CN109896468B - All direction movement container transport commodity circulation car - Google Patents

All direction movement container transport commodity circulation car Download PDF

Info

Publication number
CN109896468B
CN109896468B CN201910098234.7A CN201910098234A CN109896468B CN 109896468 B CN109896468 B CN 109896468B CN 201910098234 A CN201910098234 A CN 201910098234A CN 109896468 B CN109896468 B CN 109896468B
Authority
CN
China
Prior art keywords
wheel
roller
fork
door frame
omnidirectional
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.)
Active
Application number
CN201910098234.7A
Other languages
Chinese (zh)
Other versions
CN109896468A (en
Inventor
王班
李萌
周传平
冯长水
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Dianzi University
Original Assignee
Hangzhou Dianzi University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Dianzi University filed Critical Hangzhou Dianzi University
Priority to CN201910098234.7A priority Critical patent/CN109896468B/en
Publication of CN109896468A publication Critical patent/CN109896468A/en
Application granted granted Critical
Publication of CN109896468B publication Critical patent/CN109896468B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses an all-directional moving container carrying logistics vehicle. Including the backup plate, with the backup plate is connected and is followed respectively two support arms that the backup plate left side and right side extend forward, arrange four multistage lifting fork truck portal of support arm inboard in and arrange four independent wheel parts of driving of support arm downside in. The supporting arm is telescopic, so that the containers of different types can be transported; the multistage lifting forklift gantry can realize four-layer stacking of containers; the four cup-shaped roller omni wheels are axially and diagonally arranged at an angle of 45 degrees with the direction of the forklift body, so that the omni-directional movement of the forklift is realized. The invention has the advantages of zero turning radius, flexible movement, realization of multi-layer stacking of containers, improvement of space utilization rate, service life of logistics vehicles and the like.

