CN112193338B

CN112193338B - Can load and unload self-interacting intelligent fork truck that prevents empting of focus skew

Info

Publication number: CN112193338B
Application number: CN202011078305.6A
Authority: CN
Inventors: 刘桂兰; 孟冬梅
Original assignee: Yiwei Intelligent Technology Changzhou Co ltd
Current assignee: Yiwei Intelligent Technology Changzhou Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2022-03-22
Anticipated expiration: 2040-10-10
Also published as: CN112193338A

Abstract

The invention discloses a tipping-proof intelligent forklift with self-adjusting loading and unloading gravity center offset. The chassis comprises a front right wheel, a front left wheel, a rear right wheel, a rear left wheel, a middle axle switching assembly, a front axle differential and a rear axle differential, a direction adjusting assembly, a middle axle, a transmission shaft and a wheel axle; the middle axle switching assembly respectively extends out of the middle axle to the front and the back of the forklift, one end of the middle axle, which is far away from the middle axle switching assembly, is respectively in transmission connection with four transmission shafts through a front axle differential and a back axle differential, the front right wheel, the front left wheel, the back right wheel and the back left wheel are respectively provided with a wheel axle as an automatic rotation axis, and the four wheel axles are respectively in transmission connection with the four transmission shafts through direction adjusting components; the middle axle switching assembly switches the forklift into a front drive mode or a rear drive mode, and the direction adjusting assembly respectively and independently controls the angle position of each wheel; when turning, one wheel closest to the turning center and the corresponding wheel are set as driving wheels.

Description

Can load and unload self-interacting intelligent fork truck that prevents empting of focus skew

Technical Field

The invention relates to the technical field of forklifts, in particular to an anti-toppling intelligent forklift capable of self-adjusting the deviation of the loading and unloading center of gravity.

Background

The forklift is a transport vehicle industrially used for transferring goods and workpieces in short distance, and when the forklift is used, the gravity center position and the total weight of the whole forklift in a no-load and load state are greatly changed, so that the forklift is easy to incline and tilt forwards.

In the prior art, forward tilting is generally prevented only by a fixed balancing weight, the load size is limited, and a heavier balancing weight is arranged for generating a balancing effect under the maximum load, so that the fuel economy under no load is influenced; in addition, the characteristic design is not carried out to the heeling of fork truck among the prior art, all prevent the emergence of heeling through restriction turning speed, and forerunner's rear-wheel drive often is fixed, and the center of turning can only be on the front wheel line or on the rear wheel line, and the flexibility of turning is limited, and the running gesture adjustability of vehicle is little, needs the action many times just can reach accurate position, even drive automatic control under the intelligent factory system, also needs more journey time, influences handling efficiency.

Disclosure of Invention

The invention aims to provide an anti-toppling intelligent forklift with a self-adjusting detachable gravity center offset, which aims to solve the problems in the prior art.

In order to solve the technical problems, the invention provides the following technical scheme:

the utility model provides a can load and unload focus skew self-regulating prevent empting intelligent fork truck, fork truck includes chassis and automobile body, and the automobile body bottom is equipped with slidingtype balancing weight through chassis and ground contact on the automobile body, and the balancing weight is followed fork truck fore-and-aft direction controlled slip. The balancing weight of slidingtype can match the focus position of automobile body, prevent that the focus from leaning forward and causing danger when fork truck front end delivery goods, when fork truck no-load state, with the balancing weight antedisplacement, let the focus position stop approximately in the intermediate position department of fork truck front and back wheel, when fork truck delivery goods, the anterior weight increase of fork truck, the balancing weight moves backward, keep whole focus at approximate intermediate position, thereby the pressure of distribution on the front and back wheel differs little, if be furnished with the balancing weight of removal, the pressure that the vehicle front wheel received when then loading goods can be bigger and bigger, when whole focus and front wheel are in same vertical plane, most of loads are total to be pressed on the front wheel, slight disturbance can make fork truck turn over forward promptly.

