CN112978619A - Cargo transportation shock-absorbing forklift with automatic guiding device and working method thereof - Google Patents
Cargo transportation shock-absorbing forklift with automatic guiding device and working method thereof Download PDFInfo
- Publication number
- CN112978619A CN112978619A CN202110179945.4A CN202110179945A CN112978619A CN 112978619 A CN112978619 A CN 112978619A CN 202110179945 A CN202110179945 A CN 202110179945A CN 112978619 A CN112978619 A CN 112978619A
- Authority
- CN
- China
- Prior art keywords
- forklift
- loading
- fork
- unloading
- screw rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000035939 shock Effects 0.000 claims description 15
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Images
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
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- 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
- B66F9/07509—Braking
-
- 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
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- 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
- B66F9/143—Movements of forks relative to each other - symmetric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a goods transportation shock-absorbing forklift with an automatic guide device, which comprises a forklift body, the automatic guide device, a loading and unloading fork spacing adjusting device, a forklift lifting frame and a Mecanum wheel group. The forklift truck has the advantages that the forklift truck body can run according to a set route, the route is not deviated, the accuracy is high, the Mecanum wheel group is arranged at the bottom of the forklift truck body, vibration generated in the process of cargo transportation can be reduced, the situation that the cargo is displaced or even overturned and dropped due to vibration in the process of cargo transportation is avoided, and the safety of cargo transportation is kept; meanwhile, the width between the two loading and unloading forks on the forklift body can be adjusted, so that the loading and unloading requirements of different types of goods can be met.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a working method of a goods transportation shock-absorbing forklift with an automatic guide device.
Background
A forklift is an industrial transportation vehicle, and refers to various wheeled transportation vehicles that perform loading, unloading, stacking, and short-distance transportation operations on visible pallet goods. The goods need to be carried, the goods are moved and placed on the forklift, when the forklift moves to a required position, the fork plate of the forklift is controlled up and down by controlling the operation feeling on the forklift. Firstly, when the forklift is used for loading goods and walking, the goods are easy to vibrate due to uneven ground, so that the goods are displaced or even overturned in the transportation process; secondly, the distance between two loading forks of the forklift is usually fixed, if the size of the goods to be loaded is too large, the goods can not be stably placed on the loading forks, and if the size of the goods to be loaded and unloaded is too small, the gap between the two loading forks is too large, so that the goods can not be loaded and unloaded.
Disclosure of Invention
The purpose of the invention is as follows: in view of the problems and deficiencies of the prior art, the invention aims to provide a working method of a cargo transportation shock-absorbing forklift with an automatic guiding device.
The technical scheme is as follows: in order to achieve the purpose, the goods transportation shock-absorbing forklift with the automatic guide device comprises a forklift body, the automatic guide device, a loading fork spacing adjusting device, a forklift lifting frame and a Mecanum wheel set, wherein the automatic guide device is arranged on the forklift body, the forklift lifting frame is arranged at the front end of the forklift body, the loading fork spacing adjusting device is installed on the forklift lifting frame, the loading fork is installed on the spacing adjusting device, and the Mecanum wheel set is arranged below the forklift body.
Further, the automatic guiding device comprises a navigation system, a data processing device, a safety anti-collision device, an emergency stop device, a motion controller and an actuating mechanism;
further, the navigation system is used for sending navigation data to the data processing device; the data processing device is used for receiving the work tasks, carrying out navigation and path planning according to the work tasks and sending a motion instruction to the motion controller,
further, the motion controller is used for controlling the executing mechanism to execute relevant actions according to the motion command;
the safety anti-collision device and the emergency stop device are respectively used for generating a collision signal or an emergency stop signal and sending the collision signal or the emergency stop signal to the motion controller, and the motion controller controls the actuating mechanism to brake according to the collision signal or the emergency stop signal.
Further, mecanum wheelset includes servo drive motor, bearing frame, support frame and the antidetonation mechanism of mecanum wheel, drive mecanum wheel, and every mecanum wheelset has independent servo drive motor to drive, be equipped with the pivot in the bearing frame, pivot one end is connected with servo drive motor's action wheel, and the other end passes the support frame and establishes from driving wheel fixed connection on mecanum wheel, the action wheel passes through the hold-in range linkage with following the driving wheel, and the antidetonation mechanism sets up on the support frame.