Description

All direction movement container transport commodity circulation car
Technical Field
The invention relates to a container carrying vehicle, in particular to an all-directional moving container carrying logistics vehicle.
Background
The pile up neatly operation of present container is generally accomplished by traditional fork truck, and traditional fork truck includes fork and automobile body, and present fork truck's major structure type causes fork truck system overall length to be long partially for the place ahead that the fork is located the automobile body, and it is inconvenient to turn when carrying large-scale container. On the other hand, the single-end stress of the fork of the cantilever beam structure, and the fork is generally longer again, can appear great stress concentration in the stress department of fork, reduces the fork life-span. And the number of stacking layers of the conventional container forklift is lower, so that the utilization rate of the area and the height of a storage yard is low.
Disclosure of Invention
The invention aims to provide a supporting arm type forklift which can realize omnibearing movement and is suitable for carrying various types of containers, adopts four cup-shaped roller omnidirectional wheels which are independently driven to realize the omnidirectional movement of the forklift, and combines a multistage forklift gantry system with telescopic forks to realize the carrying of four layers of containers by taking container carrying as a background and aiming at the problems of large turning radius, poor movement flexibility, low service life of the forks, low space utilization rate and the like of the traditional container forklift.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention comprises a backup plate, a supporting arm, a multistage lifting forklift gantry and an independent-drive omnidirectional wheel component; the left and right support arms are respectively connected to two sides of the backup plate and respectively extend to the front of the vehicle from the left and right sides of the backup plate, a vertical strip-shaped groove is formed in the inner side surface of each support arm, and the multistage lifting forklift gantry is arranged in the support arm strip-shaped grooves; the container is positioned in front of the backup plate and between the left support arm and the right support arm and is supported and lifted by the multistage lifting forklift gantry; the bottom parts of the supporting arms are all provided with omnidirectional wheel components, and the omnidirectional wheel components support and connect the supporting arms to the ground; each supporting arm comprises a fixed supporting arm, a supporting arm telescopic rod and a movable supporting arm; the movable support arm passes through the support arm telescopic link and is connected with fixed support arm one end telescopically, and the fixed support arm other end of two support arms is fixed mounting respectively in backup plate bilateral symmetry both sides, and the movable support arm of two support arms extends to the plantago, adjusts the container of the whole length of support arm in order to adapt to not unidimensional through the flexible of support arm telescopic link.
The multi-stage lifting forklift gantry comprises a gantry base, an outer gantry, a two-stage hydraulic telescopic cylinder, a middle gantry, a lifting chain, a fork frame, a lifting chain wheel, an inner gantry and lateral rollers; the outer door frame is fixed in the strip-shaped groove of the supporting arm, the middle door frame is installed in the outer door frame through the roller slideway mechanism and moves up and down freely, the inner door frame is installed in the middle door frame through the roller slideway mechanism and moves up and down freely, and the fork frame is installed in the inner door frame through the roller slideway mechanism and moves up and down freely; the roller slideway mechanism comprises lateral rollers and a strip-shaped chute, and the lateral rollers are arranged on two sides of the fork frame, the inner gantry and the middle gantry; strip-shaped sliding grooves are formed in the inner door frame, the middle door frame and the inner side of the outer door frame; the lifting chain wheel is arranged at the top of the inner portal frame, a lifting chain is wound on the lifting chain wheel, one end of the lifting chain is fixed at the top of the middle portal frame, the other end of the lifting chain is fixed at the top of the fork frame, and the fork is arranged at the bottom of the fork frame and can horizontally move in a telescopic mode.
The damping device comprises an independent driving omnidirectional wheel component, wherein four wheel shafts face to the center of a vehicle body base, each independent driving omnidirectional wheel mainly comprises an omnidirectional wheel roller, a roller bearing, a roller short shaft, a clamping ring, a roller support, a damper, a damping spring, a coder, a brushless direct current motor, an L-shaped speed reducer and an omnidirectional wheel fork frame, the clamping ring is provided with an annular groove along the circumferential direction, the inner end of the roller support is provided with a boss matched with the bending radian of the annular groove, a plurality of roller supports are sequentially embedded in the annular groove of the clamping ring through the respective boss along the complete circumference of the clamping ring to form a hub of the omnidirectional