WO2023165474A1

WO2023165474A1 - Carrying trolley

Info

Publication number: WO2023165474A1
Application number: PCT/CN2023/078770
Authority: WO
Inventors: 卢敬铭; 谭庆杰; 白红星; 杨艳
Original assignee: 浙江凯乐士科技集团股份有限公司
Priority date: 2022-03-02
Filing date: 2023-02-28
Publication date: 2023-09-07
Also published as: CN114590745A

Abstract

The present application relates to a carrying trolley, comprising a trolley body (1), a telescopic fork (2) and a travel mechanism, wherein the travel mechanism is mounted at the bottom of the trolley body (1) and at the bottom of the telescopic fork (2), and is used for supporting or driving the trolley body (1) or the telescopic fork (2) when the trolley body or the telescopic fork moves; the trolley body (1) is provided with a groove (11); the telescopic fork (2) is configured to horizontally move in a telescopic manner between the interior of the groove (11) and the outside of the trolley body (1); and a telescopic direction of the telescopic fork (2) is perpendicular to the direction of travel of the trolley body (1). The telescopic direction of the telescopic fork (2) is perpendicular to the direction of travel of the trolley body (1), such that the carrying trolley of the present application is suitable for carrying goods in a narrow roadway, thereby facilitating an improvement in the storage density of pallet goods.

Description

a transport trolley

cross reference

This application claims the priority of the Chinese patent application with the application number 2022102018150 and titled "A Handling Cart" filed on March 2, 2022, which is hereby incorporated by reference in its entirety.

technical field

The present application relates to the technical field of logistics handling, in particular to a handling trolley.

Background technique

At present, the traditional ground handling tools are jack-up AGV and forklift. The jack-up AGV can enter under the shelf, lift the goods through jacking, and complete the handling of goods. There is no suitable ground for goods carried by pallets. Autonomous trolleys can carry goods. Forklifts are commonly used in related technologies to carry goods carried by pallets. The front end of a common forklift has a fork that can fork the goods, and the rear end has a corresponding counterweight facility, which leads to a very large turning radius. This kind of forklift has a relatively wide aisle, which wastes a lot of space and makes the storage density lower.

Contents of the invention

According to various embodiments of the present application, a transport trolley is provided.

In a first aspect, the application provides a handling trolley, comprising:

a car body, the car body is provided with notches;

a telescopic fork, the telescopic fork is configured to move horizontally between the inside of the notch and the outside of the vehicle body, and the telescopic direction of the telescopic fork expands and contracts along a direction perpendicular to the traveling direction of the vehicle body; and

The traveling mechanism is installed on the bottom of the vehicle body and the bottom of the telescopic fork, and is used for supporting and/or driving when the vehicle body or the telescopic fork moves.

In one of the embodiments, the overall profile of the vehicle body is rectangular or square.

In one of the embodiments, the traveling mechanism includes a vehicle body traveling mechanism and a telescopic fork traveling mechanism; the vehicle body traveling mechanism includes a plurality of universal wheel assemblies and at least two driving wheel assemblies, and the transport trolley controls two The speed difference between the side drive wheels is used for steering.

In one of the embodiments, the drive wheel assembly includes:

The driving wheel mounting seat is fixedly installed on the vehicle body;

a driving wheel floating seat for installing the driving wheel; and

A floating pendulum assembly, one end of which is connected to the driving wheel mounting seat and can swing relative to the driving wheel mounting seat, and the other end is connected to the driving wheel floating seat and can swing relative to the driving wheel floating seat;

The floating seat of the driving wheel is connected with the vehicle body through an elastic member, so that the floating seat of the driving wheel can float up and down together with the driving wheel.

In one of the embodiments, the traveling mechanism of the telescopic fork includes a load-bearing wheel and a guide wheel, the load-bearing wheel is used to contact the ground when the telescopic fork reaches the bottom of the cargo support body, and the guide wheel includes a first guide wheel, When the first guide wheel travels uphill along the inclined platform, the load-bearing wheel is lifted, and the guide wheel does not contact the ground.