Further, the Mecanum wheel set comprises four groups and is symmetrically installed at four corners of a base below the forklift body.
Furthermore, the anti-seismic mechanism comprises a guide shaft, a spring and a shock-absorbing support, the support frame is connected and fixed with the shock-absorbing support through the guide shaft, and the spring is sleeved on the guide shaft.
Furthermore, the loading and unloading fork interval adjusting device comprises a screw rod, a first motor and an adjusting seat, the adjusting seat is arranged on the loading and unloading fork mounting seat in a sliding mode, the first motor is fixed on the loading and unloading fork mounting seat, the screw rod is installed on the loading and unloading fork mounting seat through a fixing seat, the loading and unloading fork is installed on the loading and unloading fork mounting seat, one end of the screw rod is in threaded connection with the adjusting seat, the other end of the screw rod is connected with the first motor, the screw rod comprises a first screw rod and a second screw rod, and the thread directions of the first screw rod and the second screw rod are.
Furthermore, a loading and unloading fork lifting device is further arranged on the forklift lifting frame and connected with a loading and unloading fork interval adjusting device.
Further, the loading and unloading fork lifting device comprises a motor II, a chain wheel I, a chain wheel II and a lifting chain, wherein the motor II is fixed on a forklift body, the chain wheel I is connected with an output shaft of the motor II, the chain wheel II is installed at the top end of a forklift vertical beam, the lifting chain is wound on the chain wheel I and the chain wheel II, one end of the lifting chain is fixed on the shock absorption seat through a bolt, and the other end of the lifting chain is connected with the loading and unloading fork installation seat.
A working method of a cargo transportation shock-absorbing forklift with an automatic guide device comprises the following specific working methods:
(1) setting a driving route of a forklift body on a navigation system, and sending navigation data to a data processing device by the navigation system; the data processing device receives the work tasks, performs navigation and path planning according to the work tasks, and sends motion instructions to the motion controller;
(2) safety anti-collision device for forklift body running process if forklift meets obstacle
(3) Sending a signal to a motion controller, and adjusting the running direction of a forklift body by the motion controller to bypass the obstacle;
(4) if the forklift needs to stop in an emergency, the emergency stop device sends a signal to the motion controller, and the motion controller controls the forklift body to stop running immediately;
(5) when the forklift is transported to a destination, the first motor is started, the first screw rod and the second screw rod rotate, and the distance between the two loading forks can be adjusted to a proper width according to the size of the actual goods to be loaded and unloaded;
(6) the motor II rotates forwards to drive the chain wheel I and the chain wheel II to rotate forwards, and the lifting chain drives the loading and unloading fork to descend;
(7) the forklift body drives the loading and unloading fork to move forward, and cargoes to be loaded and unloaded are loaded on the loading and unloading fork;
(8) setting a return route of a forklift body on a navigation system; the navigation system sends navigation data to the data processing device; the data processing device receives the work tasks, performs navigation and path planning according to the work tasks, and sends motion instructions to the motion controller;
(9) the motor II rotates reversely to drive the chain wheel I and the chain wheel II to rotate reversely, and the lifting chain drives the loading and unloading fork to ascend to a certain height;
(10) the forklift body drives the loading and unloading fork to retreat, and goods are placed at fixed positions;
(11) repeating the steps (1) - (10).
According to the technical scheme, the invention has the beneficial effects that:
(1) the invention relates to a cargo transportation shock absorber with an automatic guide device
The forklift is high in accuracy, the mecanum wheel group is arranged at the bottom of the forklift body, vibration generated in the process of cargo transportation can be reduced, the situation that the cargo is displaced or even overturned and falls due to vibration in the process of cargo transportation is avoided, and the safety of cargo transportation is kept; meanwhile, the width between the two loading and unloading forks on the forklift body can be adjusted, so that the loading and unloading requirements of different types of goods can be met.
