CN111071962A

CN111071962A - Unmanned pallet truck

Info

Publication number: CN111071962A
Application number: CN202010045167.5A
Authority: CN
Inventors: 肖勇民; 汪明川; 林良川
Original assignee: Shanghai Fawang Cloud Logistics Technology Co Ltd
Current assignee: Shanghai Fawang Cloud Logistics Technology Co Ltd
Priority date: 2020-01-16
Filing date: 2020-01-16
Publication date: 2020-04-28

Abstract

The invention provides an unmanned pallet truck which comprises a pallet truck frame, wherein the pallet truck frame is provided with two fork legs for lifting, and the unmanned pallet truck is characterized in that scissor fork lifting systems are arranged in the fork legs and are connected with a hydraulic power system; the bottom of the frame is provided with a steering wheel for walking, and the top of the frame is provided with a navigator; the outer side of the frame is provided with a laser barrier sensor, the frame is also provided with an industrial personal computer and a battery system, and the industrial personal computer is connected with the hydraulic power system, the steering wheel, the navigator, the laser barrier sensor and the battery system through a control circuit. Adopt two scissors fork structures to lift, two lift cylinder realize rigid connection through axle and shaft coupling and scissors fork, make whole lift structure lift steadily, more be fit for a plurality of trays and pile up the transport. The scissors fork is specially designed, and is hinged out by adopting a dry-type bushing, so that the wear resistance and the assembly precision are improved, the maintenance is convenient, and the service life of the whole lifting structure is prolonged.

Description

Unmanned pallet truck

Technical Field

The invention relates to the technical field of forklifts, in particular to a carrier for lifting and carrying goods.

Background

Conventional transport fork truck, its lifting mechanism are chain mechanism usually, and it is big to rock in the course of the work, and fork truck walking wheel can incline backward when lifting, and the structure is not too stable, and the goods can rock. The existing carrier can not automatically weigh, and weight accounting is a very important process in the logistics industry. The carrier operation needs manual operation handle, and is inefficient, and the cost of labor is higher.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the problems in the prior art and provides an unmanned pallet truck.

In order to solve the above problems, the technical solution of the present invention is as follows:

the unmanned pallet truck comprises a pallet truck frame, wherein two forks for lifting are arranged on the pallet truck frame, and the unmanned pallet truck is characterized in that a scissor fork lifting system is arranged in each fork and is connected with a hydraulic power system; the bottom of the frame is provided with a steering wheel for walking, and the top of the frame is provided with a navigator; the outer side of the frame is provided with a laser barrier sensor, the frame is also provided with an industrial personal computer and a battery system, and the industrial personal computer is connected with the hydraulic power system, the steering wheel, the navigator, the laser barrier sensor and the battery system through a control circuit.

The navigator is a laser navigator. The laser navigator uses the collimation of the laser to accurately position the position of the laser navigator so as to achieve the navigation function.

The industrial personal computer is provided with a battery management system, the battery management system can read the electric quantity of the battery and communicate with the steering wheel, the industrial personal computer can automatically run to a charging position when the electric quantity is lower than a set value, and the industrial personal computer is in contact with a charging station to realize an automatic charging function.

The electric energy of the battery is converted into hydraulic energy by the hydraulic power system, and the industrial personal computer controls the electromagnetic valve of the hydraulic system to control the oil pressure and flow in the hydraulic oil cylinder so as to control the lifting speed of the scissor differential lifting system and adapt to different loads.

The laser barrier sensor can detect the barriers in the driving path, and the safety of speed reduction and braking is guaranteed.

The fork lifting device is characterized in that supporting legs are arranged below each fork, a scissor fork mechanism used for lifting is arranged at the front end and the root of each supporting leg respectively, the scissor fork mechanism on the same supporting leg is arranged on a scissor fork mounting plate, the scissor fork mechanisms at the roots of the two supporting legs are provided with connecting shafts, lifting oil cylinders are arranged at two ends of each connecting shaft, fork teeth are arranged above the scissor fork mechanisms, and the lifting oil cylinders drive the scissor fork mechanisms to move so as to push the fork teeth to lift to achieve the lifting purpose.