In one of the embodiments, the load-bearing wheels include a first load-bearing wheel and a second load-bearing wheel, the first load-bearing wheel is arranged at the front end of the telescopic fork, the first load-bearing wheel is driven by a second drive motor, and the first load-bearing wheel The second load-bearing wheel is arranged at the middle or the rear end of the telescopic fork, and the second load-bearing wheel can swing along the telescopic direction of the telescopic fork;

The first guide wheel is arranged at the middle or rear end of the telescopic fork, and the first guide wheel is not in contact with the ground; it is configured such that when the first guide wheel walks from the bottom plate of the notch toward the inclined platform until it is suspended in the air , the first bearing wheel and the second bearing The heavy wheels gradually touch the ground and walk on the ground. When the guide wheel walks from the suspension to the inclined platform until it walks on the bottom plate of the notch, the second load-bearing wheel gradually walks on the inclined platform and then walks on the bottom plate. or directly walk on the floor, in the state of no-load of the telescopic fork, the first load-bearing wheel gradually becomes suspended in the process of moving to the vehicle body, and the first load-bearing wheel is suspended when the telescopic fork is loaded. Along with the decline of the telescopic fork, it becomes suspended gradually.

In one of the embodiments, the telescopic fork is provided with a jacking mechanism for lifting goods, the upper end of the jacking mechanism is equipped with a pallet, the jacking mechanism is a scissor-type jacking mechanism, and the telescopic fork is A first drive motor is included, and the first drive motor drives the scissor-type jacking mechanism to rise or fall by driving the screw nut mechanism.

In one of the embodiments, the vehicle body includes a chassis, the chassis includes a first chassis member and a second chassis member, and the first chassis member and the second chassis member are hinged; the vehicle body also includes a support plate , the support plate is movably connected with the vehicle body, configured such that the support plate can swing left and right along a direction perpendicular to the telescopic fork, and the support plate includes at least two first support plates and at least one second support plate , the first support plate is distributed on different chassis components, and the second support plate is connected to both the first chassis component and the second chassis component.

In one of the embodiments, the telescopic fork includes a mast and a cargo fork, the mast is arranged on the vehicle body, and is configured such that the mast can move horizontally in the slot, and the fork is arranged On the mast, the fork is configured to move up and down along the mast.

In one of the embodiments, the guide wheel further includes a second guide wheel and a third guide wheel, and the second guide wheel guides the moving support of the door frame on the bottom plate of the notch; the first guide wheel Three guide wheels guide the movement of the door frame on the side wall of the notch; the first guide wheel supports walking on the inclined platform; the first guide wheel is installed with the first bearing wheel On the same mounting part, it is configured that when the first guide wheel walks uphill on the ramp, the first bearing wheel is gradually lifted off the ground, and when the first guide wheel is on the ramp When walking up and downhill, the first bearing wheel gradually descends until it touches the ground.

In one of the embodiments, the moving of the fork up and down along the mast is driven by a sprocket chain structure or a lead screw nut structure.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the present application will be apparent from the description, drawings and claims.

Description of drawings

In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the conventional technology, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or conventional technologies. Obviously, the accompanying drawings in the following description are For some embodiments of the present application, those skilled in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the perspective view of the handling trolley of an embodiment of the present application;

Fig. 2 is a perspective view of a support plate of a transport trolley according to an embodiment of the present application;

Fig. 3 is a schematic structural diagram of the chassis of the transport trolley in an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a telescopic fork of a transport trolley according to an embodiment of the present application;

Fig. 5 is a structural schematic diagram of the first working state of the transport trolley according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a transport trolley in a second working state according to an embodiment of the present application;

Fig. 7 is a perspective view of a transport trolley in the second embodiment of the present application;

Fig. 8 is a schematic structural view of the front view of the transport trolley in the second embodiment of the present application;

Fig. 9 is an enlarged view of the part in the front view box of the handling trolley of Fig. 8;

Fig. 10 is a schematic diagram of the chassis structure of the transport trolley in the second embodiment of the present application;

Fig. 11 is a schematic diagram of the extension of the telescopic fork of the transport trolley in the second embodiment of the present application;

Fig. 12 is a schematic structural view of the mast driving transmission device in the second embodiment of the present application;

Fig. 13 is a schematic structural diagram of a driving wheel set according to an embodiment of the present application;

Fig. 14 is a schematic diagram of an installation structure of a driving wheel set according to an embodiment of the present application.

