CN101585500A - forward forklift with rotary system and working method thereof - Google Patents
forward forklift with rotary system and working method thereof Download PDFInfo
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- CN101585500A CN101585500A CNA2009100997245A CN200910099724A CN101585500A CN 101585500 A CN101585500 A CN 101585500A CN A2009100997245 A CNA2009100997245 A CN A2009100997245A CN 200910099724 A CN200910099724 A CN 200910099724A CN 101585500 A CN101585500 A CN 101585500A
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Abstract
The invention discloses improvement of forward forklift. The two front wheels of the forklift are provided with locating mechanisms which are controlled by the driver and composed by a direction angle deflection mechanism and a limiting switch driven by a motor, and a safe brake. When the direction angle of the two front wheels is equal to zero, the front wheels and the steering drive rear wheels compose the running system of the forklift such that the forklift can finish the conveying working in and out the warehouse. When the direction angle of the left and right front wheels is equal to +beta and -beta, the front wheels and the drive real wheels with the steering angle being 90 degrees compose the rotary system of the forklift such that the forklift can rotate at the original place for 360 degrees, thereby finishing the four-way stacking operation in the high shelf narrow lane warehouse, and avoiding the difficulty of the forklift running in the narrow lane. The invention discloses a working method set for the forklift which can improve the working efficiency and avoid the wheel abrasion and energy waste.
Description
Technical field
The present invention openly relates to the improvement of a kind of reach truck in the industrial electro motor vehicle; Be a kind of novel logistics machinery that provides for high shelf narrow warehouse.
Background technology
Logistics in the present age for improving the warehouse space degree of utilization and reducing the cost of warehousing transportation expense, has been greatly developed high shelf narrow warehouse, and cooresponding storage conveying buck stacker tool.
Existing reach truck when the carrying container enters tunnel between the shelf, need be done 90 degree turning motions; Make pallet fork face the goods yard of shelf, could finish the stacking operation then.Therefore, 90 degree turnings width of fork truck are to limit to it to enter the condition (see figure 7) that narrow goes to finish the stacking operation.
U.S. US6866113, the fork truck that patents such as world WO2008141836 have proposed to have the cross running system, or claim the four-way reach truck that travels.The wheel of these fork trucks can turn to 90 degree simultaneously, and fork truck need not turned, and just can directly laterally sail the tunnel between the shelf into, goes to finish the stacking operation of shelf that pallet fork is faced.
Germany DE20114962, and patent such as European EP0712805 all driection running reach truck that whole wheels all are wheel flutters has been proposed.It can finish the motion of various different tracks to any direction in principle except can laterally sailing into the narrow.But, in the real-world operation, the deflection angle of each wheel, must satisfy the kinematic condition of Ackermam (Ackermann) Vehicular turn simultaneously: promptly each wheel of vehicle must be around same instantaneous center of gyration rotation; Otherwise will cause slippage, the wearing and tearing between tire and the ground and drive wasting of energy.Therefore, this fork truck, between each steered wheel, essential machinery or the computer-controlled linked system of being equipped with.At present, four-way is travelled and all driection running reach truck, obtains more application in surplus glassware field or warehouse.
Obtain the European EP1844684 of having of practical application in high shelf narrow warehouse, the front-wheel door frame swinging three-dimensional stacking fork truck that patents of invention such as Britain GB2399062 propose also claims the radial type fork truck.Connect by vertical hinge between its operator's compartment car body and the front wheel carrier.Front wheel carrier, door frame and pallet fork can turn 90 degrees together to the left or to the right partially, finish the stacking operation of tripartite shelf.Door frame swinging three-dimensional stacking fork truck can be finished the stacking operation in the narrow opening; But, its 90 degree turnings width are not little, and therefore, the dried span length in warehouse can not be narrow.
At present, in high shelf narrow warehouse, obtain U.S. US3659733, US5599155 Europe EP1258451, EP1698584, EP1844684 being arranged, the pallet fork swinging three-dimensional stacking fork truck that proposes etc. patent of invention than widespread usage.This class fork truck relies on the pallet fork swing type mechanism be contained on the door frame in narrow, make pallet fork stretch to left and right or the place ahead to shelf, finish the stacking operation of goods.Pallet fork swinging stacking fork truck can very be finished the stacking operation in the narrow; But, because vehicle body is long, require main tunnel that bigger width is arranged.
More than the advantage of two kinds of three-dimensional stacking fork trucks be in narrow, to finish the operation of three-dimensional stacking; Shortcoming is the requirement of the stability during for the stacking operation, and the deadweight of this two classes fork truck is all very big.Thereby the consumptive material height of product costs an arm and a leg, the also all corresponding to some extent increase of operation expenditure of energy and traffic cost.