The scissors fork mechanism comprises an outer scissors fork and an inner scissors fork, the outer scissors fork is hinged with the middle part of the inner scissors fork, the inner scissors fork is provided with a scissors fork top plate mounting block, and the top plate mounting block is finally connected with fork teeth; one end of the scissors outer fork is provided with a scissors fork fulcrum, and the scissors fork mounting plate connects the two scissors fork bodies on the same supporting leg through the scissors fork fulcrum to form a double-scissors fork lifting structure.

The scissor fork mechanism connecting shafts at the roots of the two supporting legs are connected through a coupling.

The fork tooth below sets up weighing sensor, and weighing sensor passes through the bolt assembly on the weighing sensor mounting panel, and the weighing sensor mounting panel passes through the bolt and is in the same place with scissors fork body assembly, and the fork tooth passes through the bolt and is in the same place with the pressure sensor assembly on the weighing sensor.

The articulated shaft of scissors fork is last to set up dry-type bush, and the articulated shaft outside sets up the axle head baffle, and the axle head baffle passes through the screw lock on the articulated shaft.

The scissors fork top plate mounting blocks penetrate through the scissors inner fork and are hinged together, and the scissors fork top plate mounting block rotating shaft is locked on the scissors inner fork through screws.

A follower wheel is arranged below the front end of each supporting leg.

The lifting device has the beneficial effects that the lifting device adopts a double-scissor fork structure for lifting, and the two lifting oil cylinders are rigidly connected with the scissor forks through the shaft and the shaft coupling, so that the whole lifting structure is stably lifted, and the lifting device is more suitable for stacking and carrying a plurality of trays. The scissors fork is specially designed, and is hinged out by adopting a dry-type bushing, so that the wear resistance and the assembly precision are improved, the maintenance is convenient, and the service life of the whole lifting structure is prolonged.

The four weighing sensors are assembled on the lifting structure, the automatic weighing function is realized, the designed weighing system is high in weighing precision, and meanwhile, the weighing system can be communicated with the WMS, and the critical flow of the logistics industry, namely weight accounting, can be automatically completed.

This scheme adopts two scissors forks to lift the structure in the fork, lifts steady goods and can not rock. A pressure weighing system is arranged in the scissor lifting structure, and the automatic weighing function can be realized. By computer control, realize fork goods automatically, get goods, transport and the function of charging, improved handling efficiency greatly, reduce the cost of labor.

Drawings

The invention is described in detail below with reference to the drawings and the detailed description;

fig. 1 is a schematic view of the entire structure of the carrier of the present invention.

Fig. 2 is a schematic structural diagram of a laser navigator assembly.

Fig. 3 is a schematic structural diagram of a scissor lifting system.

Fig. 4 is an exploded view of the fork body.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

In this embodiment, referring to fig. 1, the automated guided vehicle includes a laser navigator assembly 100, a pallet car frame 200, a hydraulic power system 300, an industrial personal computer 400, a switching power supply 500, a laser barrier sensor 600, a steering wheel 700, a charging brush 800, a scissor fork lifting system 900, a steering wheel driver assembly 110, and a battery system 120. The laser navigator 100, the hydraulic power system 300, the industrial personal computer 400, the switching power supply 500, the laser barrier sensor 600, the steering wheel 700, the charging brush plate 800 and the scissor fork lifting system 900 are all assembled on the pallet truck frame 200. The battery system 120 is a power source of the entire forklift AGV, is provided with a battery management system BMS, can read the electric quantity of the battery and communicate with the steering wheel driver assembly 110, and the AGV can automatically operate to a charging position when the electric quantity is lower than a set value, and realizes an automatic charging function by contacting the charging brush plate 800 with a charging station. The hydraulic power system 300 converts electric energy of the battery into hydraulic energy, and the industrial personal computer controls the electromagnetic valve of the hydraulic system to control the oil pressure and flow in the hydraulic oil cylinder so as to control the lifting speed of the scissor differential lifting system 900 and adapt to different loads. The steering wheel driver assembly 110 can control the course angle and the traveling speed of the steering wheel 700, so as to realize the traveling and steering actions of the AGV. The laser navigator assembly 100 uses the collimation of the laser to accurately position the position of the AGV so as to guide the AGV to move forward. The laser obstacle sensor 600 can detect obstacles in the traveling path of the AGV, and the safety performance of the AGV is ensured by deceleration and braking.

Referring to fig. 2, the laser navigator assembly 100 includes a laser navigator 101, a navigator mounting plate 102, a navigator support plate 103, a navigator fixing bolt 104, an upper adjusting nut 105, an adjusting bolt 106, and a lower adjusting nut 107. The levelness of the laser navigator has a great influence on the positioning and navigation of the AGV, so that the horizontal adjustment of the navigator is important for the structural design. When the navigator is assembled, the AGV can be placed on a horizontal plane, the level meter is placed on the navigator supporting plate 103, the navigator supporting plate 103 is adjusted to be horizontal, and then the level meter is taken away. Assembling an adjusting bolt on a navigator supporting plate 103, assembling an upper adjusting nut on the adjusting bolt 106, sleeving a navigator mounting plate 102 on the upper adjusting bolt 106, preliminarily pressing the navigator mounting plate 102 by the upper adjusting bolt, placing a level on the navigator mounting plate 102, finely adjusting a lower adjusting nut 107 and the upper adjusting nut 106 to enable the navigator mounting plate 102 to be horizontal, and finally locking the navigator mounting plate 102 by the lower adjusting nut 107 and the upper adjusting nut 105 to take the level away. The laser navigator 101 is fixed on the navigator mounting plate 102 by a navigator fixing bolt 104, so that the laser navigator 101 is leveled.

Referring to fig. 3, the scissor fork lifting system 900 includes a leg 910, a lift cylinder 920, a connecting shaft 930, a scissor fork body 940, a load cell 950, a load cell mounting plate 960, a fork tooth 970, a coupling 980, a directional wheel assembly 990, and a scissor fork mounting plate 991. The unmanned pallet truck is mainly used for carrying pallets, when a plurality of pallets are stacked together, the center of gravity of goods is high, so that the lifting process needs to be stable, and the stability of a lifting structure is one of key technologies of the unmanned pallet truck. The scissor fork legs 910 are mounted to the pallet truck frame 200. The left connecting shaft and the right connecting shaft penetrate through the scissors fork body 940 and are assembled together through the coupler 980, the lifting oil cylinders 920 are assembled at the shaft ends of the connecting shafts 930, and thus the two lifting oil cylinders are rigidly connected with the lifting mechanisms together, the two lifting mechanisms move up and down simultaneously in the lifting process, the purpose of stably lifting cargoes is achieved, and the hidden troubles that the cargoes incline and fall off due to the fact that the oil amount in the two cylinders is different and the cargoes are pressed and deformed by different loads of the two hydraulic cylinders in the synchronous control process are overcome. The scissors fork body 940 is connected with the scissors fork mounting plate 991 through a shaft, the scissors fork mounting plate is fixed on the supporting legs 910 through bolts, the weighing sensor 950 is assembled on the weighing sensor mounting plate 960 through bolts, the weighing sensor mounting plate 960 is assembled with the scissors fork body 940 through bolts, and the fork teeth are assembled with the pressure sensor on the weighing sensor through bolts. When lifting the goods, the goods is pressing on the fork tooth, and weight reads out through the pressure sensor among the weighing sensor 950, and the data that 4 weighing sensors read obtain through certain conversion and detect goods weight value, and the goods weight can be transmitted to the AGV industrial computer on, then transmits to the WMS system in, realizes the automatic weighing function.