(2) The invention relates to a cargo transportation shock absorber with an automatic guide device
Each Mecanum wheel of the forklift body is provided with an independent shock absorption mechanism, so that the forklift body can be attached to the uneven ground, the course deviation in the process of translation and driving is reduced, and the driving precision is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a fork spacing adjustment mechanism and fork lift of the present invention;
FIG. 3 is a schematic diagram of a Mecanum wheel set of the present invention;
fig. 4 is a schematic structural diagram of the automatic guiding device of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
A shock absorbing forklift for cargo transportation with automatic guiding device as shown in fig. 1-4, characterized in that: including fork truck automobile body 1, automatic guiding device 2, loading and unloading fork 3, loading and unloading fork interval adjusting device 4, fork truck hoisting frame 5 and mecanum wheelset 6, automatic guiding device 2 sets up on fork truck automobile body 1, 1 front end of fork truck automobile body is equipped with fork truck hoisting frame 5, loading and unloading fork interval adjusting device 4 is installed on fork truck hoisting frame 5, and loading and unloading fork 2 is installed on interval adjusting device 4, 1 below of fork truck automobile body is equipped with mecanum wheelset 6.
Wherein the automatic guiding device 2 comprises a navigation system 21, a data processing device 22, a safety anti-collision device 23, an emergency stop device 24, a motion controller 25 and an actuating mechanism 26; the navigation system 21 is configured to send navigation data to the data processing device 22; the data processing device 22 is configured to receive a work task, perform navigation and path planning according to the work task, and send a motion instruction to the motion controller 25, where the motion controller 25 is configured to control the execution mechanism to execute a related action according to the motion instruction; the anti-collision safety device 23 and the emergency stop device 24 are respectively used for generating a collision signal or an emergency stop signal and sending the collision signal or the emergency stop signal to the motion controller 25, and the motion controller 25 controls the actuating mechanism to brake according to the collision signal or the emergency stop signal.
In this embodiment mecanum wheel set 6 includes mecanum wheel 61, servo drive motor 62, bearing frame 63, support frame 64 and antidetonation mechanism 65 that drive mecanum wheel 61, and every mecanum wheel set 6 has independent servo drive motor 62 to drive, be equipped with the pivot in the bearing frame 63, pivot one end is connected with servo drive motor 62's action wheel, and the other end passes support frame 64 and establishes the follow driving wheel fixed connection on mecanum wheel 61, the action wheel passes through the hold-in range linkage with the follow driving wheel, and antidetonation mechanism 65 sets up on support frame 66.
The embodiment is characterized in that: the Mecanum wheel sets 6 comprise four groups and are symmetrically arranged at four corners of a base below the forklift body 1.
In this embodiment, the anti-vibration mechanism 65 includes a guide shaft 651, a spring 652 and a suspension bracket 653, the support frame 44 and the suspension bracket 44 are fixedly connected through the guide shaft 651, and the spring 652 is sleeved on the guide shaft 651.
In this embodiment, the fork spacing adjusting device 4 includes a screw rod 41, a first motor 42 and an adjusting seat 43, the adjusting seat 43 is slidably disposed on the fork mounting seat 3, the first motor 42 is fixed on the fork mounting seat, the screw rod 41 is mounted on the fork mounting seat through a fixing seat 44, the fork 3 is mounted on the fork mounting seat, one end of the screw rod 41 is in threaded connection with the adjusting seat 43, the other end of the screw rod is connected with the first motor 42, the screw rod 41 includes a first screw rod and a second screw rod, and the thread directions of the first screw rod and the second screw rod are opposite.
In this embodiment, the forklift lifting frame 5 is further provided with a loading and unloading fork lifting device 7, and the loading and unloading fork lifting device 7 is connected with the loading and unloading fork distance adjusting device 4.
In this embodiment, the fork lift 7 includes a second motor 71, a first sprocket 72, a second sprocket 73, and a lifting chain 74, where the second motor 71 is fixed on the forklift body 1, the first sprocket 72 is connected to an output shaft of the second motor 71, the second sprocket 73 is installed at the top end of the forklift vertical beam 2, the lifting chain 74 is wound around the first sprocket 72 and the second sprocket 73, where one end of the lifting chain 74 is fixed on the damper base 7 by a bolt, and the other end is connected to the fork mounting base 3.
