CN109455638A - A kind of unmanned fork lift based on a variety of wheels - Google Patents
A kind of unmanned fork lift based on a variety of wheels Download PDFInfo
- Publication number
- CN109455638A CN109455638A CN201811637031.2A CN201811637031A CN109455638A CN 109455638 A CN109455638 A CN 109455638A CN 201811637031 A CN201811637031 A CN 201811637031A CN 109455638 A CN109455638 A CN 109455638A
- Authority
- CN
- China
- Prior art keywords
- support frame
- fork truck
- liftable
- variety
- inserted link
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The invention discloses the unmanned fork lifts based on a variety of wheels, including fork truck ontology, the left support frame and right support frame of two sides distribution to the left and right are respectively arranged in the rear and front end of fork truck ontology, it is respectively arranged with Mecanum wheel in left support frame and in right support frame, buphthalmos wheel and omni-directional wheel are provided on fork truck ontology；Liftable inserted link is provided in left support frame, liftable inserted link end is provided with liftable Non-slip material；It is respectively arranged with visible light lasers sensor at the top of left support frame and right support frame, is also each provided with visible light lasers sensor in the front and back end of fork truck ontology.The present invention is provided with inserted link on support frame, interior in a limited space can carry out two-way carrying, improve handling efficiency by the way that two groups of support frames are arranged at the both ends of fork truck ontology；In such a way that setting Mecanum wheel, buphthalmos wheel and omni-directional wheel combine, steering of the fork truck in small space can be realized, convenient for the two-way carrying of fork truck.
Description
Technical field
The present invention relates to fork truck field, in particular to a kind of unmanned fork lift based on a variety of wheels.
Background technique
Fork truck is industrial transportation vehicle, refer to pallet cargo is loaded and unloaded, stacking and short distance transportation operation
Various wheeled transport vehicles.Existing fork truck mainly includes pallet, the elevating mechanism and move vehicle for manipulating pallet lift, master
If being operated manually by operator, control vehicle reaches specified position, then passes through control control elevating mechanism
Drive the lifting of pallet, the carrying and unloading of Lai Shixian cargo.There is Railway Projects for existing fork truck: 1, existing fork truck is all
It needs people to carry out operation control, needs very big cost of labor, while being also possible to occur as caused by misoperation
The danger of personnel；2, its pallet bearing capacity of existing fork truck is limited, and the cargo once carried is limited, and is merely able to use on straight
Mode under is difficult disposably to carry by different cargos, and is placed respectively.
Summary of the invention
The purpose of the invention is to overcome the above problem, a kind of unmanned fork lift based on a variety of wheels is provided.
In order to achieve the above objectives, the method that the present invention uses is: a kind of unmanned fork lift based on a variety of wheels, including fork truck sheet
Body is respectively arranged with the support frame of two sides distribution to the left and right, respectively left support frame in the rear and front end of the fork truck ontology
And right support frame, it is respectively arranged with Mecanum wheel in left support frame and in right support frame, is arranged on fork truck ontology
There are buphthalmos wheel and omni-directional wheel；Liftable inserted link is provided in the left support frame, the liftable inserted link end is set
It is equipped with liftable Non-slip material, Non-slip material rises, and for blocking the cargo on liftable inserted link, prevents cargo from skidding off；On a left side
Visible light lasers sensor is respectively arranged at the top of support frame and right support frame, for judging the state of loading cargo,
The front and back end of fork truck ontology is also each provided with visible light lasers sensor, and for judging in fork truck ontology traveling, fork truck ontology is attached
Close barrier.
As an improvement of the present invention, the Non-slip material of the inserted link end is connected with stepper motor, passes through stepping electricity
Machine controls its lifting.
As an improvement of the present invention, the liftable inserted link is using its lifting of HYDRAULIC CONTROL SYSTEM.
As an improvement of the present invention, pulley is additionally provided in the upper end of the liftable inserted link.
As an improvement of the present invention, the pulley uses elastic connection, is connect by spring with liftable inserted link.
As an improvement of the present invention, 4 Mikes are respectively arranged in the left support frame and right support frame
Na Mu wheel.
