated guided by sub-type robotic handling forklift of claim 5, wherein said lift truck further comprises: the number of the lifting mechanisms is two, and the two lifting mechanisms are respectively arranged at two sides of the U-shaped structure.

8. The primary and secondary unmanned handling forklift of claim 1, wherein the second running gear comprises:

the motor is arranged at the first end of the bearing vehicle;

the driving wheel is connected with the motor;

the auxiliary wheel is arranged at the second end of the bearing vehicle, the auxiliary wheel is connected with the motor, and the auxiliary wheel is a universal wheel.

9. The automated guided vehicle of claim 1, wherein the carriage further comprises a lifting mechanism disposed within the carriage, the lifting mechanism comprising a liftable telescoping portion for lifting and lowering the lift truck.

10. The automated guided vehicle of claim 1, wherein the end of the carriage is further provided with a battery quick change bin.

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