Explanation of reference signs:

1. Car body; 11. Notch; 12. Inclined platform; 13. First chassis component; 14. Second chassis component; 15. First support plate; 16. Second support plate; 2. Telescopic fork; 21. Jacking mechanism; 211, screw mandrel; 212, first driving motor; 22, supporting plate; 23, first bearing wheel; 231, second driving motor; 24, second bearing wheel; 25, first guide wheel; 31 , universal wheel; 312, driving wheel motor; 32, driving wheel; 322, driving wheel mounting seat; 323, driving wheel floating seat; 324, elastic member; 325, rotating shaft; 326, swing rod; 327, driving wheel cover; 2501, second guide wheel; 2502, third guide wheel; 101, rack; 102, camera device; 201, mast; 202, fork; 2011 sprocket drive motor; 2012, chain; 2013, drag chain for fork ;2014, gantry drive motor; 2016, transmission parts; 2016-1, universal joint; 2016-2, transmission shaft; 2016-3, gear shaft; 2016-4, bearing seat.

Detailed ways

The technical solutions of the present application will be clearly and completely described below in conjunction with the embodiments. Apparently, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In order to facilitate the understanding of this embodiment, this embodiment will be described in detail below in conjunction with the accompanying drawings.

As shown in Fig. 1, the embodiment of the present application provides a kind of handling trolley, comprises: car body 1, telescopic fork 2, traveling mechanism (traveling mechanism is not shown in Fig. 1), and described traveling mechanism is installed on car body 1 bottom, used to drive the car body 1 to walk, the car body 1 is provided with a notch 11, the telescopic fork 2 is configured to move horizontally between the inside of the notch 11 and the outside of the car body 1, and the telescopic fork The stretching direction of 2 stretches along the traveling direction perpendicular to car body 1. The handling trolley of this embodiment has a rectangular overall profile, and the telescopic fork 2 expands and contracts along the traveling direction perpendicular to the car body 1, that is, when the handling trolley of this embodiment walks in a narrow roadway, the width of the outline of the car body 1 corresponds to The wide walking of roadway, now the width of car body 1 outline is roughly parallel with the width of roadway, and telescopic fork 2 stretches fork to pick and place pallet goods to one side or any side of car body 1 traveling direction, thus the handling trolley of this embodiment It is suitable for handling high storage density goods in narrow aisles. In another embodiment, the overall outline of the trolley can also be square. The present application does not limit the overall profile of the trolley, which can be set by those skilled in the art according to actual needs.

The notch 11 is perpendicular to the long side of the car body 1 to both sides of the car body 1, and the telescopic fork 2 can extend to the outside of the car body 1 along the notch 11 to both sides of the car body 1. This application does not limit the extension direction of the telescopic fork 2. The notch 11 of the transport trolley shown in FIG. , in practical applications, the notch 11 of the transport trolley can have openings on both sides of the car body 1, and the telescopic fork 2 can extend to the outside of the car body 1 towards both sides of the opening of the notch 11, so that when the transport trolley is in a narrow roadway When walking in the middle, if you temporarily receive goods that need to be accessed on the other side, you don’t have to go out of the roadway, turn the direction and enter the roadway again to carry out the handling work.

The telescopic fork 2 is provided with a jacking mechanism 21 for lifting goods, and a supporting plate 22 is installed on the upper end of the jacking mechanism 21 . After the telescopic fork 2 reaches the bottom of the pallet, the jacking mechanism 21 lifts up the pallet 22, and then lifts up the entire pallet. The telescopic drive motor of the telescopic fork 2 drives the telescopic fork 2 back to the car body 1, and the jacking mechanism 21 Falling makes the supporting plate 22 height lower than the height of the support plate on the car body, the weight of the pallet goods is carried on the car body 1, and the running mechanism at the bottom of the car body 1 drives the car body 1 and the pallet goods to complete the handling work.

The jacking mechanism 21 is a scissor-type jacking mechanism 21, a fork of the scissor-type jacking mechanism 21 is connected with the nut of the lead screw 211, and the first drive motor 212 drives the lead screw to rotate, and the transmission scissors Jacking mechanism 21 rises and falls. The jacking mechanism 21 is two scissor-type jacking structures installed in mirror images, and the lead screw 211 is a lead screw 211 with positive and negative teeth. In this embodiment, there are two rows of jacking mechanisms 21 comprising two mirrored scissor jacking structures on each telescopic fork 2, and each scissor jacking mechanism 21 has two scissor blades, one of which is The upper end is movably connected with the lower surface of the supporting plate 22, and the lower end is movably connected with the upper surface of the bottom plate of the telescopic fork 2. The nut mechanism of the lead screw is connected with the movably connected scissor piece, and the movement of the nut drives the scissor lift The lifting and lowering of the mechanism 21, the application does not limit the fixed connection and the movable connection of the fork in the scissor-type jacking mechanism 21, each scissor-type jacking mechanism 21 has a fork on the upper end and the lower part of the supporting plate 22 The surface is movably connected, and the lower end has a fork foot that is movably connected with the upper surface of the base plate of the telescopic fork 2, and the nut on the lead screw It is connected with one of the movably connected fork legs, drives the fork legs to move, and drives the jacking and descending of the scissor-type jacking mechanism 21 .