A working method of a cargo transportation shock-absorbing forklift with an automatic guide device comprises the following specific working methods:
(1) setting a driving route of the forklift body 1 on the navigation system 21, and transmitting navigation data to the data processing device 22 by the navigation system 21; the data processing device 22 receives the work tasks, performs navigation and path planning according to the work tasks, and sends a motion instruction to the motion controller 25;
(2) if the forklift meets an obstacle in the running process of the forklift body, the safety anti-collision device 23
(3) Sending a signal to the motion controller 25, and adjusting the running direction of the forklift body by the motion controller 25 to bypass the obstacle;
(4) if the forklift needs to stop in an emergency, the emergency stop device 24 sends a signal to the motion controller 25, and the motion controller 25 controls the forklift body to stop running immediately;
(5) when the forklift is transported to a destination, the first motor 42 is started, the first screw rod and the second screw rod rotate, and the distance between the two loading forks 3 can be adjusted to a proper width according to the size of the actual goods to be loaded and unloaded;
(6) the motor II 71 rotates forwards to drive the chain wheel I72 and the chain wheel II 73 to rotate forwards, and the lifting chain 74 drives the loading and unloading fork to descend;
(7) the forklift body 1 drives the loading and unloading fork 3 to move forward, and cargoes to be loaded and unloaded are loaded on the loading and unloading fork (3);
(8) setting a return route of the forklift body on the navigation system 21; the navigation system 21 transmits navigation data to the data processing device 22; the data processing device 22 receives the work tasks, performs navigation and path planning according to the work tasks, and sends a motion instruction to the motion controller 25;
(9) the second motor 71 rotates reversely to drive the first chain wheel 72 and the second chain wheel 73 to rotate reversely, and the lifting chain 74 drives the loading and unloading fork 3 to ascend to a certain height;
(10) the forklift body 1 drives the loading and unloading fork 3 to retreat, and goods are placed at fixed positions;
(11) repeating the steps (1) - (10).
The examples are given solely for the purpose of illustration and are not to be construed as limitations of the present invention, as various equivalents will occur to those skilled in the art upon reading the present invention and are intended to be within the scope of the invention as defined in the claims appended hereto.
Claims (9)
1. The utility model provides a cargo transportation fork truck of moving away to avoid possible earthquakes with automatic guiding device which characterized in that: including fork truck automobile body (1), automatic guiding device (2), loading and unloading fork (3), loading and unloading fork interval adjusting device (4), fork truck hoisting frame (5) and mecanum wheelset (6), automatic guiding device (2) set up on fork truck automobile body (1), fork truck automobile body (1) front end is equipped with fork truck hoisting frame (5), install on fork truck hoisting frame (5) loading and unloading fork interval adjusting device (4), and install on interval adjusting device (4) loading and unloading fork (2), fork truck automobile body (1) below is equipped with mecanum wheelset (6).
2. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 1, characterized in that: the automatic guiding device (2) comprises a navigation system (21), a data processing device (22), a safety anti-collision device (23), an emergency stop device (24), a motion controller (25) and an actuating mechanism (26); the navigation system (21) is used for sending navigation data to the data processing device (22); the data processing device (22) is used for receiving the work tasks, carrying out navigation and path planning according to the work tasks and sending a motion instruction to the motion controller (25),
the motion controller (25) is used for controlling the executing mechanism to execute relevant actions according to the motion command;
the safety anti-collision device (23) and the emergency stop device (24) are respectively used for generating a collision signal or an emergency stop signal and sending the collision signal or the emergency stop signal to the motion controller (25), and the motion controller (25) controls the actuating mechanism to brake according to the collision signal or the emergency stop signal.
3. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 1, characterized in that: mecanum wheelset (6) are including servo drive motor (62), bearing frame (63), support frame (64) and antidetonation mechanism (65) of Mecanum wheel (61), drive Mecanum wheel (61), and every Mecanum wheelset (6) have independent servo drive motor (62) to drive, be equipped with the pivot in bearing frame (63), pivot one end is connected with the action wheel of servo drive motor (62), and the other end passes support frame (64) and establishes from driving wheel fixed connection on Mecanum wheel (61), the action wheel passes through the hold-in range linkage with the follow driving wheel, and antidetonation mechanism (65) set up on support frame (66).
4. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 1, characterized in that: the method is characterized in that: the Mecanum wheel sets (6) comprise four groups and are symmetrically arranged at four corners of a base below the forklift body (1).
5. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 1, characterized in that: antidetonation mechanism (65) are including guiding axle (651), spring (652) and shock absorber support (653), it is fixed to be connected through guiding axle (651) in the middle of support frame (44) and shock absorber support (44), the cover is equipped with spring (652) on guiding axle (651).
6. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 1, characterized in that: the loading and unloading fork distance adjusting device (4) comprises a screw rod (41), a first motor (42) and an adjusting seat (43), wherein the adjusting seat (43) is arranged on the loading and unloading fork mounting seat (31) in a sliding mode, the first motor (42) is fixed on the loading and unloading fork mounting seat (31), the screw rod (41) is installed on the loading and unloading fork mounting seat through a fixing seat (44), the loading and unloading fork (3) is installed on the loading and unloading fork mounting seat, one end of the screw rod (41) is in threaded connection with the adjusting seat (43), the other end of the screw rod is connected with the first motor (42), the screw rod (41) comprises a first screw rod and a second screw rod, and the screw directions of the first screw rod and the second screw rod are opposite.
7. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 6, wherein: the forklift lifting frame (5) is further provided with a loading and unloading fork lifting device (7), and the loading and unloading fork lifting device (7) is connected with the loading and unloading fork interval adjusting device (4).
8. The shock absorbing forklift for cargo transportation with automatic guiding device according to claim 7, wherein: the loading and unloading fork lifting device (7) comprises a second motor (71), a first chain wheel (72), a second chain wheel (73) and a lifting chain (74), wherein the second motor (71) is fixed on the forklift body (1), the first chain wheel (72) is connected with an output shaft of the second motor (71), the second chain wheel (73) is installed at the top end of the forklift vertical beam (2), the lifting chain (74) is wound on the first chain wheel (72) and the second chain wheel (73), one end of the lifting chain (74) is fixed on the shock absorption seat (7) through a bolt, and the other end of the lifting chain is connected with the loading and unloading fork mounting seat (3).
9. The utility model provides a cargo transportation fork truck's operating method of moving away to avoid possible earthquakes with automatic guiding device which characterized in that: the specific working method comprises the following steps:
(1) setting a driving route of the forklift body (1) on a navigation system (21), and sending navigation data to a data processing device (22) by the navigation system (21); the data processing device (22) receives the work tasks, performs navigation and path planning according to the work tasks, and sends motion instructions to the motion controller (25);
(2) if the forklift meets an obstacle in the running process of the forklift body, the safety anti-collision device (23)
Sending a signal to a motion controller (25), wherein the motion controller (25) adjusts the running direction of a forklift body to bypass the obstacle;
(3) if the forklift needs to stop in an emergency, the emergency stop device (24) sends a signal to the motion controller (25), and the motion controller (25) controls the forklift body to stop running immediately;
(4) when the forklift is transported to a destination, the motor I (42) is started, the screw rod I and the screw rod II rotate, and the distance between the two loading forks (3) can be adjusted to a proper width according to the size of the actual goods to be loaded and unloaded;
(5) the motor II (71) rotates forwards to drive the chain wheel I (72) and the chain wheel II (73) to rotate forwards, and the lifting chain (74) drives the loading and unloading fork to descend;
(6) the forklift body (1) drives the loading and unloading fork (3) to move forward, and cargoes to be loaded and unloaded are loaded on the loading and unloading fork (3);
(7) setting a return route of the forklift body on a navigation system (21); the navigation system (21) sends navigation data to the data processing device (22); the data processing device (22) receives the work tasks, performs navigation and path planning according to the work tasks, and sends motion instructions to the motion controller (25);