wheel, the outer ends of the plurality of roller supports are bent along the same circumferential direction and are uniformly arranged around the clamping ring in a spiral mode, the tail end of the bent outer end of each roller support is fixedly connected with one end of the roller short shaft, each roller short shaft is rotatably connected with the omnidirectional wheel through a pair of roller bearings, a gap is arranged between the adjacent roller supports, the inner ring of the omnidirectional wheel rollers is positioned at the gap between the outer ends of the two adjacent roller supports, the damping wheel rollers are sequentially connected with the damping shaft through a damping shaft L, the damping shaft is connected with the damping shaft, the damping shaft bracket, the damping shaft is connected with the damping shaft, the damping shaft of the damping shaft, the damping shaft is connected with the damping shaft of the damping shaft, the damping shaft is connected with the damping shaft, the damping shaft is connected with the damping shaft, the damping shaft of.
Fixed support arm and movable support arm medial surface central authorities all seted up vertical bar recess, every bar recess all installs a multistage fork truck portal that rises.
All install an omnidirectional wheel part fixed support arm and movable support arm bottom, four omnidirectional wheel parts independent drive and axial and plantago direction become 45.
The bottom of the fork frame is provided with a sliding groove, the fork is arranged in the sliding groove through an electromagnetic mechanism, and the fork can slide in the fork frame in a telescopic mode through electromagnetic control.
The omnidirectional wheel roller is of a cup body structure with large and small ends, and the outer contour line between the large and small ends of the cup body structure is an arc line.
A driving operation room is arranged on the backup plate, and a window is arranged on one side, facing the front, of the driving operation room.
The logistics vehicle is used for bearing and carrying containers.
The invention is used for bearing and carrying the target container. The supporting arm is telescopic, so that the containers of different types can be transported; the multistage lifting forklift gantry can realize four-layer stacking of containers; the four cup-shaped roller omni wheels are axially and diagonally arranged at an angle of 45 degrees with the direction of the forklift body, so that the omni-directional movement of the forklift is realized.
The invention has the beneficial effects that:
1. compared with the traditional forklift, the forklift can move along a path in any direction at the current position, and has the advantages of zero turning radius, flexibility in movement, high space utilization rate and the like.
2. According to the invention, through the multi-stage forklift gantry system with the telescopic forks, four-layer stacking of containers can be realized, and the space utilization rate is improved; and the stress concentration of the fork is reduced, and the service life of the fork is prolonged.
3. The cup-shaped omnidirectional wheel is ingenious in design, simple in structure, simple to manufacture and easy to realize in engineering.
Drawings
Fig. 1 is a three-dimensional view of the forklift of the present invention.
Figure 2 is a schematic view of the deployment of the forklift support arm of the present invention.
Fig. 3 is a three-dimensional exploded view of the multi-level forklift mast of the present invention positioned at the lowermost position.
Figure 4 is a side view of the multi-level forklift mast of the present invention in its lowermost position.
Fig. 5 is a three-dimensional exploded view of the multi-stage lift truck mast of the present invention raised to its uppermost position.
Fig. 6 is a side view of the multi-speed forklift mast of the present invention raised to an uppermost position.
Figure 7 is a cross-sectional view of an omni wheel of the present invention.
Figure 8 is a three-dimensional view of an independent omni wheel of the present invention.
Fig. 9 is a top view of the present invention.
Fig. 10 is a state diagram of the operation of the multi-level forklift mast system.
Fig. 11 is a wheel train representation diagram (speed relationship of the vehicle body center to the wheel center).
FIG. 12 is a schematic block diagram of a four wheel arrangement in an example implementation.
In the figure, 1, a backup plate, 2, a supporting arm, 3, a multi-stage lifting forklift gantry, 4, an independent-drive omnidirectional wheel component, 1.1, a cab, 1.2, a window, 2.1, a fixed supporting arm, 2.2, a supporting arm telescopic rod, 2.3, a movable supporting arm, 3.1, a gantry base, 3.2, an outer gantry, 3.3, a two-stage hydraulic telescopic cylinder, 3.4, a middle gantry, 3.5, a lifting chain, 3.6, a pallet fork, 3.7, a fork frame, 3.8, a lifting chain wheel, 3.9, an inner gantry, 3.10, a lateral roller, 4.1, an omnidirectional wheel roller, 4.2, a fork frame roller bearing, 4.3, a roller short shaft, 4.4, a clamping ring, 4.5, a roller support, 4.6, a damper, 4.7, a damping spring, 4.8, an encoder, 4.9, a brushless direct current motor, 4.10, an L-shaped reducer and 4.11 wheels are adopted.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, the invention comprises a backup plate 1, a supporting arm 2, a multi-stage lifting forklift gantry 3 and an independent-drive omnidirectional wheel component 4; the left and right support arms 2 are respectively connected to two sides of the backup plate 1 and respectively extend to the front of the truck from the left and right sides of the backup plate 1, a vertical strip-shaped groove is formed in the inner side surface of each support arm 2, and the multistage lifting forklift gantry 3 is installed in the strip-shaped grooves of the support arms 2; the container is positioned in front of the backup plate 1 and between the left support arm and the right support arm 2, and is supported and lifted by the multistage lifting forklift gantry 3.