With continued reference to fig. 3, the working principle of the scissor fork lifting structure is: the power source of the lifting structure of the double scissors fork is two lifting oil cylinders 920, and since hydraulic oil can be compressed and deformed when the hydraulic oil cylinders bear pressure, the two hydraulic oil cylinders are difficult to ensure that the bearing pressure of the two hydraulic oil cylinders is the same in the lifting process, the two oil cylinders are rigidly connected together by adopting the two connecting shafts 930 and the coupling 980 to ensure that the scissors fork lifts the scissors fork synchronously; in addition, the distance between the two oil cylinders is long, so that the two connecting shafts 930 are connected together by the coupler 980, the problem that the machining precision is difficult to guarantee due to the fact that a long shaft is machined (coaxiality is difficult to guarantee in the machining process on a machine tool due to the fact that the long shaft and the thin shaft are soft) is avoided, and meanwhile, the assembling is convenient. A link shaft 930 connects the lift cylinder 920 with the first two scissor fork bodies 940. Referring to fig. 3, the scissors fork main body 940 mainly includes a scissors outer fork 941, a scissors inner fork 942, a bearing 943, a hinge shaft 944, a shaft end baffle 945, a dry bushing 946, a scissors fork top plate mounting block rotating shaft 947, a scissors fork fulcrum 948, and a scissors fork top plate mounting block 949. The scissor fork top plate mounting block 949 is mounted together with the weighing sensor mounting plate 960 through a bolt, the scissor outer fork 941 is fixed on the scissor fork mounting plate 991 through the scissor fork fulcrum 948 dry-type bushing 946, and the shaft end baffle 945 is fixed on the scissor fork mounting plate 991; the rolling bearing 945 is arranged on the other side of the outer fork 941 of the scissors, the rolling bearing 945 can slide along the clamping groove of the weighing sensor mounting plate 960 and can move in a vertical direction at the hinged point in the lifting process, the rolling bearing 945 is arranged on the other side of the inner fork 942, and the rolling bearing 945 can only move back and forth in a horizontal direction and can only move in a self-rotating mode at the hinged point in the lifting process. The two scissor fork bodies 940 which are connected with the lifting oil cylinder 920 through a hinge shaft 930 are active scissor forks, and integrally push the weighing sensor mounting plate 960 and the fork teeth to vertically move up and down under the action of an oil cylinder power source; the other two scissor bodies passively move up and down under the action of the active scissor body connected with the lift cylinder 920.

Referring to fig. 4, the scissors fork main body 940 mainly includes a scissors outer fork 941, a scissors inner fork 942, a bearing 943, a hinge shaft 944, a shaft end baffle 945, a dry bushing 946, a scissors fork top plate mounting block rotating shaft 947, a scissors fork fulcrum 948, and a scissors fork top plate mounting block 949. The matching precision of the scissors fork hinged part determines the stability and the service life of the whole lifting mechanism in the lifting process, and the scissors fork hinged part adopts a dry bushing, so that the matching precision is high and the wear resistance is good; in addition, the dry type bushing does not need to be periodically added with lubricating oil, and is convenient to maintain. The outer scissors fork 941 and the inner scissors fork 942 are connected together through the hinge shaft 944 and the dry bushing 946, and then the shaft end baffle 945 is locked on the hinge shaft 944 through a screw, so that the axial positioning is realized. The scissors fork top plate mounting block axle 947 passes through the scissors inner fork 942 and is hinged to the scissors fork top plate mounting block 949, and then the scissors fork top plate mounting block axle 947 is locked to the scissors inner fork 942 by a screw. The scissor fork mounting plate 991 can connect the two scissor fork bodies 940 through the scissor fork fulcrum 948 to form a double scissor fork lifting structure, and a dry bushing and a shaft end baffle are required to be assembled at the shaft end of the scissor fork fulcrum 948.