(8) the second motor (71) rotates reversely to drive the first chain wheel (72) and the second chain wheel (73) to rotate reversely, and the lifting chain (74) drives the loading and unloading fork (3) to rise to a certain height;
(9) the forklift body (1) drives the loading and unloading fork (3) to retreat, and goods are placed at fixed positions;
(10) repeating the steps (1) - (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179945.4A CN112978619A (en) | 2021-02-09 | 2021-02-09 | Cargo transportation shock-absorbing forklift with automatic guiding device and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179945.4A CN112978619A (en) | 2021-02-09 | 2021-02-09 | Cargo transportation shock-absorbing forklift with automatic guiding device and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112978619A true CN112978619A (en) | 2021-06-18 |
Family
ID=76392833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110179945.4A Pending CN112978619A (en) | 2021-02-09 | 2021-02-09 | Cargo transportation shock-absorbing forklift with automatic guiding device and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112978619A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777835A (en) * | 2015-03-11 | 2015-07-15 | 武汉汉迪机器人科技有限公司 | Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method |
| CN205634789U (en) * | 2016-04-19 | 2016-10-12 | 湖北汇利机械科技有限公司 | Fork automatically regulated loads and unloads car |
| CN205709703U (en) * | 2016-03-25 | 2016-11-23 | 广州普华灵动机器人技术有限公司 | A kind of Omnidirectional movement forklift AGV |
| CN109809334A (en) * | 2019-03-01 | 2019-05-28 | 航天通用技术(北京)有限公司 | A method of for transferring fork truck operation and lifting |
| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
-
2021
- 2021-02-09 CN CN202110179945.4A patent/CN112978619A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777835A (en) * | 2015-03-11 | 2015-07-15 | 武汉汉迪机器人科技有限公司 | Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method |
| CN205709703U (en) * | 2016-03-25 | 2016-11-23 | 广州普华灵动机器人技术有限公司 | A kind of Omnidirectional movement forklift AGV |
| CN205634789U (en) * | 2016-04-19 | 2016-10-12 | 湖北汇利机械科技有限公司 | Fork automatically regulated loads and unloads car |
| CN109809334A (en) * | 2019-03-01 | 2019-05-28 | 航天通用技术(北京)有限公司 | A method of for transferring fork truck operation and lifting |
| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
| CN110498060A (en) * | 2019-08-15 | 2019-11-26 | 燕山大学 | Mecanum wheel series connection branch leg and its Omni-mobile posture adjustment platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2368832B1 (en) | Damping or prevention of vibrations in industrial trucks | |
| CN108609068B (en) | Control method of air-float AGV | |
| KR101950566B1 (en) | Automatic Transportation vehicle | |
| JPH07257387A (en) | Control device of truck | |
| EP3127858B1 (en) | Oscillation damping for a material handling vehicle | |
| CN212222345U (en) | Bidirectional fork type heavy-load stacking AGV | |
| CN112047269A (en) | Bidirectional fork type heavy-load stacking AGV and operation method thereof | |
| KR20180072984A (en) | An automatic guided vehicle | |
| CN211688123U (en) | AGV fork truck that qxcomm technology traveles | |
| KR100320486B1 (en) | Unmanned, freely navigable transportation vehicle for handling loads | |
| CN109178142A (en) | A kind of AGV trailer wagon | |
| CN113003491B (en) | Full-automatic electric forklift for cargo transportation and transfer method | |
| CN112978619A (en) | Cargo transportation shock-absorbing forklift with automatic guiding device and working method thereof | |
| CN210236997U (en) | Novel forklift | |
| CN219297063U (en) | Novel lifting type transfer robot | |
| CN209023008U (en) | A kind of AGV trailer wagon | |
| CN207293234U (en) | A kind of piler for tearing stacking open for stacking rack | |
| CN206156701U (en) | Unmanned fork truck laser navigation system | |
| CN213446063U (en) | Anti-toppling forklift | |
| CN211544958U (en) | Automatic handling device based on AGV | |
| CN210973486U (en) | Positioning device for lifting equipment of AGV (automatic guided vehicle) | |
| CN205346736U (en) | Universal type fork truck formula AGV | |
| CN216336425U (en) | Electromagnetic adsorption lifting device of AGV dolly | |
| KR20130020133A (en) | Agv for tracing underground guided wires | |
| CN219670072U (en) | Gravity-center-stable omni-directional traveling AGV for heavy-load coil stock |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |