CN111591928B - An efficient handling and picking integrated unmanned forklift - Google Patents

An efficient handling and picking integrated unmanned forklift Download PDF

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Publication number
CN111591928B
CN111591928B CN202010484112.4A CN202010484112A CN111591928B CN 111591928 B CN111591928 B CN 111591928B CN 202010484112 A CN202010484112 A CN 202010484112A CN 111591928 B CN111591928 B CN 111591928B
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China
Prior art keywords
fork
pallet
gantry
door type
side door
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CN202010484112.4A
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Chinese (zh)
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CN111591928A (en
Inventor
吴斌
王大超
赵聪聪
李昱
蔡超
李建华
杨雨图
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Nanjing Forestry University
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Nanjing Forestry University
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Priority to CN202010484112.4A priority Critical patent/CN111591928B/en
Publication of CN111591928A publication Critical patent/CN111591928A/en
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Publication of CN111591928B publication Critical patent/CN111591928B/en
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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
    • B66F9/075—Constructional features or details
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/087—Monomasts
    • 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
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/142—Movements of forks either individually or relative to each other
    • 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
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/148—Whole unit including fork support moves sideways

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

本发明提供了一种高效搬运拣选一体式无人叉车，包括车体、货架组件、货叉滑移组件、液压支撑组件和托盘；货架组件包括中心门架以及侧门型货架，侧门型货架与中心门架通过连杆或螺栓连接，中心门架上带有两条滑轨，侧门型货架上装有3个货位叉供存放托盘；货叉滑移组件包括纵向滑移滑块、横向滑移滑块以及二级货叉；液压支撑组件包括液压缸底座、直径不等的液压缸以及连接在横向滑移滑块上的液压缸套筒；专用托盘包括横向、纵向货叉孔。本发明的效益在于：可实现大负载货物一次性多储的功能，货叉可以横向移动，可以一次停车叉取两列货物，节约空间，节省时间，且车体更稳定，极大地提高了周转效率。

The present invention provides an efficient handling and picking integrated unmanned forklift, comprising a vehicle body, a shelf assembly, a fork sliding assembly, a hydraulic support assembly and a pallet; the shelf assembly comprises a central gantry and a side door type shelf, the side door type shelf is connected to the central gantry by a connecting rod or a bolt, the central gantry is provided with two slide rails, and the side door type shelf is provided with three cargo forks for storing pallets; the fork sliding assembly comprises a longitudinal sliding slider, a transverse sliding slider and a secondary fork; the hydraulic support assembly comprises a hydraulic cylinder base, hydraulic cylinders of different diameters and a hydraulic cylinder sleeve connected to the transverse sliding slider; the special pallet comprises transverse and longitudinal fork holes. The benefits of the present invention are: it can realize the function of storing large load cargo in one time, the fork can move transversely, and it can stop and fork two rows of cargo at one time, saving space and time, and the vehicle body is more stable, which greatly improves the turnover efficiency.