As shown in fig. 1, a cab 1.1 is provided on the backup plate 1, a window 1.2 is provided on a forward side of the cab 1.1, and a driver can see a space between the two support arms 2 through the window 1.2 in the cab 1.1. The window 1.2 is made of transparent material.
As shown in fig. 2, the bottom of each support arm 2 is provided with an omnidirectional wheel part 4, and the omnidirectional wheel parts 4 support and connect the support arms 2 to the ground; each support arm 2 comprises a fixed support arm 2.1, a support arm telescopic rod 2.2 and a movable support arm 2.3; movable support arm 2.3 is connected with fixed support arm 2.1 one end telescopically through support arm telescopic link 2.2, support arm telescopic link 2.2 is on a parallel with plantago direction, fixed support arm 2.1 other end fixed mounting respectively in backup plate 1 bilateral symmetry both sides of two support arms 2, movable support arm 2.3 of two support arms 2 extends to the plantago direction, support arm 2 adjusts the container of 2 whole lengths of support arm in order to adapt to not unidimensional through support arm telescopic link 2.2's flexible.
Vertical bar-shaped grooves are formed in the centers of the inner side surfaces of the fixed supporting arm 2.1 and the movable supporting arm 2.3, and each bar-shaped groove is provided with a multistage lifting forklift gantry 3.
As shown in fig. 3 to 6, the multi-stage lifting forklift mast 3 comprises a mast base 3.1, an outer mast 3.2, a two-stage hydraulic telescopic cylinder 3.3, a middle mast 3.4, a lifting chain 3.5, a pallet fork 3.6, a fork frame 3.7, a lifting chain wheel 3.8, an inner mast 3.9 and a lateral roller 3.10; the outer door frame 3.2 is fixed in the strip-shaped groove of the supporting arm 2, the middle door frame 3.4 is arranged in the outer door frame 3.2 through a roller slideway mechanism and moves up and down freely, the inner door frame 3.9 is arranged in the middle door frame 3.4 through the roller slideway mechanism and moves up and down freely, and the fork frame 3.7 is arranged in the inner door frame 3.9 through the roller slideway mechanism and moves up and down freely; the portal base 3.1 is fixed at the bottom of the outer portal 3.2, the cylinder body of the secondary hydraulic telescopic cylinder 3.3 is arranged on the portal base 3.1, and the cylinder rod of the secondary hydraulic telescopic cylinder 3.3 is fixed on the inner portal 3.9; the middle door frame 3.4 is arranged on the outer door frame 3.2 and moves on a slideway arranged on the outer door frame 3.2 through a lateral roller 3.10; the inner door frame 3.9 is arranged on the middle door frame 3.4 and moves on a slideway arranged on the middle door frame 3.4 through a lateral roller 3.10; the fork carriage 3.7 is connected to the inner gantry 3.9 and is moved by means of lateral rollers 3.10 on a slide provided with the inner gantry 3.9.
The roller slideway mechanism comprises lateral rollers 3.10 and a strip-shaped chute, and the lateral rollers 3.10 are arranged on two sides of the fork frame 3.7, the inner door frame 3.9 and the middle door frame 3.4; strip-shaped sliding grooves are formed in the inner door frame 3.9, the middle door frame 3.4 and the inner side of the outer door frame 3.2; the lifting chain wheel 3.8 is arranged at the top of the inner gantry 3.9, a lifting chain 3.5 is wound on the lifting chain wheel 3.8, one end of the lifting chain 3.5 is fixed at the top of the middle gantry 3.4, the other end of the lifting chain is fixed at the top of the fork frame 3.7, and the fork 3.6 is arranged at the bottom of the fork frame 3.7 and can horizontally move in a telescopic manner. The bottom of the fork frame 3.7 is provided with a chute, an electromagnetic telescopic rod mechanism is arranged in the fork frame, and the movable end of the electromagnetic telescopic rod is fixedly connected in the chute of the fork 3.6; when the electromagnetic telescopic mechanism controls the telescopic rod to act, the fork 3.6 can be driven to move, so that the telescopic motion of the fork 3.6 in the fork frame is realized; when the forklift gantry system does not lift the container, the electromagnetic telescopic rod is in a contraction state, so that the fork is also in a contraction state.
As shown in fig. 10, the multistage forklift mast system works: when the container is positioned between the two embracing arms 2, the fork 3.6 of the multi-stage gantry system extends to the bottom of the container, and the state of the gantry system is shown as figure 10 (a); then a first-stage hydraulic cylinder in the second-stage hydraulic telescopic cylinder 3.3 works to push the inner door frame 3.9 to move upwards, and meanwhile, a fork 3.6 is pulled to move upwards through a lifting chain 3.5 so as to lift the container; when the first-stage hydraulic cylinder in the two-stage hydraulic telescopic cylinder 3.3 reaches the extreme position, the state of the gantry system is as shown in fig. 10 (b); then, a second-stage hydraulic cylinder in the second-stage hydraulic telescopic cylinder 3.3 works to continuously push the inner door frame 3.9 to move upwards, and meanwhile, the other end of the lifting chain 3.5 pulls the middle door frame 3.4 to move upwards, so that the container can be continuously lifted, and the state of the door frame system in the process is shown in fig. 10 (c); when the second stage hydraulic cylinder in the two stage hydraulic telescopic cylinder 3.3 reaches the limit position, the gantry system reaches the maximum lift height position, and the state of the gantry system is as shown in fig. 10 (d).