As shown in Figure 4, the telescopic fork 2 includes a telescopic fork traveling mechanism, and the telescopic fork traveling mechanism includes a first load-bearing wheel 23, a second load-bearing wheel 24 and a first guide wheel 25, and the first load-bearing wheel 23 Set at the front end of the telescopic fork 2, the first load-bearing wheel 23 is connected to the second drive motor 231, and the second load-bearing wheel 24 is set at the middle or rear end of the telescopic fork 2, and is used for carrying loads for the telescopic fork 2 , the second bearing wheel 24 can swing along the telescopic direction of the telescopic fork 2; the first guide wheel 25 is arranged at the middle or rear end of the telescopic fork 2, and the first guide wheel 25 is not in contact with the ground. The first load-bearing wheel walks on the ground in the first working state, and the first load-bearing wheel 23 is not in contact with the ground in the second working state, and is in a suspended state; the second load-bearing wheel 24 is in the air In the first state, the second bearing wheel 24 is attached to the ground for walking, and in the second state, the second bearing wheel 24 is attached to the bottom plate of the notch 11 for walking.

There is an inclined platform 12 on the bottom plate of the opening end of the notch 11, and the inclined platform 12 is inclined downward toward the opening end; the first guide wheel 25 walks on the inclined platform 12 or walks on the bottom plate of the notch 11 or suspended in the air; configured such that when the first guide wheel 25 walks from the bottom plate of the notch 11 toward the inclined platform 12 until it is suspended in the air, the first load-bearing wheel 23 and the second load-bearing wheel 24 gradually contact the ground and move on the ground When the first guide wheel 25 walks from the suspension to the inclined platform 12 until it walks on the bottom plate of the notch 11, the second load-bearing wheel 24 gradually walks on the inclined platform 12 and then walks on the bottom plate Or directly walk on the base plate, when there is only an inclined platform 12 on the walking path of the first guide wheel 25, the second load-bearing wheel 24 directly walks on the base plate, when the opening end of the notch 11 is an inclined platform as a whole , that is, the walking path of the first guide wheel 25 and the second load-bearing wheel 24 are on the same ramp, and at this time, the second load-bearing wheel 24 gradually walks up the ramp 12 and then walks on the bottom plate. When the telescopic fork 2 is unloaded, the first load-bearing wheel 23 gradually becomes suspended in the process of moving to the vehicle body 1, and the first load-bearing wheel 23 expands and contracts with the telescopic fork 2 when the telescopic fork 2 is loaded. The drop of fork 2 gradually becomes suspended. That is, when the telescopic fork 2 is loaded, after the first load-bearing wheel 23 moves toward the vehicle body 1, the telescopic fork 2 descends until the load is carried on the vehicle body, and the first load-bearing wheel 23 becomes suspended. There is a gap in front of the inclined platform 12 at the opening end of the notch 11 , and when the telescopic fork 2 is fully retracted into the notch 11 in the horizontal direction, the first bearing wheel 23 is located at the notch.

As shown in FIG. 3 , the vehicle body 1 includes a chassis, and the chassis includes a first chassis member 13 and a second chassis member 14 , and the first chassis member 13 and the second chassis member 14 are hinged.

In one implementation of this embodiment, the running mechanism is installed on the bottom of the car body, the running mechanism is installed on the chassis, the running mechanism includes a plurality of universal wheel assemblies and at least two drive wheel assemblies, the The driving wheels 32 are turned by controlling the speed difference between the driving wheels 32 on both sides, and the universal wheels 31 play a role of supporting and rolling.

The driving wheel assembly includes a driving wheel mounting seat 321 fixedly mounted on the vehicle body; a driving wheel floating seat 323 for mounting the driving wheel 32; a swing rod 326 connected to the driving wheel mounting seat at one end, and It can swing relative to the driving wheel mounting base 323, and the other end is connected to the driving wheel floating base 323, and can swing relative to the driving wheel floating base 323;

The driving wheel assembly includes a driving wheel 32 and a driving wheel motor 321 , and the driving wheel motor 321 is used to provide driving force for the driving wheel 32 . In this embodiment, the number of driving wheel assemblies 20 is two, that is, the number of driving wheels 32 is two, and the number of corresponding driving wheel motors 321 is also two. The following will take one of them as an example for specific description.