Description

High-efficient transport is selected unmanned fork truck of integral type
Technical Field
The invention relates to the technical field of storage, in particular to an efficient carrying and picking integrated unmanned forklift.
Background
With the development of logistics industry, the pressure of sorting cargoes is increased, a large amount of manpower and material resources are occupied, and especially, large and heavy cargoes are occupied, so that non-manpower can be solved, and under strong pressure, the efficiency can be reduced along with the time. Therefore, the novel intelligent trolley is developed to be applied to a storage system, the pressure of workers can be relieved, the efficiency can be improved, the intelligent trolley has extremely important significance to the development of the logistics industry, in addition, the volume ratio is also extremely important to the logistics industry, and more cargoes are stored under the same area, so that the intelligent trolley has absolute value and significance.
Disclosure of Invention
In order to solve the problems, the invention discloses an intelligent trolley suitable for large-load multi-storage, which can realize one-time fork-taking transportation of a plurality of large-load cargoes.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The high-efficiency carrying and picking integrated unmanned forklift is characterized by comprising a forklift body, a goods shelf assembly, a goods fork moving assembly and a hydraulic cylinder supporting assembly, wherein the goods shelf assembly comprises a central portal arranged on the forklift body and a side door type goods shelf arranged at the rear side of the central portal, the central portal is composed of two portal rods which are arranged in a front-back symmetrical mode, the portal rods are vertically arranged, guide rails are arranged on the right side of the portal rods along the length direction of the portal rods, the side door type goods shelf is fixedly connected with the portal rods at the rear side, goods forks are uniformly arranged on the front side of the side door type goods shelf from top to bottom, two longitudinal sliding blocks which are arranged up and down are matched on the two guide rails of the central portal, the longitudinal sliding blocks positioned above can slide up and down along the guide rails, the longitudinal sliding blocks positioned below are fixed at the bottom end of the forklift, a horizontal sliding block which can slide back and forth is matched in the longitudinal sliding blocks, a first cylinder body which is horizontally arranged is arranged on the right side, a left cylinder body which is matched with the top surface of the first goods fork is fixedly arranged at the front end of the transverse sliding block, a right cylinder body which can slide up and down according to the left side of the hydraulic cylinder body, and the right cylinder body can slide down in a horizontal sliding direction.
Furthermore, the side door type goods shelf is of a plate-shaped structure which is vertically arranged and is perpendicular to a plane formed by the central axes of the two door frame rods.
Further, two driven wheels which are arranged in a front-back symmetrical mode are arranged on the right side of the bottom of the vehicle body.
Further, a driving wheel is arranged in the middle of the left side of the bottom of the vehicle body.
Further, the pallet comprises a pallet, and the pallet is matched with the first pallet fork, the second pallet fork and the object placing pallet fork.
Further, be equipped with the horizontal fork jack that two bilateral symmetry set up in the tray, the tray bottom is equipped with the vertical fork jack that two bilateral symmetry set up, both ends around the horizontal fork jack communicate with the front and back both sides of tray respectively, the both ends communicate with the left and right sides of tray respectively about vertical fork jack, bottom and the bottom surface intercommunication of tray to realize the separation of second fork and tray.
Further, the height of each fork on a side door-type pallet may be lower than the height of the cargo space on the corresponding pallet.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention can fork and store a plurality of cargoes at one time, the cargoes can move transversely and also can move up and down, two rows of cargoes can be forked under the condition that the car body is not moving, the cargoes can move up and down and left and right by utilizing the space existing in the tunnel, the space is not needed to be occupied additionally, the traditional mode of up and down movement of the cargoes is changed, the space is saved, the volume rate is improved, the occupied area of the whole machine is reduced, and the cost is saved for owners.
2. The hydraulic cylinder supporting component moves left and right along with the transverse sliding block, and forks heavy load goods when the fork moves left and right to support the goods, so that the fork for forking the goods is high in rigidity and stable in operation under the support of the hydraulic cylinder, and when the fork for forking the goods is not needed, the hydraulic cylinder can be retracted into the vehicle body, and no additional space is occupied.
3. The invention adopts the special matched tray, and can conveniently and rapidly separate the pallet fork from the tray, thereby improving the efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an efficient handling and picking integrated unmanned forklift.
Fig. 2 is a schematic structural diagram of the high-efficiency carrying and picking integrated unmanned forklift for inserting and picking a tray.
Fig. 3 is a schematic structural view of a pallet in an efficient handling and picking integrated unmanned forklift.
List of reference numerals:
the device comprises a 1-car body, a 2-guide rail, a 3-side door type goods shelf, a 4-object placing fork, a 5-longitudinal sliding block, a 6-transverse sliding block, a 7-first fork, an 8-second fork, a 9-driven wheel, a 10-hydraulic cylinder base, an 11-hydraulic cylinder body, a 12-driving wheel, a 13-tray, a 13-1-longitudinal fork jack and a 13-2 transverse fork jack.