The chassis comprises a front right wheel, a front left wheel, a rear right wheel, a rear left wheel, a middle axle switching assembly, a front axle differential and a rear axle differential, a direction adjusting assembly, a middle axle, a transmission shaft and a wheel axle;

the middle axle switching assembly respectively extends out of the middle axle to the front and the back of the forklift, one end of the middle axle, which is far away from the middle axle switching assembly, is respectively in transmission connection with four transmission shafts through a front axle differential and a back axle differential, the front right wheel, the front left wheel, the back right wheel and the back left wheel are respectively provided with a wheel axle as an automatic rotation axis, and the four wheel axles are respectively in transmission connection with the four transmission shafts through direction adjusting components;

the middle axle switching assembly switches the forklift into a front drive mode or a rear drive mode, and the direction adjusting assembly respectively and independently controls the angle position of each wheel; when turning, one wheel closest to the turning center and the corresponding wheel are set as driving wheels.

Namely, the rear right wheel is closest to the turning center, the forklift is set to be in a rear-drive mode through the middle axle switching assembly, power is transmitted to a middle axle connected with the rear wheel to drive the rear wheel to actively rotate to generate traction force, the four wheels independently control angles, the front drive and the rear drive can be selected, and a front axle or a rear axle closest to the turning center is used as a driving traction place, so that the flexible steering is realized, and meanwhile, the side inclination is prevented;

the flexible steering is embodied as follows: the traditional forklift generally only uses the front wheel or the rear wheel as the steering wheel, the angle of the two wheels which actively run is not changed, but the rotating speed is respectively adjusted to turn, the design ensures that the turning center can only be positioned on the connecting line of the driving wheels, the turning adjustment can only adjust the turning radius, the position of the turning center in the front and rear directions of the forklift can not be adjusted, the four wheels are independently controlled for the angle, the selection range of the turning center position can be greatly expanded, and the turning is flexible,

the anti-rolling is realized by selecting the wheels close to the turning center as driving wheels, analyzing the right turning of the forklift, enabling the rear right wheels to be close to the turning center, selecting the rear drive of the forklift, analyzing the stress of the forklift on the horizontal plane according to the distance from the turning center, enabling the forklift to roll left due to the right turning of the forklift, enabling all the wheels to have the tendency of lifting right, so that the supporting force provided by the wheels farthest from the turning center is maximum, enabling the wheels closest to the turning center to be most upwarped and provide the least supporting force, enabling the innermost wheels to be upwarped, and enabling the outer three wheels to provide the supporting force and the ground holding force when the innermost wheels start to be separated from the ground, wherein the side rolling is not generated yet, and because a differential mechanism exists on a driving transmission path of the rear wheels, the running resistance of the rear right wheels is remarkably reduced, the differential mechanism loads most of the rotary motion on the innermost wheels-the rear right wheels, the rotating speed of the other driving wheel, namely the rear left wheel, is reduced, the turning speed of the forklift is limited, the side inclination is prevented, and the other two driven wheels, namely the front right wheel and the front left wheel, are still arranged at the outer side, so that a supporting safety measure is provided.

The main application scene of the forklift is material handling in an intelligent factory, calculation of the accurate selection of the path and the turning center is preferably completed and controlled by a computer, and after the turning center is calculated and obtained, the computer calculates and selects front driving and rear driving.

The middle axle switching assembly comprises a power shaft, a synchronizer, a shifting rod, a front axle gear, a rear axle gear and a main drive, wherein the power shaft obtains power from the main drive to rotate, the synchronizer is arranged on the power shaft, the front axle gear and the rear axle gear are respectively arranged on two middle axles which are connected with a front axle differential and a rear axle differential, and the shifting rod shifts the synchronizer to selectively establish transmission connection with the front axle gear or the rear axle gear. The general drive can be a diesel engine or a motor drive, and a synchronizer on a power shaft is a synchronizer assembly commonly used in the automobile industry in the prior art and can be selectively driven by the adjustment of a deflector rod.