Fig. 4 is a structural diagram of the driving wheel assembly in the embodiment of the utility model.

The driving wheel 32 is arranged at the position on both sides of the middle part of the car body 1, and the driving wheel assembly includes a driving wheel mounting seat 322 and a driving wheel floating seat 323. The driving wheel 32 is installed on the driving wheel floating seat 323, and the driving wheel mounting seat 322 Installed on the car body, the driving wheel floating seat 323 is connected with the driving wheel mounting seat 322 through a swing rod 326, and one end of the swing rod 326 is connected with the driving wheel mounting seat 322, and can swing relative to the driving wheel mounting seat 323. One end is connected with the floating seat 323 of the driving wheel, and can swing relative to the floating seat 323 of the driving wheel; The two driving wheel mounts 322 are connected by a rotating shaft 325, and the swing rod 326 is hinged on the rotating shaft 325. In an implementation of this embodiment, the rotating shaft 325 has multiple There are multiple swing rods 326. In an implementation of this embodiment, there are two rotating shafts 325, and four swinging rods 326, wherein two swinging rods 326 are hinged on each rotating shaft 325, wherein the hinged on different rotating shafts The two swing rods are parallel to each other, and the two swing rods hinged on different rotating shafts and the driving wheel mounting seat 322 and the driving wheel floating seat 323 form a "parallelogram", so that the driving wheel 32 can float up and down relative to the driving wheel mounting seat 322 .

The drive wheel set also includes a drive wheel cover 327 , which is a part of the vehicle body 1 , and the drive wheel cover 327 can be arranged in a U-shaped cover, and is set on the top of the drive wheel 32 . An avoidance hole can be offered on the driving wheel cover 327 , and the avoidance hole is located above the driving wheel 32 , so that the driving wheel cover 327 will not affect the up and down movement of the driving wheel 32 . Of course, the escape hole can also be omitted, and the driving wheel cover 327 is set at a relatively high point to ensure that the driving wheel 32 will not touch the driving wheel cover 327 when it floats up and down.

In this embodiment, the driving wheel cover 327 is connected to the floating seat 323 of the driving wheel through elastic members 324 , the elastic members 324 are springs, and there are four in number, which are respectively arranged around the driving wheel 32 . The upper end of the spring bears against the drive wheel housing 327 . Thus, the elastic member 324 can maintain a certain distance between the driving wheel floating seat 323 and the driving wheel cover 327, and can provide a downward pressure to the driving wheel floating seat 323, so that the driving wheel floating seat 323 has a downward pressure. Trend, so that the driving wheel 32 can always be close to the ground, and the spring pressure is designed according to the load, so as to ensure that there is enough pressure on the ground under various conditions.

As shown in Figure 2, the vehicle body 1 includes at least two first support plates 15, the first support plates 15 are movably connected with the vehicle body 1, and the first support plates 15 are configured such that the first support plates 15 are perpendicular to the The telescopic fork 2 can swing in a telescopic direction, and the first support plate 15 is distributed on different chassis components.

The middle of the support plate in the length direction is connected to the chassis through a hinge seat, and several elastic structures are arranged on both sides of the length direction to provide support force when the support plate swings. One implementation of this embodiment includes two first support plates, one of which is installed on the first chassis member 13 , and the other first support plate is installed on the second chassis member 14 .

As shown in Figures 5-6, in an implementation of this embodiment, the vehicle body 1 includes at least two first support plates 15 and at least one second support plate 16, the first support plates 15, The second support plate 16 is movably connected with the vehicle body 1, and is configured such that the first support plate 15 and the second support plate 16 can swing along the direction perpendicular to the telescopic fork 2. The plurality of first support plates 15 Distributed on different chassis components, the second support plate 16 is connected both to the first chassis component 13 and to the second chassis component 14 .

The second supporting plate 16 includes a first connecting part and a second connecting part, one end of the first connecting part is hinged on the second supporting plate 16, and the other end is hinged on the first chassis member 13, One end of the second connecting part is hinged on the second support plate 16 , and the other end is hinged on the second chassis member 14 .

In an implementation manner of this embodiment, the first connecting part and the second connecting part are hinged on the same second support plate through the same hinge pin.