As shown in fig. 7, the omnidirectional wheel component 4 comprises four independently driven omnidirectional wheels with wheel shafts facing the center of the logistics vehicle, and the axial directions of the four wheels are 45 degrees with the front direction of the vehicle, each independently driven omnidirectional wheel mainly comprises an omnidirectional wheel roller 4.1, a roller bearing 4.2, a roller short shaft 4.3, a clamping ring 4.4, a roller bracket 4.5, a damper 4.6, a damping spring 4.7, an encoder 4.8, a brushless direct current motor 4.9, a L-shaped speed reducer 4.10 and an omnidirectional wheel fork frame 4.11, the omnidirectional wheel roller 4.1 is a cup structure with large and small ends, and the outer contour line between the large and small ends of the cup structure is an arc line.
As shown in fig. 7, the clamp ring 4.4 is provided with an annular groove along the circumferential direction, the inner end of the roller support 4.5 is provided with a boss matched with the bending radian of the annular groove, the plurality of roller supports 4.5 are sequentially embedded in the annular groove of the clamp ring 4.4 along the complete circumference of the clamp ring 4.4 through respective bosses to form a hub of the omnidirectional wheel, the outer ends of the plurality of roller supports 4.5 are bent along the same circumferential direction and are uniformly arranged around the clamp ring 4.4 in a spiral form, the tail ends of the bent parts of the outer ends of the roller supports 4.5 are fixedly connected with one end of a roller short shaft 4.3, each roller short shaft 4.3 is rotatably connected with an omnidirectional wheel roller 4.1 through a pair of roller bearings 4.2, a gap is arranged between the outer ends of the adjacent roller supports 4.5, the inner ring of the omnidirectional wheel roller 4.1 is positioned at the gap between the outer ends of the adjacent two roller supports 4.5, the other end of each roller short shaft 4.3 is embedded in the groove of the end face of the omnidirectional wheel, the axes of all the roller short shafts 4.3 are obliquely and outwards arranged along the rotation direction of the omnidirectional wheel, and the end parts of the omnidirectional wheel rollers 4.1 are sequentially embedded end to end so that the outer contour lines formed by all the omnidirectional wheel rollers 4.1 are enveloped to form a complete circle.
As shown in fig. 8, the omni wheel is rotatably connected to the omni wheel yoke 4.11 through a shaft, a side surface of the omni wheel yoke 4.11 is sequentially and vertically fixed with an L-shaped speed reducer 4.10, a brushless dc motor 4.9 and an encoder 4.8, an output shaft of the brushless dc motor 4.9 is connected to the omni wheel through a L-shaped speed reducer 4.10, the omni wheel is coaxially and fixedly connected to a clamp ring 4.4 of the independent-drive omni wheel member 4 through a shaft, the L-shaped speed reducer 4.10, the brushless dc motor 4.9 and the encoder 4.8 form a driving module of the omni wheel, a damping shaft is fixedly mounted above the omni wheel yoke 4.11, a damping spring 4.7 is sleeved outside the damping shaft, four dampers 4.6 which are parallel to each other are arranged around the damping shaft to play a role in damping, and the upper end of the dampers 4.6 and the upper end of the damping shaft are connected to the bottom surfaces of the fixed support arm 2.1 and the movable support arm 2.3.
In specific implementation, the omni-directional wheel roller 4.1 is a cup structure with large and small ends, and the outer contour line between the large and small ends of the cup structure is an arc line.
As shown in fig. 9, one omnidirectional wheel component 4 is mounted at the bottom of each of the fixed support arm 2.1 and the movable support arm 2.3, and the four omnidirectional wheel components 4 are driven independently and have an axial direction of 45 ° with the front direction of the vehicle.
In each omnidirectional wheel assembly 4, a brushless dc motor 4.9 drives the clamping ring 4.4 in rotation. Because the omnidirectional wheel rollers 4.1 on the roller support 4.5 around the clamp ring 4.4 freely rotate around the roller short shafts 4.3, when the brushless direct current motor 4.9 drives the clamp rings 4.4 in the four omnidirectional wheel components 4 at four corners to rotate, the omnidirectional wheel rollers 4.1 in the omnidirectional wheel components 4, which are in contact with the ground, can be driven to rotate around the roller short shafts 4.3, and through the rotating fit of the four brushless direct current motors, the combination of the omnidirectional wheel rollers 4.1 and the friction force of the ground can enable the logistics vehicle to move in any direction, namely realize omnidirectional movement.