Summary of the invention
The consumptive material and the power consumption of the three-dimensional stacking fork truck that above background technology is mentioned in describing; The complexity of the maneuvering system of four-wheel steering fork truck; And existing reach truck can not finish three-dimensional stacking operation or the like in narrow, is the technical matters that the present invention needs solution badly.
The present invention openly keeps existing reach truck when transport operation, by a driving system (see figure 1) that turns to the null front vehicle wheel of drive rear wheels and both direction angle to form.Chaufeur control turns to the deflection angle and the rotating speed of drive wheels, can control the travel direction and the speed of fork truck.
In order to make fork truck in narrow as far as possible tunnel, finish gyroscopic movement, on the one hand, comprise the fork truck integral body of container, should design arrangement within the scope of an as far as possible little profile circle; On the other hand, its left and right front vehicle wheel, should be separately fixed at direction angle for+β or-the position (see figure 2) of β; Wherein, the β value of direction angle is the condition that coincides according to fork truck center of gyration and the round heart of fork truck profile and definite, promptly
β＝tan
-1(c/2(a+b-R))；
In the formula: c is a wheelspan; B is a wheelbase; A is the distance of fork truck rear end to the trailing wheel center; R is the profile radius of circle of fork truck.At this moment, chaufeur places the position of 90 degree direction angles with the rear drive wheel, can control the speed and the angle of fork truck cast.
In sum, two front vehicle wheels of the fork truck that the present invention openly proposes have two kinds of direction angle position locations: a kind of position location of travelling that is called, i.e. and two null positions of carrying wheel direction angle, fork truck adopts this position location when transport operation.Another kind is called the revolution position location, promptly the direction angle of left and right front vehicle wheel equal+β or-position of β, fork truck adopts this position location when the stacking operation.On two front vehicle wheels, all be equipped with and be subjected to chaufeur control, change azimuthal actuating device and registration device.
No matter fork truck is in the position location of travelling, or the operation of revolution position location, and its three wheels are all only around a center of gyration motion.In addition, the operational method that the present invention formulates is also stipulated, only positions the conversion of position under dead ship condition, therefore, no matter at operational process, perhaps in the switching process of position location, does not have the problem that deviates from the Ackermam condition and takes place.
Carry wheel before two during the present invention is open, employing be the two-wheel parallel construction; Each wheel and ground-surface contact point have scrub radius s between the antifriction-bearing box center of gyration line; It helps in wheel direction angle change process, reduces the friction between tire and the ground.In addition, side by side the two-wheel structure helps reducing the center of gravity of the height and the fork truck of supporting leg.
The reach truck that the present invention openly proposes with rotary system, can in narrow, finish the stacking operation after, the former road forward that turns around rolls away from, the difficulty of having avoided chaufeur to move backward in narrow driving.Like this,, the original way that two dry passages are set at the narrow two ends only can be changed into and at narrow one end or centre dry passage is set, reach space-saving purpose for some small depots.
Reach truck with rotary system is compared with existing three-dimensional stacking fork truck, and tunnel operation width is bigger; But, have that product is low from heavy and light, price, the material consumption less, series of advantages such as energy consumption is low.
Description of drawings
Fig. 1 is a reach truck of the present invention, and two front vehicle wheels are at the birds-eye view of position location that travels;
Fig. 2 is a reach truck of the present invention, and two front vehicle wheels are at the birds-eye view that turns round the position location;
Fig. 3 is the front elevation of carrying wheel;
Fig. 4 is the cutaway view of carrying wheel;
Fig. 5 is that the near front wheel is at the birds-eye view of position location that travels;
Fig. 6 is the birds-eye view of the near front wheel in the revolution position location;
Fig. 7 is the 90 degree turnings width and the 360 degree revolution width indication figure of existing reach truck.
The specific embodiment
As seen from Figure 1, reach truck of the present invention by vehicle frame 1, operator's compartment 2, the lifting door frame 3 that can move forward, pallet fork 4, turn to drive rear wheels 5, left and right front vehicle wheel 6 and 8, left and right front leg strut 7 and 9, container 10 compositions such as grade.Its two front vehicle wheels 6 and 8 have two kinds of station-keeping modes, a kind of be two wheels over against the place ahead, i.e. the null driving system station-keeping mode of direction angle; They form the driving system of fork truck with turning to drive rear wheels 5; Chaufeur control turns to the rotating speed and the deflection angle of drive wheels, can control the moving velocity and the direction of fork truck.