As shown in Figure 7, an embodiment of the present application also provides a transport trolley, including: a car body 1, a telescopic fork, and a running mechanism. The running mechanism is installed on the bottom of the car body 1 and the bottom of the telescopic fork for 1 or the telescopic fork plays a supporting or driving role when moving, the car body 1 is provided with a notch 11, and the telescopic fork is configured to move horizontally between the inside of the notch 11 and the outside of the car body 1, and the telescopic fork The expansion and contraction direction expands and contracts perpendicular to the walking direction of the car body 1. The handling trolley of this embodiment has a rectangular overall profile, and the telescopic fork as a whole expands and contracts along the traveling direction perpendicular to the car body 1, that is, when the handling trolley of this embodiment walks in a narrow roadway, the width of the contour of the car body 1 corresponds to the width of the roadway. At this time, the width of the outline of the car body 1 is roughly parallel to the width of the roadway, and the telescopic fork extends to one side of the car body 1 in the direction of travel to pick up and place pallet goods, so that the transport trolley of this embodiment is suitable for carrying narrow roadways. Goods with high storage density.

As shown in Figure 10, the traveling mechanism includes a vehicle body 1 traveling mechanism and a telescopic fork traveling mechanism; the vehicle body 1 traveling mechanism includes a plurality of universal wheels 31 and at least two driving wheels 32, and by controlling the Steering at different speeds. The transport trolley of this embodiment has four universal wheels 31, which are respectively arranged at the four corners of the bottom plate of the car body 1, two driving wheels 32, the wheel running direction is perpendicular to the fork extension direction, and the steering mode is differential steering, that is, two driving wheels 32 are controlled. The speeds of the driving wheels 32 are different to realize turning. The transport trolley of the present embodiment also includes an imaging device 102, which is installed at the bottom of the trolley. In the very center of the disk, the handling trolley used for QR code navigation scans the QR code on the ground.

As shown in Figure 8, the traveling mechanism of the telescopic fork includes load-bearing wheels and guide wheels, the load-bearing wheels are used to contact the ground when the telescopic fork reaches the bottom of the pallet, and the guide wheels include a first guide wheel 25, the The first guide wheel 25 is used to go uphill when the telescopic fork is retracted into the notch 11 of the car body 1 and then lift the load wheel. The guide wheel does not contact the ground, and the shape of the bottom plate at the opening end of the notch 11 is a Inclined platform 12, the inclined platform 12 is inclined downward toward the opening end; the guide wheel walks on the inclined platform 12 or walks on the bottom plate of the notch 11 or hangs in the air.

The telescopic fork includes a mast 201 and a cargo fork 202, the mast 201 is arranged on the car body 1, and is configured such that the mast 201 can move horizontally in the notch 11, and the pallet fork 202 Set on the door frame 201 , the fork 202 is configured to move up and down along the door frame 201 . The door frame 201 is "L" shaped, and the "L" shaped door frame 201 includes a horizontal frame and a vertical frame. The telescopic fork traveling mechanism is arranged at the lower end of the horizontal frame of the "L"-shaped portal frame 201, and the telescopic fork traveling mechanism is used to drive the portal frame 201 to move, and the horizontal frame of the "L"-shaped portal frame 201 extends to the ground In the Chuan-shaped gap between the Chuan-shaped pallet and the Chuan-shaped pallet close to the ground, when the trolley needs to carry the pallet or pallet and goods close to the ground, the fork 202 is lowered to the lowest end first, and the level of the fork 202 and the "L"-shaped mast 201 The frame goes deep into the Chuan-shaped gap of the pallet adjacent to the ground, the pallet fork 202 moves upwards, lifts the pallet, and makes the pallet or the pallet and the goods leave the ground, and then the door frame 201 carries the pallet fork 202 and retracts to the car body 1 to complete the pickup After picking up the goods, the pallet fork 202 can be lowered into the notch 11 to carry the pallet or the pallet and the goods on the vehicle body 1, or the pallet or the pallet and the goods can be lifted by the pallet fork 202 to move.

When the trolley needs to carry the goods on the shelf, the fork 202 first rises to the height corresponding to the Chuan-shaped gap of the pallet to be carried, and the "L" shaped door frame 201 drives the fork 202 to protrude together, wherein, "L" The horizontal frame of the door frame 201 extends to the Chuan-shaped gap between the ground and the Chuan-shaped pallet adjacent to the ground, and the cargo fork 202 extends to the Chuan-shaped gap of the pallet to be transported. Move upward on the vertical frame to lift up the pallet or pallet and goods that need to be transported, and then the door frame 201 carries the fork 202 and retracts to the car body 1 to complete the pickup. After the pickup is completed, the fork 202 can be lowered to the slot In the mouth 11, pallets or pallets and goods are carried on the car body 1, and the pallets or pallets and goods can also be lifted by the fork 202 to move.