When the brushless direct current motor 4.9 is controlled to drive the clamping rings 4.4 in the four omnidirectional wheel components 4 to rotate, the rigid body structures of the support arms 2 at the two sides are driven to horizontally translate; when the brushless direct current motor 4.9 is controlled to drive the clamping rings 4.4 in the four omnidirectional wheel components 4 to rotate, the rigid body structures of the supporting arms 2 at two sides are driven to rotate on the horizontal plane.
The omnidirectional wheel fork frame 4.11 rotates to be used as a wheel, the omnidirectional wheel roller 4.1 rotates to be used as a stick, a wheel train is built, and the following description is combined with the specific implementation principle: take wheel i as an example for explanation, let XMOYMFor a coordinate system fixed to the center of the body of the mobile robot, x' oiy' is a coordinate system fixed to the center of the wheel i, (lcos β)i,lsinβii) Represents oiX 'y' to XMOYMAs shown in fig. 11.
Is provided (V)x,Vyω) is at the center of the vehicle body at XMOYMGeneralized speed of (V)'ix,V′iy,ω′i) Indicating the wheel center oiAt x' oiGeneralized velocity in y' (V)ix,Viyi) Represents oiGeneralized velocity in O, letIs the speed of rotation of the wheel i,theta, omega are the rotational angle and angular velocity of the vehicle body about point O, riRadius of wheel i, rrIs the radius of the roller.
According to the wheel center at XMOYMThe speed relationship of (c) is:
similarly, according to the wheel center at x' oiThe speed relationship in y' is given by:
obtained by the following formula (1) and formula (2):
also:
substitution in formula (3) by (V)ix,Viyi) The relationship between the vehicle body speed and the wheel speed can be obtained:
wherein:
equation (5) can be expressed as:
since the wheel speed is controllable and the speed of the roller is not controllable, the established kinematic equation takes into account the relationship between the speed of the vehicle body and the speed of the wheel, and the inverse kinematic equation of the system can be obtained as:
in the formula (7), k represents the number of wheels in the vehicle body, R is an inverse kinematics matrix, and finally, the following can be obtained:
the necessary condition for the omni-directional mobile system to achieve omni-directional motion is that the jacobian matrix R column is full rank. The following arrangements of the common four-wheel symmetrical distribution are shown in fig. 12.
Calculating the rank of an inverse kinematics matrix R under four conditions, wherein R columns of 1 st and 4 th arrangement modes are not full of ranks and do not meet the condition of omnibearing motion, and X cannot be realized by the 1 st arrangement modeMDirectional motion, the 4 th arrangement does not enable in-situ rotation. The column full ranks of the 2 nd and the 3 rd satisfy the condition of omnidirectional motion. Wherein, the 3 rd arrangement can be obtained by the 2 nd arrangement through coordinate rotation, so the 2 nd and 3 rd arrangements are essentially the same. The system selects the 2 nd arrangement to achieve full system motion.
The working process of the invention is as follows:
and (3) loading process: firstly, the logistics vehicle moves to a preset place near a container, a driving operation room 1.1 of a backup plate 1 is over against the container, a fixed supporting arm 2.1 and a movable supporting arm 2.3 are controlled to be separated in distance through a supporting arm telescopic rod 2.2, the logistics vehicle is driven to move towards the container through four omnidirectional wheel components 4, the container is located between a left supporting arm 2 and a right supporting arm 2, and the fixed supporting arm 2.1 and the movable supporting arm 2.3 of the left supporting arm 2 and the right supporting arm 2 are both located on the side of the container. The distance between the two support arms 2 is exactly the width of one container.
At this point, the multi-lift forklift mast 3 is initially lowermost as shown in figures 3 and 4. In the multistage lifting forklift gantry 3, the fork frame 3.7 is driven by the secondary hydraulic telescopic cylinder 3.3 to be lifted to the bottom surface of the container from the ground, and the secondary hydraulic telescopic cylinder 3.3 continues to drive the working support container to be lifted after the fork frame 3.7 contacts the bottom surface of the container. After the lifting, the logistics vehicle is moved through the four omnidirectional wheel components 4, and loading and carrying are achieved.
The logistics vehicle can start the four independent-drive omnidirectional wheel components 4 to realize flexible omnidirectional walking under the condition of not changing the posture of the vehicle body, can quickly pick up containers, can move along a path in any direction at the current position compared with the traditional logistics vehicle, has the advantages of zero turning radius, flexible movement, high space utilization rate and the like, and improves the loading efficiency of the logistics vehicle.
The unloading process is the reverse process of the loading process, the four cup-shaped roller omnidirectional wheels which are independently driven are adopted in the invention, the omnidirectional movement of the logistics vehicle is realized, and the degree of automation is high.
Therefore, the invention has the advantages of zero turning radius, flexible movement, realization of multi-layer stacking of containers, improvement of space utilization rate, prolongation of service life of logistics vehicles and the like.