As seen from Figure 2, when left and right front vehicle wheel 6 and 8, be separately fixed at direction angle for+β or-during the position of β, be called the revolution locate mode; They are with turning to drive rear wheels 5 to form the rotary system of fork truck.Chaufeur will turn to drive rear wheels 5 to forward the position that is an angle of 90 degrees with the fork truck working direction to; Control turns to the rotating speed of drive wheels, can control the speed of revolutions and the angle of fork truck complete machine.
By Fig. 3,4 as seen, left and right sides front vehicle wheel 6 and 8 all adopts the two-wheel parallel construction.Axletree 16 and wheel stand 17 all are fixed on the inner ring of antifriction-bearing box 18.The outer ring of antifriction-bearing box 18, tooth fan plate 19 all is fixed under the panel of supporting leg 7.At the middle part of wheel stand pyriform plate 20 is installed; At an end of plate, the displacement and the detent mechanism of the wheel direction angle of driven wheel 21, gear reduction box 22, displacement electrical motor 23 and electricity loss brake 24 compositions is installed vertically.
Fig. 5 is the birds-eye view of front left wheel when travelling the position location.At this moment, if require wheel to be transformed into the revolution position location, should connect the clickwise power supply that makes electrical motor 23, electricity loss brake 24 discharges braking at once, electrical motor is by 21 rotations of gear reduction box 22 driven wheels, and driving pyriform plate 20, wheel stand 17 and wheel 6 are to the direction rotation at augment direction angle; Equal β up to the wheel direction angle, positive stop 25 contacts with limit switch 26, cuts off electrical motor 23 power supplys, and electricity loss brake 24 comes into force; So wheel is fixed on the revolution position location.
Fig. 6 is the birds-eye view of front left wheel when the revolution position location.At this moment, if require wheel to be transformed into the revolution position location, should connect the left-hand revolution power supply that makes electrical motor 23, electricity loss brake 24 discharges braking at once, electrical motor is by 21 rotations of gear reduction box 22 driven wheels, and drive pyriform plate 20, wheel stand 17 and wheel 6 are to the direction rotation that reduces direction angle; Equal O up to the wheel direction angle, positive stop 27 contacts with limit switch 28, cuts off electrical motor 23 power supplys, and electricity loss brake 24 comes into force; So wheel is fixed in the position location of travelling.
The present invention dwindles its profile circular diameter 12 in order to reduce the length of car load, will originally be arranged in the storage battery box 11 of lifting door frame rear side, changes into the bottom of operator's compartment 2, and this makes and moves after the car load center of gravity and descend, and the stability of fork truck is improved.
When in narrow, travelling in order to increase fork truck, the gap between fork truck profile and the shelf, the width at fork truck supporting leg 7 and 9 positions is approximately littler 10 centimetres than the diameter of fork truck profile round 12.
The driving operation method that the present invention formulates for the reach truck that proposes is: a. is before the beginning transport operation, and chaufeur places the station-keeping mode that travels with two front vehicle wheels 6 and 8; When b. driving fork truck and sailing narrow into, the luminous point that laser pen 15 penetrates in the dependence is aimed at the tunnel line of centers; Rely on left and right laser pen 13 or 14 luminous points that penetrate, aim at the goods yard line of centers, in order to determine the stop position of stacking operation; C. after two front vehicle wheels 6 and 8 being placed the revolution station-keeping mode, will turn to drive wheels 5 to forward the position of 90 degree direction angles to, the revolution fork truck makes pallet fork aim at the goods yard, carries out the stacking operation; D. after finishing the stacking operation, continue the revolution fork truck, the luminous point that laser pen 15 penetrates in fork truck the place ahead when aiming at the tunnel line of centers, places the station-keeping mode that travels with two front vehicle wheels 6 and 8, and fork truck rolls the tunnel away from working direction; E. when fork truck on the ramp during Parking, chaufeur places the revolution station-keeping mode with two front vehicle wheels 6 and 8, will turn to drive wheels 5 to forward direction angle to is the zero degree position, can strengthen the effect of the parking brake that turns to drive wheels 5.