The direction adjusting assembly comprises a transmission gear, a coordination gear, an intermediate gear, a support frame and a wheel shaft frame, the coordination gear is fixedly connected to the end portion of the transmission shaft, the coordination gear is fixedly connected to the end portion of the wheel shaft, the support frame comprises a connecting rod, a flat plate and a vertical shaft which are sequentially connected in a bending mode, the bottom end of the connecting rod is installed on the transmission shaft through a bearing, the flat plate is horizontally arranged at a position higher than the transmission gear and the coordination gear, the vertical shaft falls downwards and is rotatably connected to the intermediate gear at the bottom end, the transmission gear, the coordination gear and the intermediate gear are all bevel gears, the intermediate gear is respectively connected with the transmission gears at two sides and the coordination gear in a meshing mode, the wheel shaft frame is a bending rod piece, one end of the wheel shaft frame is connected with a wheel shaft bearing, and the other end of the wheel shaft frame is connected with the vertical shaft bearing. This structure is a concrete structural style of the accent subassembly, and the holding power of axletree to the automobile body is via axletree frame, vertical scroll, dull and stereotyped transmission, and the weight load of automobile body can load on the dull and stereotyped, and the connecting bearing of vertical scroll and axletree frame must be the bearing that can bear the axial force, and the support problem is solved, discusses the angle problem again: one end of the wheel shaft frame is rotatably connected with the vertical shaft, so that the wheel shaft frame can rotate around the vertical shaft, the rotation corresponds to the angle adjustment of the wheels, the wheel shaft frame is dragged to rotate around the vertical shaft by a certain means, the coordination gear and the intermediate gear are adjusted in relative position of the axis except for meshing rotation, a transmission relation is established in a new position, the relative position of the axis of the transmission gear and the axis of the intermediate gear is not changed, an included angle alpha between the transmission gear and the wheel shaft is changed, and the wheel shaft frame is independently controlled in relative position to the vertical shaft by each wheel, so that the driving angle of each wheel is respectively determined.

The direction adjusting assembly further comprises a direction adjusting gear, a steering gear taking the vertical shaft as an axis is arranged on the outer surface of the wheel shaft frame in rotating connection with the vertical shaft, the direction adjusting gear is fixedly connected to the bottom end of a rotating shaft extending downwards from the flat plate vertically, and the direction adjusting gear is in meshed connection with the steering gear. The steering gear rotates to drive the steering gear to rotate, and the rotation of the steering gear means that the wheel axle frame rotates around the vertical shaft.

The transmission gear, the coordination gear, the intermediate gear, the direction adjusting gear and the steering gear are helical gears. The helical gear drives stably and vibrates little.

When turning, the rotation centers of a front wheel system formed by the front right wheel and the front left wheel and a rear wheel system formed by the rear right wheel and the rear left wheel are staggered, the connecting line of the two turning centers is vertical to the central shaft, and the rotation centers of one group of the front wheel system and the rear wheel system as driven wheels are close to the central shaft. Although the turning centers of the driven wheel and the driving wheel are staggered, the staggered degree cannot be large, the distance relationship between the turning center and four wheels is consistent, the structure is to provide certain anti-rolling performance by the friction force between the wheels and the ground, the front right wheel is positioned at the innermost side of the turning path, the front wheel body system is used as the driving wheel to provide the forward traction force of the forklift, if the turning center of the driven wheel is coincident with the driving wheel, the running friction force of the driven wheel is the most basic rolling friction force, when the rotation center is not coincident any more, the actual running path of the driven wheel is different from the expected running path, so that the ground friction force along the axial direction of the wheel shaft is provided, the ground friction force is applied to the wheels at the contact part of the tires and the ground, and the direction of the friction force is considered in order to simplify analysis or more quickly determine the direction, the driven wheel keeps the angle posture of straight-ahead running, namely, the turning center of the driven wheel is far at the right side, the expected driving path of the driven wheel is a straight line, the actual driving path takes the turning center of the driving wheel as the center of a circle, the circle taking the distance between the turning center of the driving wheel and the driven wheel as the radius, when the forklift actually runs, the wheels move left, the right friction force of the ground to the tires is applied to the tires, the centrifugal force of the gravity center of the forklift is applied to the left, the roll danger is greatly increased, on the contrary, if the ground gives a leftward frictional force fmin to the wheels, a part of the center-of-gravity turning centrifugal force fmout is cancelled out, therefore, the turning center of the driven wheel is slightly deviated from the turning center of the driving wheel by a distance delta L and is deviated inwards, the actual running path of the driven wheel is deviated to the right relative to the expected path, and therefore the ground friction force is leftwards, the roll moment of the forklift is relieved, and the roll danger is reduced. The compensation of taking the friction force between the tire and the ground as the overturning moment is used when carrying more cargoes and the turning speed is higher, and under the conventional state, the turning centers of the four wheels should be adjusted and overlapped to ensure that the service life of the tire is longer.

The distance between the two turning centers is less than 1/10 of the wheel track of the forklift in the width direction. If the turning center is staggered too much, the driven wheel is abraded seriously, and if the turning center is staggered too little, the overturning moment of the friction force balance part cannot be exerted.