Claims (6)

1. The utility model provides an all direction movement container transport commodity circulation car which characterized in that: the lifting device comprises a backup plate (1), a supporting arm (2), a multi-stage lifting forklift gantry (3) and an independent-drive omnidirectional wheel component (4); the left and right supporting arms (2) are respectively connected to two sides of the backup plate (1) and respectively extend to the front of the forklift from the left and right sides of the backup plate (1), a vertical strip-shaped groove is formed in the inner side surface of each supporting arm (2), and the multistage lifting forklift gantry (3) is arranged in the strip-shaped grooves of the supporting arms (2); the container is positioned in front of the backup plate (1) and between the left support arm and the right support arm (2), and is supported and lifted by a multi-stage lifting forklift gantry (3); the bottom of each supporting arm (2) is provided with an omnidirectional wheel component (4), and the omnidirectional wheel components (4) support and connect the supporting arms (2) to the ground; each supporting arm (2) comprises a fixed supporting arm (2.1), a supporting arm telescopic rod (2.2) and a movable supporting arm (2.3); the movable supporting arms (2.3) are telescopically connected with one ends of the fixed supporting arms (2.1) through supporting arm telescopic rods (2.2), the other ends of the fixed supporting arms (2.1) of the two supporting arms (2) are respectively and fixedly arranged on the left and right symmetrical sides of the backup plate (1), the movable supporting arms (2.3) of the two supporting arms (2) extend towards the front of the vehicle, and the whole length of the supporting arms (2) is adjusted through the telescopic movement of the supporting arm telescopic rods (2.2) so as to adapt to containers of different sizes;
the multi-stage lifting forklift mast (3) comprises a mast base (3.1), an outer mast (3.2), a two-stage hydraulic telescopic cylinder (3.3), a middle mast (3.4), a lifting chain (3.5), a pallet fork (3.6), a fork frame (3.7), a lifting chain wheel (3.8), an inner mast (3.9) and a lateral roller (3.10); the outer door frame (3.2) is fixed in a strip-shaped groove of the supporting arm (2), the middle door frame (3.4) is installed in the outer door frame (3.2) through a roller slideway mechanism and moves up and down freely, the inner door frame (3.9) is installed in the middle door frame (3.4) through the roller slideway mechanism and moves up and down freely, and the fork frame (3.7) is installed in the inner door frame (3.9) through the roller slideway mechanism and moves up and down freely; the roller slideway mechanism comprises lateral rollers (3.10) and a strip-shaped chute, and the lateral rollers (3.10) are arranged on two sides of the fork frame (3.7), the inner door frame (3.9) and the middle door frame (3.4); the inner sides of the inner door frame (3.9), the middle door frame (3.4) and the outer door frame (3.2) are provided with strip-shaped sliding grooves; a lifting chain wheel (3.8) is arranged at the top of the inner gantry (3.9), a lifting chain (3.5) is wound on the lifting chain wheel (3.8), one end of the lifting chain (3.5) is fixed at the top of the middle gantry (3.4), the other end of the lifting chain is fixed at the top of the fork frame (3.7), and a fork (3.6) is arranged at the bottom of the fork frame (3.7) and can horizontally move in a telescopic manner;
the omnidirectional wheel assembly (4) comprises four omnidirectional wheels with wheel shafts facing the center of a vehicle body base, each omnidirectional wheel is mainly composed of an omnidirectional wheel roller (4.1), a roller bearing (4.2), a roller short shaft (4.3), a clamping ring (4.4), a roller bracket (4.5), a damper (4.6), a damping spring (4.7), an encoder (4.8), a brushless direct current motor (4.9), an L-shaped speed reducer (4.10) and an omnidirectional wheel fork frame (4.11), an annular groove is formed in the circumferential direction of the clamping ring (4.4), bosses matched with the bending radian of the annular groove are arranged at the inner end of the roller bracket (4.5), a plurality of roller brackets (4.5) are sequentially embedded in the annular grooves of the omnidirectional wheel along the complete circumference of the clamping ring (4.4) of the respective boss (4.4), hubs of the omnidirectional wheel are formed in the annular groove of the omnidirectional wheel, the outer ends of the omnidirectional wheel brackets (4.4) are connected with the omnidirectional wheel through a pair of omnidirectional wheel shaft bearings (4.4.4), the omnidirectional wheel shaft (4.4), the damping wheel (4) are sequentially connected with the damping wheel through a pair of the omnidirectional wheel, the damping wheel (4.4.4.4), the damping wheel (4.4) and the damping wheel (4), the damping wheel (4.4), the damping wheel (4) are sequentially connected with the damping wheel, the damping wheel bracket (4.4.4.4.4.4, the damping wheel is connected with the damping wheel, the.
2. The omni-directional mobile container handling logistics cart of claim 1, wherein: fixed support arm (2.1) and movable support arm (2.3) medial surface central authorities all seted up vertical bar recess, every bar recess all installs one multistage fork truck portal (3) that rises.
3. The omni-directional mobile container handling logistics cart of claim 1, wherein: fixed support arm (2.1) and movable support arm (2.3) bottom all install one omnidirectional wheel spare (4), four omnidirectional wheel spares (4) independent drive and axial and plantago direction become 45.
4. The omni-directional mobile container handling logistics cart of claim 1, wherein: the bottom of the fork frame (3.7) is provided with a sliding groove, the fork (3.6) is installed in the sliding groove through an electromagnetic mechanism, and the fork (3.6) realizes telescopic sliding in the fork frame (3.7) through electromagnetic control.
5. The omni-directional mobile container handling logistics cart of claim 1, wherein: the omnidirectional wheel roller (4.1) is of a cup body structure with large and small ends, and the outer contour line between the large and small ends of the cup body structure is an arc line.
6. The omni-directional mobile container handling logistics cart of claim 1, wherein: be equipped with operation room (1.1) on backup plate (1), operation room (1.1) sets up window (1.2) towards one side in the place ahead.
CN201910098234.7A 2019-01-31 2019-01-31 All direction movement container transport commodity circulation car Active CN109896468B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910098234.7A CN109896468B (en) 2019-01-31 2019-01-31 All direction movement container transport commodity circulation car