Claims (6)
1. reach truck with rotary system is by vehicle frame (1), operator's compartment (2), the lifting door frame (3) that can move forward, pallet fork (4), container (10), turn to drive rear wheels (5), left and right sides front leg strut (7) and (9), left and right sides front vehicle wheel (6) and (8) to form; It is characterized in that: there are two kinds of station-keeping modes left and right front vehicle wheel (6) and (8): a kind of is that the direction angle of two front vehicle wheels (6) and (8) is equal to zero, forms the station-keeping mode of the driving system of fork truck with turning to drive rear wheels (5); Another kind be the direction angle of left and right front vehicle wheel (6) and (8) equal respectively+β or-β, be the drive rear wheels (5) of 90 degree with deflection angle, form the station-keeping mode of the rotary system of fork truck; Wherein, β=tan
-1(c/2 (a+b-R)); In the formula: c is a wheelspan; B is a wheelbase; A is the distance of fork truck rear end to trailing wheel (5) center; R is the radius of the profile circle (12) of fork truck; The rotary system of fork truck is formed with the rear drive wheel (5) that is 90 degree deflection angles in two front vehicle wheels (6) and (8).
2. reach truck according to claim 1 is characterized in that: the two-wheel parallel construction is all adopted in two front vehicle wheels (6) or (8), and its axletree (16), vehicle wheel frame (17), pyriform plate (20) are fixed on the inner ring of antifriction-bearing box (18); The outer ring of antifriction-bearing box is fixed under the panel of supporting leg (7) or (9) with tooth fan plate (19); Rear end in pyriform plate (20) vertically is installed with the wheel direction angle displacement driver train of being made up of driven wheel (21), gear reduction box (22) and electrical motor (23); And the wheel direction angle detent mechanism of forming by electricity loss brake (24).
3. reach truck according to claim 2, it is characterized in that: when two front vehicle wheels (6) and (8) are in when travelling the position location, chaufeur is connected the clickwise power supply of electrical motor (23), connect electricity loss brake (24) power supply simultaneously, make it discharge braking, electrical motor (23) is by gear reduction box (22) immediately, driven wheel (21) rotation, and drive pyriform plate (20), rotate to the augment direction angular direction wheel stand (17) and front vehicle wheel (6) and (8), up to equal β or-during β, positive stop (25) contacts with limit switch (26), cut off electrical motor (23) power supply, electricity loss brake (24) braking; So front vehicle wheel (6) and (8) are fixed on the revolution position location; Otherwise, when two front vehicle wheels (6) and (8) are in the revolution position location, chaufeur is connected the left-hand revolution power supply of electrical motor (23), connect electricity loss brake (24) power supply simultaneously, discharge braking, electrical motor (23) is by gear reduction box (22) immediately, driven wheel (21) rotation, and driving pyriform plate (20), rotate to reducing the direction angle direction wheel stand (17) and front vehicle wheel (6) and (8), when equalling zero, positive stop (27) contacts with limit switch (28), cuts off electrical motor (23) power supply, and electricity loss brake (24) comes into force; Make front vehicle wheel (6) and (8) be fixed on the position location of travelling.
4. reach truck according to claim 1 is characterized in that: storage battery box (8) is arranged in the underfloor of operator's compartment (2).
5. reach truck according to claim 1, it is characterized in that: comprise vehicle frame (1), operator's compartment (2), pallet fork (4), turn to drive rear wheels (5), left and right sides front leg strut (7) and (9), left and right sides front vehicle wheel (6) and (8), and container (10) is at interior whole fork truck members, is included in diameter and is within the scope of profile circle (12) of 2R; Wherein the width at supporting leg (7) and (9) position is approximately littler 10 centimetres than the diameter of fork truck profile circle (12).