Fig. 12 shows a schematic structural view of the door frame drive transmission device, the door frame also includes a door frame drive motor 2014, the door frame drive motor 2014 is installed at the bottom position of the vertical frame, the door frame drive motor 2014 passes through the transmission part 2016 Drive the gear 2015 to rotate, the gear 2015 is installed at the bottom position of the vertical frame, there is a rack 101 on the car body along the stretching direction of the telescopic fork, and the rack 101 on the car body meshes with the gear 2015 on the door frame to complete the expansion and contraction Fork extension and retraction, the transmission part 2016 is a universal joint 2016-1 transmission, and the universal joint 2016-1 transmission includes a universal joint 2016-1, a transmission shaft 2016-2, and a gear shaft 2016- 3 and the gear shaft 2016-4, the gantry driving motor 2014 motor is transmitted to the gear 2015 through the reducer universal joint 2016-1, the transmission shaft 2016-2, and the gear shaft 2016-3. The reducer and gear shaft 2016-4 are installed on the mobile mast.

As shown in FIG. 9 , the guide wheels also include a second guide wheel 2501 and a third guide wheel 2502 , and the second guide wheel 2501 guides the moving support of the door frame 201 on the bottom plate of the notch 11 The third guide wheel 2502 guides the movement of the door frame 201 on the side wall of the notch 11; the first guide wheel 25 supports and walks on the ramp 12; the first guide wheel 25 and the first load-bearing wheel 23 are installed on the same mounting part, and are configured such that when the first guide wheel 25 walks uphill on the inclined platform 12, the first load-bearing wheel 23 is gradually lifted off the ground , when the first guide wheel 25 walks uphill and downhill on the inclined platform 12, the first load-bearing wheel 23 gradually descends until it touches the ground.

As shown in Figure 11, in the present embodiment, there are two first guide wheels 25, corresponding to the first guide wheel 25, there is a ramp 12 below, and the slopes of the two ramps 12 are parallel. When a guide wheel 25 walks uphill on the inclined platform 12 at the same time, the first load-bearing wheel 23 is lifted off the ground gradually; , the first bearing wheel 23 gradually descends to touch the ground. The second guide wheel 2501 can be one or two, and the second guide wheel 2501 always walks on the bottom of the vehicle body 1 . The third road wheel walks on the sidewall of the notch 11 all the time.

The fork 202 moves up and down along the mast 201 and is driven by the structure of the sprocket chain 2012 or connected by a screw nut. Structural drive. As shown in Figure 7-8, the fork 202 moves up and down along the mast 201 and is driven by the sprocket chain 2012 structure. The wheel drive motor 2011 is used to drive the driving sprocket to rotate, the chain 2012 bypasses the driving sprocket and the driven sprocket, the chain 2012 is connected with the fork 202 through the fork 202 mounting plate, and the sprocket chain 2012 rotates to drive the fork 202 up and down For lifting, the fork 202 mounting plate is provided with guide wheels, and the guide wheels slide on the vertical frame of the door frame 201. In addition to the structure of the sprocket chain 2012, the screw nut structure can also be selected. The screw is parallel to the vertical frame of the door frame 201, the fork 202 is fixedly connected with the nut, and the screw is driven to rotate, thereby realizing the fork 202 along the door frame. The vertical frame of 201 moves up and down.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In addition, in the description of the embodiments of the present application, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplification of the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific orientation construction and operation, therefore should not be construed as limiting the application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present application. scope.