Adopt two scissors fork structures to lift, two lift cylinder realize rigid connection through axle and shaft coupling and scissors fork, make whole lift structure lift steadily, more be fit for a plurality of trays and pile up the transport. The scissors fork is specially designed, and is hinged out by adopting a dry-type bushing, so that the wear resistance and the assembly precision are improved, the maintenance is convenient, and the service life of the whole lifting structure is prolonged.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention patent claims is defined by the appended claims and their equivalents.

Claims

1. The unmanned pallet truck comprises a pallet truck frame, wherein two forks for lifting are arranged on the pallet truck frame, and the unmanned pallet truck is characterized in that a scissor fork lifting system is arranged in each fork and is connected with a hydraulic power system; the bottom of the frame is provided with a steering wheel for walking, and the top of the frame is provided with a navigator; the outer side of the frame is provided with a laser barrier sensor, the frame is also provided with an industrial personal computer and a battery system, and the industrial personal computer is connected with the hydraulic power system, the steering wheel, the navigator, the laser barrier sensor and the battery system through a control circuit.

2. The automated palletized cart as claimed in claim 1, wherein said navigator is a laser navigator.

3. The automated guided vehicle of claim 1, wherein the industrial personal computer has a battery management system, the battery management system can read the battery capacity and communicate with the steering wheel, and the battery capacity below a predetermined value automatically moves to a charging position and contacts a charging station to realize an automatic charging function.

4. The automated guided vehicle of claim 1, wherein the hydraulic power system converts electrical energy from the battery into hydraulic energy, and the industrial personal computer controls the solenoid valve of the hydraulic system to control the oil pressure and flow rate in the hydraulic cylinder, so as to control the lifting speed of the scissor differential lifting system to adapt to different loads.

5. The automated guided vehicle of claim 1, wherein the laser barrier sensor detects obstacles in the travel path and provides safety for deceleration and brake assurance.

6. The automated pallet jack of claim 1, wherein a leg is provided under each pallet fork, a scissor fork mechanism for lifting is provided at the front end and the root of each leg, the scissor fork mechanism on the same leg is provided on a scissor fork mounting plate, the scissor fork mechanism at the root of two legs is provided with a connecting shaft, lifting cylinders are provided at both ends of the connecting shaft, fork teeth are provided above the scissor fork mechanism, and the lifting cylinders drive the scissor fork mechanisms to move and push the fork teeth to lift.

7. The automated palletless cart according to claim 6, wherein said scissors fork mechanism comprises an outer scissors fork and an inner scissors fork, the outer scissors fork and the inner scissors fork are hinged at the middle part, the inner scissors fork is provided with a scissors fork top plate mounting block, and the top plate mounting block is finally connected with the fork teeth; one end of the scissors outer fork is provided with a scissors fork fulcrum, and the scissors fork mounting plate connects the two scissors fork bodies on the same supporting leg through the scissors fork fulcrum to form a double-scissors fork lifting structure.

8. The automated guided vehicle of claim 6, wherein the scissor mechanism connecting shafts at the base of the two legs are connected by a coupling.

9. The automated pallet jack of claim 6, wherein a load cell is disposed under the fork teeth, the load cell is assembled to the load cell mounting plate by a bolt, the load cell mounting plate is assembled to the scissor fork body by a bolt, and the fork teeth are assembled to the pressure sensor of the load cell by a bolt.

10. The automated guided vehicle as claimed in claim 7, wherein the hinge shaft of the scissors fork is provided with a dry bushing, and a shaft end stopper is provided outside the hinge shaft and locked to the hinge shaft by a screw.

11. The automated palletising cart of claim 7 wherein said scissors fork top mounting blocks are hinged together through said scissors inner fork and screws are used to lock said scissors fork top mounting block pivot to said scissors inner fork.

12. The automated palletless cart as claimed in claim 6, wherein a follower wheel is provided under the front end of each leg.