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910098234.7A CN109896468B (en) 2019-01-31 2019-01-31 All direction movement container transport commodity circulation car

Publications (2)

Publication Number Publication Date
CN109896468A CN109896468A (en) 2019-06-18
CN109896468B true CN109896468B (en) 2020-07-14

Family

ID=66944669

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910098234.7A Active CN109896468B (en) 2019-01-31 2019-01-31 All direction movement container transport commodity circulation car

Country Status (1)

Country Link
CN (1) CN109896468B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107416731A (en) * 2017-05-22 2017-12-01 珠海见卓思特科技有限公司 Fork truck
CN113859831A (en) * 2021-09-07 2021-12-31 宝开(上海)智能物流科技有限公司 Material box carrying logistics robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3490622A (en) * 1968-02-26 1970-01-20 Eaton Yale & Towne Van handler vehicle
US3993202A (en) * 1974-08-02 1976-11-23 Mannesmann Aktiengesellschaft Storage system with adjustable interconnected crane towers
DE19539914C2 (en) * 1994-10-31 2002-10-24 Noell Crane Sys Gmbh handling device
EP0906241B1 (en) * 1996-06-18 2004-08-18 Tommy Schults A straddle carrier
EP1988053B1 (en) * 2005-10-21 2011-05-18 Konecranes Plc Floor conveyor for transporting containers
CN105129676A (en) * 2015-08-04 2015-12-09 浙江双友物流器械股份有限公司 Loading and unloading system for container

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3490622A (en) * 1968-02-26 1970-01-20 Eaton Yale & Towne Van handler vehicle
US3993202A (en) * 1974-08-02 1976-11-23 Mannesmann Aktiengesellschaft Storage system with adjustable interconnected crane towers
DE19539914C2 (en) * 1994-10-31 2002-10-24 Noell Crane Sys Gmbh handling device
EP0906241B1 (en) * 1996-06-18 2004-08-18 Tommy Schults A straddle carrier
EP1988053B1 (en) * 2005-10-21 2011-05-18 Konecranes Plc Floor conveyor for transporting containers
CN105129676A (en) * 2015-08-04 2015-12-09 浙江双友物流器械股份有限公司 Loading and unloading system for container

Also Published As

Publication number Publication date
CN109896468A (en) 2019-06-18

Similar Documents

Publication Publication Date Title
CN105947506B (en) A kind of warehouse Intelligent transfer robot
CN203486852U (en) Electric reach forklift truck with omnidirectional moving function
CN105858034A (en) Omni-directional automatic transporter
CN109896468B (en) All direction movement container transport commodity circulation car
WO2019222990A1 (en) Lifting mechanism and lifting apparatus using lifting mechanism
JP2019519450A (en) Electric rod type automated warehouse robot
CN208103038U (en) Mobile shelf AGV mechanism
CN109877799B (en) Omnidirectional movement formula container pile up neatly machine people
CN110817747A (en) Omnidirectional mobile robot
CN112299313B (en) Section of thick bamboo facial make-up module and section of thick bamboo move and carry robot
CN112061194A (en) Combined transport loading and unloading device for highway and sea iron
CN213502566U (en) Moving mechanism of highway-sea-iron combined transport loading and unloading device
CN112249980A (en) Anti-tipping method and anti-tipping mechanism for three-fulcrum electric forklift
WO2020228055A1 (en) Drive-in jacking and carrying trackless shuttle vehicle and application thereof
CN112009595A (en) Goods storage device for unmanned logistics vehicle
CN112062055B (en) Three-fulcrum anti-tipping mechanism of electric forklift
CN210479825U (en) Rotary goods taking device and goods taking robot
CN212890667U (en) Synchronous pulley group
CN213141312U (en) Three-fulcrum anti-tipping mechanism of electric forklift
CN218255130U (en) Unmanned transport arm
CN217297184U (en) Rotary electric forklift
CN217972308U (en) Anchor rod crane with lifting platform
CN114084845B (en) Submarine AGV capable of reversing in suspended state of chassis without turning radius
CN211078372U (en) Rotary track forklift
CN216234261U (en) Hopper changing device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20190618

Assignee: Hangzhou Taidian Automation Technology Co.,Ltd.

Assignor: HANGZHOU DIANZI University

Contract record no.: X2020330000108

Denomination of invention: A kind of all-round container transportation vehicle

Granted publication date: 20200714

License type: Common License

Record date: 20201129