As an improvement of the present invention, 4 buphthalmos wheels and an omni-directional wheel are provided on the fork truck ontology,
4 buphthalmos wheels are in line distribution on the fork truck ontology, and the middle position of buphthalmos wheel is arranged in omni-directional wheel.
As an improvement of the present invention, two groups of visible light lasers are each provided in left support frame and right support frame to pass
Sensor.
As an improvement of the present invention, two groups of visible light lasers sensors are each provided in the front and back end of fork truck ontology.
The utility model has the advantages that
It 1, can be in a limited space by being provided with inserted link on two groups of support frames of the both ends of fork truck ontology setting, support frame
It is interior to carry out two-way carrying, improve handling efficiency；
2, in such a way that setting Mecanum wheel, buphthalmos wheel and omni-directional wheel combine, it can be realized fork truck in small space
Interior steering, convenient for the two-way carrying of fork truck；
3, by being provided with damping type pulley on inserted link, resistance of inserted link during loading cargo can be reduced, while
The end of inserted link uses liftable Non-slip material, and after cargo loads, Non-slip material is risen, and can prevent cargo from sliding；
4, by the way that multiple visible light lasers sensors are arranged, it can sense whether fork truck has obstacle under steam, control fork truck
Start and stop, ensure that the safety in driving process.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of fork truck of the present invention；
Fig. 2 is the bottom view of fork truck of the present invention；
Fig. 3 is the structural schematic diagram of the inserted link end of fork truck of the present invention；
Fig. 4 is the structural schematic diagram of fork truck inserted link pulley of the present invention；
Fig. 5 is the partial enlarged view of Fig. 4；
Fig. 6 is the structural schematic diagram of Mecanum wheel of the invention；
Fig. 7 is the structural schematic diagram of omni-directional wheel of the invention；
Fig. 8 is the structural schematic diagram of buphthalmos wheel of the invention.
Each component in figure are as follows: 1- visible light lasers sensor, 2- Mecanum wheel, 3- liftable inserted link, 4- Non-slip material
5- fork truck ontology, 6- buphthalmos wheel, 7- omni-directional wheel, 8- stepper motor, 9- stepper motor fixed frame, 10- fixed screw, 11-
Pulley, 12- spring, 13- left support frame, 14- right support frame.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, and the present embodiment is with technical solution of the present invention
Premised under implemented, it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
Embodiment 1:
A kind of unmanned fork lift based on a variety of wheels as described in Fig. 1 to Fig. 8, including fork truck ontology 5, in the fork truck ontology 5
Rear and front end be respectively arranged with the support frame of the distribution of two sides to the left and right, respectively left support frame 13 and right support frame 14, such as
A zigzag configuration is formd between Fig. 1 left support frame 13 and right support frame 14 and fork truck ontology 5.
Mecanum wheel 2 is respectively arranged in left support frame 13 and in right support frame 14, in the present embodiment, on a left side
4 Mecanum wheels 2 are each provided on support frame and in right support frame.Buphthalmos wheel 6 and complete is provided on fork truck ontology 5
To wheel 7, buphthalmos wheel 6 is provided with 4 in the present embodiment, and omni-directional wheel 7 is provided with 1, and 4 buphthalmos wheels 6 are along fork truck ontology 5
Front-rear direction distribution, omni-directional wheel 7 are arranged between 4 buphthalmos wheels 6, and the front-rear direction of omni-directional wheel 7 is each provided with two buphthalmos wheels
6。
Liftable inserted link 3 is provided in the left support frame 13, liftable inserted link 3 is using its liter of HYDRAULIC CONTROL SYSTEM
Drop.3 end of liftable inserted link is provided with liftable Non-slip material 4, and Non-slip material 4 rises, and is used for liftable inserted link 3
Cargo block, prevent cargo from skidding off.The specific mounting structure of Non-slip material 4 is as shown in figure 3, back in 3 end of liftable inserted link
Face is provided with stepper motor fixed frame 9, stepper motor fixed frame 9 and is fixed on 3 end of liftable inserted link by fixed screw 10
The back side, is fixed with stepper motor 8 on stepper motor fixed frame 9, and stepper motor 8 passes through screw body and liftable inserted link end
Positive Non-slip material 4 connects, and stepper motor 8 rotates, and the lifting of Non-slip material 4 is driven by screw body.Certainly it may be otherwise
Change stepper motor the transmission mechanisms such as into linear motor etc. or cylinder.