Compared with the prior art, the invention has the following beneficial effects: according to the invention, the front and rear positions of the whole gravity center of the forklift are adjusted through the sliding type balancing weights, the pressure is uniformly distributed to the front and rear wheels in the front and rear directions, and the forward tilting risk is reduced; through well axle switching assembly, front and back axle differential mechanism and independent accent to the subassembly, can change fork truck forerunner or rear-drive and transfer the wheel angle, let the front wheel system or the rear wheel system that the wheel that is close to the turn center place become the traction wheel, when the tendency that heels takes place fast transmit more speed to the most inboard wheel that sticks up through differential mechanism, reduce the turn speed, at heavy load, under great turn speed, adjust the turn center of front and back wheel slightly and make both stagger a little distance, let follow driving wheel and ground production along the frictional force of shaft direction offset partial overturning moment, reach the purpose of safe driving.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic top view of the base pan of the present invention;

FIG. 2 is a schematic view of the turning process of the present invention;

FIG. 3 is a schematic elevation view of a force analysis of four tires of the present invention;

FIG. 4 is a schematic diagram of a bridge switching assembly according to the present invention;

FIG. 5 is a schematic structural view of the front and rear axle differentials of the present invention;

FIG. 6 is a schematic view of the independent deployment of each wheel by the steering assembly of the present invention;

FIG. 7 is a schematic view of the direction-adjusting assembly of the present invention;

FIG. 8 is a diagrammatic perspective view of the direction adjustment assembly of the present invention;

FIG. 9 is a schematic top view of the front and rear wheels with their centers of turning offset in accordance with the present invention;

FIG. 10 is a graph showing the force analysis of the cornering of the rear wheel according to the present invention with the rear wheel kept at a straight angle.

In the figure: 1-chassis, 21-front right wheel, 22-front left wheel, 23-rear right wheel, 24-rear left wheel, 3-middle axle switching assembly, 31-power shaft, 32-synchronizer, 33-deflector rod, 34-front shaft gear, 35-rear shaft gear, 39-total drive, 4-front and rear axle differential, 5-steering assembly, 51-transmission gear, 52-coordination gear, 53-middle gear, 54-support frame, 541-connecting rod, 542-flat plate, 543-vertical shaft, 55-steering gear, 56-wheel shaft frame, 561-steering gear, 61-middle shaft, 62-transmission shaft and 63-wheel shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-10, a tipping-proof intelligent forklift capable of loading and unloading gravity center offset self-adjustment comprises a chassis 1 and a forklift body, wherein the bottom of the forklift body is in contact with the ground through the chassis 1, a sliding type balancing weight is arranged on the forklift body, and the balancing weight slides along the front and back directions of the forklift in a controlled manner. The balancing weight of slidingtype can match the focus position of automobile body, prevent that the focus from leaning forward and causing danger when fork truck front end delivery goods, when fork truck no-load state, with the balancing weight antedisplacement, let the focus position stop approximately in the intermediate position department of fork truck front and back wheel, when fork truck delivery goods, the anterior weight increase of fork truck, the balancing weight moves backward, keep whole focus at approximate intermediate position, thereby the pressure of distribution on the front and back wheel differs little, if be furnished with the balancing weight of removal, the pressure that the vehicle front wheel received when then loading goods can be bigger and bigger, when whole focus and front wheel are in same vertical plane, most of loads are total to be pressed on the front wheel, slight disturbance can make fork truck turn over forward promptly.

As shown in fig. 1, the chassis 1 includes a front right wheel 21, a front left wheel 22, a rear right wheel 23, a rear left wheel 24, a middle axle switching assembly 3, a front-rear axle differential 4, a steering assembly 5, a middle axle 61, a transmission shaft 62 and a wheel axle 63;

as shown in fig. 4 to 6, the middle axle switching assembly 3 extends out of a middle axle 61 to the front and the rear of the forklift respectively, one end of the middle axle 61, which is far away from the middle axle switching assembly 3, is in transmission connection with four transmission shafts 62 through a front and rear axle differential 4 respectively, the front right wheel 21, the front left wheel 22, the rear right wheel 23 and the rear left wheel 24 are respectively provided with a wheel axle 63 as an automatic rotation axis, and the four wheel axles 63 are in transmission connection with the four transmission shafts 62 through a direction adjusting assembly 5 respectively;

the middle axle switching assembly 3 switches the forklift into front drive or rear drive, and the direction regulating assembly 5 respectively and independently controls the angle position of each wheel; when turning, one wheel closest to the turning center and the corresponding wheel are set as driving wheels.