Detailed Description
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
As shown in the figure, the high-efficiency carrying and picking integrated unmanned forklift comprises a forklift body 1, a goods shelf assembly, a fork moving assembly and a hydraulic cylinder supporting assembly; the goods shelf assembly comprises a central portal arranged on a vehicle body 1 and a side door type goods shelf 3 arranged on the rear side of the central portal, wherein the central portal is composed of two portal rods which are arranged in a front-back symmetrical mode, the portal rods are vertically arranged, the right side of each portal rod is provided with a guide rail 2 along the length direction of each portal rod, the side door type goods shelf 3 is fixedly connected with the portal rods positioned on the rear side, the front side of each side door type goods shelf 3 is uniformly provided with goods forks 4 from top to bottom, two guide rails 2 of the central portal are matched with two vertically arranged longitudinal sliding blocks 5, the vertically arranged longitudinal sliding blocks 5 can slide up and down along the guide rails 2, the vertically arranged longitudinal sliding blocks 5 are fixed at the bottom end of the vehicle body, and the longitudinally arranged transverse sliding blocks 6 which can slide back and forth are matched with each other are arranged in the longitudinal sliding blocks 5, wherein the front ends of the horizontally arranged transverse sliding blocks 6 are provided with hydraulic cylinder sleeves, the top surfaces of the first goods forks 7 are matched with the second goods forks 8 which can slide left and right, the front ends of the transverse sliding blocks 6 positioned below are provided with hydraulic cylinder bases 10 and sleeve cylinders, and the left and right sliding blocks can slide up and down according to the height of the hydraulic cylinders 11.
In this embodiment, the side door type shelf 3 has a vertically arranged plate-like structure and is perpendicular to a plane formed by the central axes of the two door frame bars.
In this embodiment, two driven wheels 9 are symmetrically arranged on the right side of the bottom of the vehicle body 1.
In the present embodiment, a drive wheel 12 is provided in the middle of the bottom left side of the vehicle body 1.
In this embodiment, the pallet 13 is further included, and the pallet 13 is adapted to the first pallet fork 7, the second pallet fork 8, and the object placing pallet fork 4.
In this embodiment, two laterally symmetrically arranged transverse fork insertion holes 13-2 are provided in the tray 13, two longitudinally symmetrically arranged fork insertion holes 13-1 are provided at the bottom of the tray 13, the front and rear ends of the transverse fork insertion holes 13-2 are respectively communicated with the front and rear sides of the tray 13, the left and right ends of the longitudinally arranged fork insertion holes 13-1 are respectively communicated with the left and right sides of the tray 13, and the bottom is communicated with the bottom surface of the tray 13.
In this embodiment, each fork on a side door pallet will have a height that is lower than the height of the cargo space on the corresponding pallet.
The intelligent trolley fork is right opposite to a goods shelf fork to take goods, firstly, a first fork 7 and a second fork 8 slide forwards under the drive of a transverse sliding block 6, secondly, the longitudinal sliding block 5 drives the first fork 7 and the second fork 8 to move upwards or descend to goods with corresponding heights, then the first fork 7 and the second fork 8 slide backwards along with the transverse sliding block 6, then the second fork 8 stretches out to the right to take goods, the forked goods slide forwards under the drive of the transverse sliding block 6, at the moment, a hydraulic cylinder supporting component starts to work to support the goods, the longitudinal sliding block 5 adjusts the height to correspond to the corresponding goods placing fork 4 on the side door type goods shelf 3 upwards and downwards, then the goods are placed on the corresponding goods placing fork 4 of the side door type goods shelf 3 through the backward sliding of the transverse sliding block 6, namely, the corresponding goods fork of the side door type goods shelf 3 is inserted into a transverse fork jack 13-2, then the longitudinal sliding block 5 moves downwards to drive the second fork 8 to separate from the longitudinal fork jack 13-1, and accordingly the second fork 8 is separated from the pallet 13, and the goods are taken out in a circulation mode.
The intelligent trolley fork truck body is opposite to a right side of a goods shelf, the steps are as follows, firstly, a first fork 7 and a second fork 8 slide forwards under the drive of a transverse sliding block 6, secondly, the longitudinal sliding block 5 drives the second fork 8 to move upwards or descend to a goods position with corresponding height of the goods, at the moment, a hydraulic cylinder supporting component starts to work to support the goods, then the second fork 8 stretches out rightwards to fork the goods, the longitudinal sliding block 5 adjusts the height to correspond to the position of a corresponding goods placing fork 4 on a side door type goods shelf 3, then the transverse sliding block 6 slides backwards to place the goods to be returned on the corresponding goods placing fork 4 of the side door type goods shelf 3, namely, the corresponding goods fork of the side door type goods shelf 3 is inserted into a transverse fork jack 13-2, then the longitudinal sliding block 5 moves downwards to drive the second fork 8 to be separated from the longitudinal fork jack 13-1, and accordingly the second fork 8 is separated from the tray 13, and the next goods are circularly and forked.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims (3)