It is respectively arranged with visible light lasers sensor at the top of left support frame 13 and right support frame 13, for judging dress
The state of loading object is each provided with two groups of visible light lasers sensors in the present embodiment in left support frame and right support frame
1.It is also each provided with visible light lasers sensor 1 in the front and back end of fork truck ontology 5, for judging in fork truck ontology traveling, fork truck
Barrier near ontology 5.
In order to enable fork truck when loading cargo, reduces the resistance between cargo and inserted link, in the liftable
The upper end of inserted link 3 is additionally provided with pulley 11.As shown in Figure 4 and Figure 5, pulley 11 uses elastic connection, passes through spring and liftable
Inserted link 3 connects.
When in use, omnidirectional moving of the Mecanum wheel 2 when transporting goods, omni-directional wheel 7 is for removing by the present invention
When fortune starts, after the cargo on one side loads completion, the rotation of the fork truck of a small range is carried out, to carry out the cargo of another side
It carries.It is also same effect in Discharging Process.
The present invention is provided with inserted link on support frame, can have by the way that two groups of support frames are arranged at the both ends of fork truck ontology
Two-way carrying is carried out in the space of limit, improves handling efficiency；It is mutually tied by setting Mecanum wheel, buphthalmos wheel and omni-directional wheel
The mode of conjunction can be realized steering of the fork truck in small space, convenient for the two-way carrying of fork truck；By being provided on inserted link
Damping type pulley can reduce resistance of inserted link during loading cargo, while in the end of inserted link using liftable anti-
Saddle, after cargo loads, Non-slip material is risen, and can prevent cargo from sliding；By the way that multiple visible light lasers sensings are arranged
Device, can sense whether fork truck has obstacle under steam, control the start and stop of fork truck, ensure that the safety in driving process.
The technical means disclosed in the embodiments of the present invention is not limited to the technical means disclosed in the above technical means, and further includes
Technical solution consisting of any combination of the above technical features.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a kind of unmanned fork lift based on a variety of wheels, it is characterised in that: including fork truck ontology, before and after the fork truck ontology
Both ends are respectively arranged with the support frame of two sides distribution to the left and right, respectively left support frame and right support frame, in left support frame
And Mecanum wheel is respectively arranged in right support frame, buphthalmos wheel and omni-directional wheel are provided on fork truck ontology；Described
Left support frame on be provided with liftable inserted link, the liftable inserted link end is provided with liftable Non-slip material, Non-slip material
It rises, for blocking the cargo on liftable inserted link, prevents cargo from skidding off；At the top part of left support frame and right support frame
It is not provided with visible light lasers sensor, for judging the state of loading cargo, is also each provided in the front and back end of fork truck ontology
Visible light lasers sensor, the barrier for judging in fork truck ontology traveling, near fork truck ontology.
2. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that: the inserted link end
Non-slip material is connected with stepper motor, passes through its lifting of step motor control.
3. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that: the liftable inserted link
Using its lifting of HYDRAULIC CONTROL SYSTEM.
4. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that: inserted in the liftable
The upper end of bar is additionally provided with pulley.
5. a kind of unmanned fork lift based on a variety of wheels according to claim 4, it is characterised in that: the pulley uses bullet
Property connection, connect by spring with liftable inserted link.
6. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that: in the left support frame
And 4 Mecanum wheels are respectively arranged in right support frame.
7. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that: in the fork truck ontology
On be provided with 4 buphthalmos wheels and an omni-directional wheel, 4 buphthalmos wheels are in line distribution on the fork truck ontology,
The middle position of buphthalmos wheel is arranged in omni-directional wheel.
8. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that: on left support frame and the right side
Two groups of visible light lasers sensors are each provided on support frame.