As shown in fig. 2, the rear right wheel 23 is closest to the turning center, the middle axle switching assembly 3 is used to set the forklift into a rear-drive mode, power is transmitted to the middle axle connected with the rear wheel to drive the rear wheel to actively rotate to generate traction, the four wheels independently control the angle, the front drive and the rear drive can be selected, and the front axle or the rear axle closest to the turning center is used as a driving traction place, so that the flexible steering can be realized and the side inclination can be prevented;

the prevention of the rolling is realized by selecting the wheels close to the turning center as driving wheels, analyzing the right turning of the forklift, as shown in fig. 2, the rear right wheel 23 is close to the turning center, the forklift selects the rear drive, and analyzing the stress of the forklift in the horizontal plane by the distance from the turning center, as shown in fig. 3, because the forklift turns right, the forklift tends to roll left, all the wheels tend to lift right, so that the reason is that the supporting force F4 provided by the wheels farthest from the turning center is maximum, the wheels closest to the turning center are most "upwarped" and provide the supporting force F1 to be minimum, the innermost wheels are upwarped, and when the forklift starts to "leave" the ground, the outer three wheels can provide the supporting force and the ground holding force, the rolling is not generated yet, as shown in fig. 2, and because a differential mechanism exists on the driving transmission path of the rear wheels, the running resistance of the rear right wheel 23 is obviously reduced, therefore, the differential mechanism loads most of the rotary motion to the innermost wheel, namely the rear right wheel 23 to be overhead, the rotating speed of the other driving wheel, namely the rear left wheel 24, is reduced, the turning speed of the forklift is limited, and the side rolling is prevented, and the other two driven wheels, namely the front right wheel 21 and the front left wheel 22, are still arranged at the more outer positions and are a supporting safety measure.

As shown in fig. 4, the intermediate axle switching assembly 3 includes a power shaft 31, a synchronizer 32, a shift lever 33, a front shaft gear 34, a rear shaft gear 35 and a main drive 39, the power shaft 31 obtains power from the main drive 39 to rotate, the power shaft 31 is provided with the synchronizer 32, two intermediate shafts 61 connecting the front and rear axle differentials 4 are respectively provided with the front shaft gear 34 and the rear shaft gear 35, and the shift lever 33 shifts the synchronizer 32 to selectively establish transmission connection with the front shaft gear 34 or the rear shaft gear 35. The total drive can be a diesel engine or a motor drive, and the synchronizer 32 on the power shaft 31 is a synchronizer assembly commonly used in the automobile industry in the prior art and can be selectively driven by the adjustment of the shift lever 33.

As shown in fig. 7 and 8, the direction adjusting assembly 5 includes a transmission gear 51, a coordination gear 52, an intermediate gear 53, a support frame 54 and a wheel shaft frame 56, the coordination gear 52 is fixedly connected to an end portion of the transmission shaft 62, the coordination gear 52 is fixedly connected to an end portion of the wheel shaft 63, the support frame 54 includes a connecting rod 541, a flat plate 542 and a vertical shaft 543 which are sequentially connected in a bending manner, a bottom end of the connecting rod 541 is mounted on the transmission shaft 62 through a bearing, the flat plate 542 is horizontally arranged at a position higher than the transmission gear 51 and the coordination gear 52, the vertical shaft 543 vertically falls downward and is rotatably connected to the intermediate gear 53 at the bottom end, the transmission gear 51, the coordination gear 52 and the intermediate gear 53 are all bevel gears, the intermediate gear 53 is respectively connected with the transmission gear 51 and the coordination gear 52 on both sides in a meshing manner, the wheel shaft frame 56 is a bending rod, one end of the wheel shaft frame 56 is connected with the wheel shaft 63 through a bearing, and the other end is connected with the vertical shaft 543 bearing. The structure is a specific structural form of the direction adjusting assembly 5, the supporting force of the wheel axle 63 to the vehicle body is transmitted through the wheel axle frame 56, the vertical shaft 543 and the flat plate 542, the weight load of the vehicle body can be loaded on the flat plate 542, the connecting bearing of the vertical shaft 543 and the wheel axle frame 56 is a bearing which can bear the axial force, and after the supporting problem is solved, the angle problem is discussed: one end of the wheel shaft bracket 56 is rotatably connected with the vertical shaft 543, so that the wheel shaft bracket 56 can rotate around the vertical shaft 543, the rotation corresponds to the angle adjustment of the wheel, the wheel shaft bracket 56 is dragged to rotate around the vertical shaft 543 by a certain means, the coordination gear 52 and the intermediate gear 53 are adjusted in relative position of the axes except for meshing rotation, a transmission relation is established in a new position, the relative positions of the axes of the transmission gear 51 and the intermediate gear 53 are not changed, an included angle alpha between the transmission shaft 62 and the wheel shaft 63 is changed, and the angle position of the wheel shaft bracket 56 relative to the vertical shaft 543 is independently controlled by each wheel, so that the running angle of each wheel is respectively determined.