1.一种高效搬运拣选一体式无人叉车，其特征在于：包括车体（1）、货架组件、货叉移动组件和液压缸支撑组件；所述货架组件包括设置在车体（1）上的中心门架以及设置在中心门架后侧的侧门型货架（3），所述中心门架由两个前后对称设置的门架杆构成，所述门架杆竖直设置，且门架杆的右侧沿其长度方向设有导轨（2），所述侧门型货架（3）与位于后侧的门架杆固定连接，所述侧门型货架（3）的前侧由上至下均布有置物货叉（4）；所述中心门架的两导轨（2）上配合安装有两个上下设置的纵向滑移滑块（5），位于上方的纵向滑移滑块（5）可沿导轨（2）上下滑动，位于下方的纵向滑移滑块（5）固定在车体底端，且纵向滑移滑块（5）中配合安装有可前后滑动的横向滑移滑块（6），其中，位于上方的横向滑移滑块（6）前端设有液压缸套筒，右侧设有水平设置的第一货叉（7），所述第一货叉（7）的顶面配合安装有可左右滑动的第二货叉（8）；位于下方的横向滑移滑块（6）前端设有液压缸底座（10）及套筒，上下两个横向滑移滑块（6）的前端之间设有液压缸体（11）；所述侧门型货架（3）为竖直设置的板状结构，并与两门架杆中轴线所构成的平面相垂直； 还包括托盘（13），所述托盘（13）与第一货叉（7）、第二货叉（8）以及置物货叉（4）相适配；所述托盘（13）中设有两左右对称设置的横向货叉插孔（13-2）,托盘（13）底部设有两前后对称设置的纵向货叉插孔（13-1），所述横向货叉插孔（13-2）的前后两端分别与托盘（13）的前后两侧连通，所述纵向货叉插孔（13-1）的左右两端分别与托盘（13）的左右两侧连通，底部与托盘（13）的底面连通。1. An efficient integrated unmanned forklift for handling and picking, characterized in that it comprises a vehicle body (1), a shelf assembly, a fork moving assembly and a hydraulic cylinder support assembly; the shelf assembly comprises a central gantry arranged on the vehicle body (1) and a side door type shelf (3) arranged at the rear side of the central gantry, the central gantry is composed of two gantry rods arranged symmetrically in front and back, the gantry rods are arranged vertically, and the right side of the gantry rods is provided with a guide rail (2) along its length direction, the side door type shelf (3) is fixedly connected to the gantry rod located at the rear side, and the front side of the side door type shelf (3) is evenly distributed with storage forks (4) from top to bottom; two longitudinal sliding sliders (5) arranged up and down are cooperated and installed on the two guide rails (2) of the central gantry, and the longitudinal sliding sliders (5) located at the top are provided with guide rails (2) arranged at the top. The slider (5) can slide up and down along the guide rail (2), the longitudinal sliding slider (5) located at the bottom is fixed to the bottom end of the vehicle body, and a transverse sliding slider (6) that can slide forward and backward is installed in cooperation with the longitudinal sliding slider (5), wherein a hydraulic cylinder sleeve is provided at the front end of the transverse sliding slider (6) located at the top, and a first fork (7) arranged horizontally is provided on the right side, and a second fork (8) that can slide left and right is installed in cooperation with the top surface of the first fork (7); a hydraulic cylinder base (10) and a sleeve are provided at the front end of the transverse sliding slider (6) located at the bottom, and a hydraulic cylinder body (11) is provided between the front ends of the upper and lower transverse sliding sliders (6); the side door type shelf (3) is a vertically arranged plate-like structure, and is perpendicular to the plane formed by the central axis of the two door frame rods; The invention also comprises a pallet (13), wherein the pallet (13) is compatible with the first fork (7), the second fork (8) and the storage fork (4); the pallet (13) is provided with two transverse fork insertion holes (13-2) which are symmetrically arranged in the left and right sides, and the bottom of the pallet (13) is provided with two longitudinal fork insertion holes (13-1) which are symmetrically arranged in the front and back sides, the front and rear ends of the transverse fork insertion holes (13-2) are respectively connected to the front and rear sides of the pallet (13), the left and right ends of the longitudinal fork insertion holes (13-1) are respectively connected to the left and right sides of the pallet (13), and the bottom is connected to the bottom surface of the pallet (13). 2.根据权利要求1所述的一种高效搬运拣选一体式无人叉车，其特征在于：所述车体（1）的底部右侧设有两前后对称设置的从动轮（9）。2. The high-efficiency integrated transport and picking unmanned forklift according to claim 1 is characterized in that: two driven wheels (9) are symmetrically arranged front and back on the right side of the bottom of the vehicle body (1). 3.根据权利要求1所述的一种高效搬运拣选一体式无人叉车，其特征在于：所述车体（1）的底部左侧中部设有主动轮（12）。3. The high-efficiency integrated transport and picking unmanned forklift according to claim 1, characterized in that a driving wheel (12) is provided in the middle of the left bottom of the vehicle body (1).
CN202010484112.4A 2020-06-01 2020-06-01 An efficient handling and picking integrated unmanned forklift Active CN111591928B (en)