6. the driving operation method of reach truck according to claim 1 is characterized in that: a. is before the beginning transport operation, and chaufeur places the station-keeping mode that travels with two front vehicle wheels (6) and (8); When b. driving fork truck and sailing narrow into, the luminous point that laser pen in the dependence (15) penetrates is aimed at the tunnel line of centers; The luminous point that relies on left and right laser pen (13) or (14) to penetrate is aimed at the goods yard line of centers, in order to determine the stop position of stacking operation; C. after two front vehicle wheels (6) and (8) being placed the revolution station-keeping mode, will turn to drive wheels (5) to forward the position of 90 degree direction angles to, the revolution fork truck, the luminous point that laser pen in the pallet fork (15) is penetrated is aimed at the goods yard, carries out the stacking operation; D. after finishing the stacking operation, continue the revolution fork truck, the luminous point that laser pen in fork truck the place ahead (15) penetrates is aimed at when rolling the tunnel line of centers away from, and two front vehicle wheels (6) and (8) are placed the station-keeping mode that travels, and fork truck rolls the tunnel away from working direction; E. when fork truck on the ramp during Parking, chaufeur places the revolution station-keeping mode with two front vehicle wheels (6) and (8), will turn to drive wheels (5) to forward direction angle to is the zero degree position, can strengthen the effect of the parking brake that turns to drive wheels (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100997245A CN101585500A (en) | 2009-06-18 | 2009-06-18 | forward forklift with rotary system and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100997245A CN101585500A (en) | 2009-06-18 | 2009-06-18 | forward forklift with rotary system and working method thereof |
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| CN101585500A true CN101585500A (en) | 2009-11-25 |
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| CNA2009100997245A Pending CN101585500A (en) | 2009-06-18 | 2009-06-18 | forward forklift with rotary system and working method thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275848A (en) * | 2011-05-19 | 2011-12-14 | 安徽德摩叉车有限公司 | Body structure for electric steering four-way electric forklift |
| CN102514622A (en) * | 2011-12-19 | 2012-06-27 | 苏州先锋物流装备科技有限公司 | Steering limit device for electric piling car |
| CN102583191A (en) * | 2011-01-12 | 2012-07-18 | 住友纳科物料装卸有限公司 | Forklift truck |
| CN106082016A (en) * | 2016-05-24 | 2016-11-09 | 山西东械自动化科技有限公司 | Fork plate formula floor truck |
| CN108944838A (en) * | 2018-07-18 | 2018-12-07 | 南宁学院 | A kind of Portable parking enters a slide plate |
| CN111169533A (en) * | 2020-03-02 | 2020-05-19 | 合肥搬易通科技发展有限公司 | Steering control device and method for three-fulcrum multi-directional running forklift |
| CN112093732A (en) * | 2016-07-07 | 2020-12-18 | 比克力脚轮及滚轮有限两合公司 | Support roller, vehicle with support roller and method for stabilizing vehicle |
| CN114314445A (en) * | 2022-01-11 | 2022-04-12 | 安徽宇锋智能科技有限公司 | Wheel system centering calibration tool |
| CN114634133A (en) * | 2022-05-17 | 2022-06-17 | 江苏智库智能科技有限公司 | Narrow roadway omnidirectional AGV forklift and control method thereof |
| CN117902516A (en) * | 2024-03-20 | 2024-04-19 | 苏州艾吉威机器人有限公司 | Supporting wheel device and transfer robot |
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2009
- 2009-06-18 CN CNA2009100997245A patent/CN101585500A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102583191A (en) * | 2011-01-12 | 2012-07-18 | 住友纳科物料装卸有限公司 | Forklift truck |
| CN102275848A (en) * | 2011-05-19 | 2011-12-14 | 安徽德摩叉车有限公司 | Body structure for electric steering four-way electric forklift |
| CN102514622A (en) * | 2011-12-19 | 2012-06-27 | 苏州先锋物流装备科技有限公司 | Steering limit device for electric piling car |
| CN106082016A (en) * | 2016-05-24 | 2016-11-09 | 山西东械自动化科技有限公司 | Fork plate formula floor truck |
| CN112093732A (en) * | 2016-07-07 | 2020-12-18 | 比克力脚轮及滚轮有限两合公司 | Support roller, vehicle with support roller and method for stabilizing vehicle |
| US11420666B2 (en) | 2016-07-07 | 2022-08-23 | Blickle Räder + Rollen GmbH u. Co. KG | Support roller, vehicle with a support roller and method for stabilizing a vehicle |
| US11975752B2 (en) | 2016-07-07 | 2024-05-07 | Blickle Räder + Rollen GmbH u. Co. KG | Support roller, vehicle with a support roller and method for stabilizing a vehicle |
| CN108944838A (en) * | 2018-07-18 | 2018-12-07 | 南宁学院 | A kind of Portable parking enters a slide plate |
| CN111169533A (en) * | 2020-03-02 | 2020-05-19 | 合肥搬易通科技发展有限公司 | Steering control device and method for three-fulcrum multi-directional running forklift |
| CN114314445A (en) * | 2022-01-11 | 2022-04-12 | 安徽宇锋智能科技有限公司 | Wheel system centering calibration tool |
| CN114314445B (en) * | 2022-01-11 | 2023-10-03 | 安徽宇锋智能科技有限公司 | Wheel train centering calibration tool |
| CN114634133A (en) * | 2022-05-17 | 2022-06-17 | 江苏智库智能科技有限公司 | Narrow roadway omnidirectional AGV forklift and control method thereof |
| CN117902516A (en) * | 2024-03-20 | 2024-04-19 | 苏州艾吉威机器人有限公司 | Supporting wheel device and transfer robot |
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Application publication date: 20091125 |