The direction adjusting assembly 5 further comprises a direction adjusting gear 55, a steering gear 561 taking the vertical shaft 543 as an axis is arranged on the outer surface of the wheel shaft frame 56 in rotating connection with the vertical shaft 543, the direction adjusting gear 55 is fixedly connected to the bottom end of a rotating shaft vertically extending downwards from the flat plate 542, and the direction adjusting gear 55 is in meshed connection with the steering gear 561. The turning gear 55 rotates to rotate the steering gear 561, and the rotation of the steering gear 561 means the rotation of the wheel axle bracket 56 around the vertical shaft 543.

The transmission gear 51, the coordination gear 52, the intermediate gear 53, the direction adjusting gear 55 and the steering gear 561 are all helical gears. Helical gear transmission stable vibration is little

As shown in fig. 9, during turning, the rotation centers of the front wheel system formed by the front right wheel 21 and the front left wheel 22 and the rotation centers of the rear wheel system formed by the rear right wheel 23 and the rear left wheel 24 are staggered, the line of the two turning centers is perpendicular to the central axis 61, and the rotation centers of one set of the front wheel system and the rear wheel system as the driven wheels are close to the central axis 61. Although the driven wheel is staggered with the turning center of the driving wheel, but the staggered degree is not large, the turning center is consistent with the distance relationship between the turning center and four wheels, as shown in fig. 9, the front right wheel 21 is positioned at the innermost side of the turning path, the front wheel body is used as the driving wheel to provide the forward traction of the forklift, if the turning center of the driven wheel is coincident with the driving wheel, the driving friction of the driven wheel is the most basic rolling friction, and when the rotation center is not coincident, because the actual forward path of the driven wheel is different from the expected driving path, the ground friction along the axial direction of the wheel axle is provided, the ground friction is applied to the wheel at the contact position between the wheel tyre and the ground, in order to simplify the analysis or more quickly characterize the direction of the friction, considering the angular attitude of the driven wheel keeping straight ahead, i.e. the turning center of the driven wheel is far to the right, the expected driving path of the driven wheel is straight, and the actual driving path is a circle with the turning center of the driving wheel as the center of the circle and the distance between the turning center of the driving wheel and the driven wheel as the radius, the wheels move to the left during actual driving, and the right friction force of the ground to the tires is applied, as shown in fig. 3, the rolling risk is greatly increased if the tires are applied with the friction force of the ground to the right and the center of gravity of the forklift is applied with the centrifugal force to the left, so that, conversely, if the left friction force fmder is applied to the wheels on the ground, a part of the center of gravity turning centrifugal force fsepart can be cancelled, so that the turning center of the rear wheel system in fig. 9 is slightly deviated from the turning center of the driving wheel by a distance deltal and is deviated inwards, the actual driving path of the driven wheel deviates to the right relative to the expected path, so that the ground friction force is left, the roll moment of the forklift is reduced, and the roll danger is reduced.

The distance between the two turning centers is less than 1/10 of the wheel track of the forklift in the width direction. That is, in FIG. 9,. DELTA.L/D is less than 0.1. If the turning center is staggered too much, the driven wheel is abraded seriously, and if the turning center is staggered too little, the overturning moment of the friction force balance part cannot be exerted.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a can load and unload self-adjusting intelligent fork truck that prevents empting of focus skew which characterized in that: the forklift comprises a chassis (1) and a forklift body, wherein the bottom of the forklift body is in contact with the ground through the chassis (1), a sliding type balancing weight is arranged on the forklift body, and the balancing weight is controlled to slide along the front and back directions of the forklift;

the chassis (1) comprises a front right wheel (21), a front left wheel (22), a rear right wheel (23), a rear left wheel (24), a middle axle switching assembly (3), a front and rear axle differential (4), a direction adjusting assembly (5), a middle axle (61), a transmission shaft (62) and a wheel axle (63);

the middle axle switching assembly (3) extends out of a middle axle (61) to the front and the rear of the forklift respectively, one end, far away from the middle axle switching assembly (3), of the middle axle (61) is in transmission connection with four transmission shafts (62) through a front axle differential (4) and a rear axle differential (4), the front right wheel (21), the front left wheel (22), the rear right wheel (23) and the rear left wheel (24) are respectively provided with a wheel axle (63) as an automatic rotation axis, and the four wheel axles (63) are in transmission connection with the four transmission shafts (62) through direction adjusting assemblies (5);

the middle axle switching assembly (3) switches the forklift into front drive or rear drive, and the direction adjusting assembly (5) respectively and independently controls the angle position of each wheel; when turning, setting one wheel closest to the turning center and the corresponding wheel as an active driving wheel;

when the bicycle turns, the rotation centers of a front wheel system consisting of the front right wheel (21) and the front left wheel (22) and a rear wheel system consisting of the rear right wheel (23) and the rear left wheel (24) are staggered, the connecting line of the two turning centers is vertical to the middle shaft (61), and the rotation centers of one group of the front wheel system and the rear wheel system as driven wheels are close to the middle shaft (61).

2. A tipping self-adjusting anti-tipping smart forklift truck according to claim 1, wherein: the middle axle switching assembly (3) comprises a power shaft (31), a synchronizer (32), a shifting lever (33), a front axle gear (34), a rear axle gear (35) and a total drive (39), wherein the power shaft (31) obtains power from the total drive (39) to rotate, the synchronizer (32) is arranged on the power shaft (31), the front axle gear (34) and the rear axle gear (35) are respectively arranged on two middle axles (61) which are connected with a front axle differential (4) and a rear axle differential (4), and the shifting lever (33) shifts the synchronizer (32) to select to establish transmission connection with the front axle gear (34) or the rear axle gear (35).

3. A tipping self-adjusting anti-tipping smart forklift truck according to claim 1, wherein: the direction adjusting assembly (5) comprises a transmission gear (51), a coordination gear (52), an intermediate gear (53), a support frame (54) and a wheel shaft frame (56), the coordination gear (52) is fixedly connected to the end of a transmission shaft (62), the coordination gear (52) is fixedly connected to the end of a wheel shaft (63), the support frame (54) comprises a connecting rod (541), a flat plate (542) and a vertical shaft (543) which are sequentially connected in a bending mode, the bottom end of the connecting rod (541) is mounted on the transmission shaft (62) through a bearing, the flat plate (542) is horizontally arranged at a position higher than the transmission gear (51) and the coordination gear (52), the vertical shaft (543) vertically falls down and is rotatably connected with the intermediate gear (53) at the bottom end, the transmission gear (51), the coordination gear (52) and the intermediate gear (53) are all bevel gears, and the intermediate gear (53) is respectively connected with the transmission gears (51) at two sides, The coordination gears (52) are connected in a meshed mode, the wheel shaft frame (56) is a bent rod piece, one end of the wheel shaft frame (56) is connected with a wheel shaft (63) in a bearing mode, and the other end of the wheel shaft frame (56) is connected with a vertical shaft (543) in a bearing mode.

4. A tipping self-adjusting anti-tipping smart forklift truck according to claim 3, wherein: the direction adjusting assembly (5) further comprises a direction adjusting gear (55), a steering gear (561) taking the vertical shaft (543) as an axis is arranged on the outer surface, rotatably connected with the vertical shaft (543), of the wheel shaft frame (56), the direction adjusting gear (55) is fixedly connected to the bottom end of a rotating shaft extending vertically downwards from the flat plate (542), and the direction adjusting gear (55) is meshed and connected with the steering gear (561).

5. A tipping self-adjusting anti-tipping smart forklift truck according to claim 4, wherein: the transmission gear (51), the coordination gear (52), the intermediate gear (53), the direction adjusting gear (55) and the steering gear (561) are all helical gears.

6. A tipping self-adjusting anti-tipping intelligent forklift truck as claimed in claim 1, wherein: the distance between the two turning centers is less than 1/10 of the wheel track of the forklift in the width direction.