9. a kind of unmanned fork lift based on a variety of wheels according to claim 1, it is characterised in that before and after fork truck ontology
End is each provided with two groups of visible light lasers sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811637031.2A CN109455638A (en) | 2018-12-29 | 2018-12-29 | A kind of unmanned fork lift based on a variety of wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811637031.2A CN109455638A (en) | 2018-12-29 | 2018-12-29 | A kind of unmanned fork lift based on a variety of wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109455638A true CN109455638A (en) | 2019-03-12 |
Family
ID=65615534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811637031.2A Pending CN109455638A (en) | 2018-12-29 | 2018-12-29 | A kind of unmanned fork lift based on a variety of wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109455638A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200405941Y1 (en) * | 2005-10-10 | 2006-01-11 | 강희수 | Carrier |
| EP2181959A1 (en) * | 2008-10-31 | 2010-05-05 | Still Sas | Industrial truck |
| US20100114405A1 (en) * | 2006-09-14 | 2010-05-06 | Elston Edwin R | Multiple zone sensing for materials handling vehicles |
| CN102066233A (en) * | 2008-04-23 | 2011-05-18 | 杰维斯·B·韦布国际公司 | Floating forks for lift vehicles |
| CN204342369U (en) * | 2014-12-24 | 2015-05-20 | 南京工程学院 | A kind of fork truck |
| CN106006475A (en) * | 2016-07-06 | 2016-10-12 | 国信机器人无锡股份有限公司 | Special two-way forklift for railway box car |
| JP2017019595A (en) * | 2015-07-08 | 2017-01-26 | 株式会社豊田自動織機 | Load taking method in fork lift and fork lift |
| CN107128375A (en) * | 2017-04-25 | 2017-09-05 | 江苏安格尔机器人有限公司 | It is a kind of to take turns the mobile chassis for carrying out switching |
| CN207129912U (en) * | 2017-08-02 | 2018-03-23 | 安徽维麦重工股份有限公司 | Shift bracket before a kind of fork truck |
| CN208022646U (en) * | 2018-01-16 | 2018-10-30 | 浙江国自机器人技术有限公司 | A kind of two-way levelling mechanism of flexible prong of container transfer robot |
| CN108910770A (en) * | 2018-10-09 | 2018-11-30 | 北京极智嘉科技有限公司 | A kind of fork truck |
| CN209276096U (en) * | 2018-12-29 | 2019-08-20 | 南京工程学院 | A kind of unmanned fork lift based on a variety of wheels |
-
2018
- 2018-12-29 CN CN201811637031.2A patent/CN109455638A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200405941Y1 (en) * | 2005-10-10 | 2006-01-11 | 강희수 | Carrier |
| US20100114405A1 (en) * | 2006-09-14 | 2010-05-06 | Elston Edwin R | Multiple zone sensing for materials handling vehicles |
| CN102066233A (en) * | 2008-04-23 | 2011-05-18 | 杰维斯·B·韦布国际公司 | Floating forks for lift vehicles |
| EP2181959A1 (en) * | 2008-10-31 | 2010-05-05 | Still Sas | Industrial truck |
| CN204342369U (en) * | 2014-12-24 | 2015-05-20 | 南京工程学院 | A kind of fork truck |
| JP2017019595A (en) * | 2015-07-08 | 2017-01-26 | 株式会社豊田自動織機 | Load taking method in fork lift and fork lift |
| CN106006475A (en) * | 2016-07-06 | 2016-10-12 | 国信机器人无锡股份有限公司 | Special two-way forklift for railway box car |
| CN107128375A (en) * | 2017-04-25 | 2017-09-05 | 江苏安格尔机器人有限公司 | It is a kind of to take turns the mobile chassis for carrying out switching |
| CN207129912U (en) * | 2017-08-02 | 2018-03-23 | 安徽维麦重工股份有限公司 | Shift bracket before a kind of fork truck |
| CN208022646U (en) * | 2018-01-16 | 2018-10-30 | 浙江国自机器人技术有限公司 | A kind of two-way levelling mechanism of flexible prong of container transfer robot |
| CN108910770A (en) * | 2018-10-09 | 2018-11-30 | 北京极智嘉科技有限公司 | A kind of fork truck |
| CN209276096U (en) * | 2018-12-29 | 2019-08-20 | 南京工程学院 | A kind of unmanned fork lift based on a variety of wheels |
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