Claims

A transport trolley, characterized in that it comprises:

a car body, the car body is provided with notches;

a telescopic fork, the telescopic fork is configured to move horizontally between the inside of the notch and the outside of the vehicle body, and the telescopic direction of the telescopic fork expands and contracts along a direction perpendicular to the traveling direction of the vehicle body; and

The traveling mechanism is installed on the bottom of the vehicle body and the bottom of the telescopic fork, and is used for supporting and/or driving when the vehicle body or the telescopic fork moves.
A transport trolley according to claim 1, characterized in that, the traveling mechanism comprises a vehicle body traveling mechanism and a telescopic fork traveling mechanism; the vehicle body traveling mechanism comprises a plurality of universal wheel assemblies and at least two driving wheels Assemblies, the transport trolley turns by controlling the speed difference between the driving wheels on both sides.
A kind of transport trolley according to claim 2, characterized in that, the drive wheel assembly comprises:

The driving wheel mounting seat is fixedly installed on the vehicle body;

a driving wheel floating seat for installing the driving wheel; and

A floating pendulum assembly, one end of which is connected to the driving wheel mounting seat and can swing relative to the driving wheel mounting seat, and the other end is connected to the driving wheel floating seat and can swing relative to the driving wheel floating seat;

The floating seat of the driving wheel is connected with the vehicle body through an elastic member, so that the floating seat of the driving wheel can float up and down together with the driving wheel.
The trolley according to claim 2, wherein the traveling mechanism of the telescopic fork includes load-bearing wheels and guide wheels, and the load-bearing wheels are used to contact the ground when the telescopic fork reaches the bottom of the cargo support body, so There is an inclined platform at the opening end of the notch, and the inclined platform is inclined downward toward the opening end. The guide wheel includes a first guide wheel, and the first guide wheel lifts the load-bearing wheel when walking uphill along the inclined platform; When the first guide wheel walks downhill along the inclined platform, the load-bearing wheel gradually contacts the ground; the guide wheel does not contact the ground.
A transport trolley according to claim 4, wherein the load-bearing wheels include a first load-bearing wheel and a second load-bearing wheel, the first load-bearing wheel is arranged at the front end of the telescopic fork, and the first load-bearing wheel passes through Driven by a second drive motor, the second load-bearing wheel is arranged at the middle or rear end of the telescopic fork, and the second load-bearing wheel can swing along the telescopic direction of the telescopic fork;

The first guide wheel is arranged at the middle or rear end of the telescopic fork, and the first guide wheel is not in contact with the ground; it is configured such that when the first guide wheel walks from the bottom plate of the notch toward the inclined platform until it is suspended in the air , the first load-bearing wheel and the second load-bearing wheel gradually touch the ground and walk on the ground, when the first guide wheel walks from the suspension to the inclined platform until it walks on the bottom plate of the slot, the The second load-bearing wheel gradually walks up the inclined platform and then walks on the base plate or directly walks on the base plate. When the telescopic fork is unloaded, the first load-bearing wheel gradually becomes suspended in the process of moving to the vehicle body. , the first load-bearing wheel gradually becomes suspended in the air as the telescopic fork descends when the telescopic fork is loaded.
The trolley according to claim 4, wherein the telescopic fork is provided with a jacking mechanism for lifting goods, the upper end of the jacking mechanism is equipped with a pallet, and the jacking mechanism is a scissor type As for the jacking mechanism, the telescopic fork includes a first drive motor, and the first drive motor drives the scissor-type jacking mechanism to rise or fall by driving the screw nut mechanism.
A transport trolley according to claim 4, wherein the vehicle body includes a chassis, the chassis includes a first chassis member and a second chassis member, and the first chassis member and the second chassis member are hinged; The vehicle body also includes a support plate, which is movably connected with the vehicle body, and is configured such that the support plate can swing left and right along a direction perpendicular to the telescopic fork. The support plate includes at least two first A support plate and at least one second support plate, the first support plate is distributed on different chassis components, and the second support plate is connected to both the first chassis component and the second chassis component.
A transport trolley according to claim 4, wherein the telescopic fork comprises a mast and a cargo fork, The door frame is arranged on the vehicle body, and is configured such that the door frame can move horizontally in the notch, and the fork is arranged on the door frame, and the fork is configured to move up and down along the door frame.
A kind of transport trolley according to claim 8, characterized in that, the guide wheel further comprises a second guide wheel and a third guide wheel, and the second guide wheel is on the bottom plate of the notch for the door The mobile support guide of the frame; the third guide wheel guides the movement of the door frame on the side wall of the notch; the first guide wheel supports and walks on the inclined platform; the first guide wheel The wheel is mounted on the same mounting part as the first load-bearing wheel, and is configured such that when the first guide wheel walks uphill on the inclined platform, the first load-bearing wheel is gradually lifted off the ground, and when the When the first guide wheel travels up and down the inclined platform, the first load-bearing wheel gradually descends until it touches the ground.
The transport trolley according to claim 8, wherein the fork moves up and down along the mast and is driven by a sprocket chain structure or a lead screw nut mechanism.