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Publication number Priority date Publication date Assignee Title
CN113526101A (en) * 2021-07-23 2021-10-22 肖卓 Automatic up-down freight transportation equipment for logistics transportation
CN114455514B (en) * 2022-01-24 2024-08-23 浙江恒成硬质合金有限公司 Self-unloading pallet type forklift
CN115676226A (en) * 2022-09-29 2023-02-03 未来机器人（深圳）有限公司 Cargo management method and device, carrying equipment and computer readable storage medium
CN115520815B (en) * 2022-10-31 2025-05-02 杭州电力设备制造有限公司 A device for coordinating multiple forklifts

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CN106167236A (en) * 2016-08-16 2016-11-30 合肥柯金自动化科技股份有限公司 Las er-guidance order-picking trucks
CN110240090A (en) * 2019-06-17 2019-09-17 南京灵雀智能制造有限公司 Forklift capable of preventing goods from inclining and inclination prevention method
CN212269364U (en) * 2020-06-01 2021-01-01 南京林业大学 An efficient handling and picking integrated unmanned forklift
EP3981717A1 (en) * 2020-10-07 2022-04-13 Jungheinrich Aktiengesellschaft Mobile transport vehicle with a storage rack for receiving objects

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Publication number Priority date Publication date Assignee Title
CN106167236A (en) * 2016-08-16 2016-11-30 合肥柯金自动化科技股份有限公司 Las er-guidance order-picking trucks
CN110240090A (en) * 2019-06-17 2019-09-17 南京灵雀智能制造有限公司 Forklift capable of preventing goods from inclining and inclination prevention method
CN212269364U (en) * 2020-06-01 2021-01-01 南京林业大学 An efficient handling and picking integrated unmanned forklift
EP3981717A1 (en) * 2020-10-07 2022-04-13 Jungheinrich Aktiengesellschaft Mobile transport vehicle with a storage rack for receiving objects

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