CN113003491B - Full-automatic electric forklift for cargo transportation and transfer method - Google Patents

Full-automatic electric forklift for cargo transportation and transfer method Download PDF

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Publication number
CN113003491B
CN113003491B CN202110261990.4A CN202110261990A CN113003491B CN 113003491 B CN113003491 B CN 113003491B CN 202110261990 A CN202110261990 A CN 202110261990A CN 113003491 B CN113003491 B CN 113003491B
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China
Prior art keywords
lifting
goods
fork
forklift
driving
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CN202110261990.4A
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Chinese (zh)
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CN113003491A (en
Inventor
修德敏
梁升波
谭子健
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Guangzhou Lanpangzi Mobile Technology Co ltd
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Guangzhou Lanpangzi Mobile Technology Co ltd
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    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • 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
    • B66F9/07559—Stabilizing means
    • 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
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention relates to the technical field of automatic transportation, in particular to a full-automatic electric forklift and a transferring method for transporting goods. According to the invention, the detection device and the identification device are arranged, so that the forklift can automatically identify whether the cargoes and the gesture of the cargoes exist on the supporting unit or not, and has the function of detecting the surrounding environment, the forklift can automatically finish the actions of supporting the cargoes and moving, the manual operation is reduced, and the volume of the forklift is smaller, namely the space required by the movement of the forklift is smaller.

Description

Full-automatic electric forklift for cargo transportation and transfer method
Technical Field
The invention relates to the technical field of automatic transportation, in particular to a full-automatic electric forklift for transporting goods and a transferring method.
Background
At present, the warehouse is used for storing cargoes after stacking so as to save storage space, so that the cargoes are transported by adopting a forklift when the cargoes need to be moved. However, the existing forklift basically needs people to operate and control, and due to the large size, a large space is needed to be used as a road during transportation, so that the space for storing goods in a warehouse is obviously reduced, and the cost for storing the goods is obviously increased.
Disclosure of Invention
The invention provides a full-automatic electric forklift for cargo transportation and a transfer method thereof, aiming at the problems in the prior art, and the arrangement of a cab is reduced through automatic movement and actions, so that the space occupied by the movement path is reduced.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a full-automatic electric forklift for cargo transportation, which comprises a forklift body and a supporting unit movably arranged at the front end of the forklift body, wherein the forklift body is provided with a recognition device and a detection device, the detection device is used for detecting the surrounding environment of the forklift body and whether the supporting unit supports cargos, the recognition device is used for recognizing the gesture of the cargos on the supporting unit, the detection device is in signal connection with the forklift body, and the recognition device is in signal connection with the two supporting units.
Further, the detection device comprises a radar, and the radar is arranged at the top of the vehicle body; the recognition device comprises a vision camera, which is positioned above the supporting unit;
the supporting unit is provided with an inductive switch, the inductive switch is used for identifying the distance between goods and the vehicle body, and the inductive switch is in signal connection with the supporting unit and the vehicle body.
Further, the supporting unit comprises a lifting part, two supporting parts and two material forks, wherein the lifting part is arranged at the front end of the vehicle body in a lifting manner, the two supporting parts are arranged at the front end of the lifting part, the two material forks are arranged on the vehicle body, the two supporting parts and the two material forks are arranged in a one-to-one correspondence manner, and the supporting parts are used for supporting goods; the material fork is internally provided with a driving mechanism and a lifting mechanism for driving the supporting piece to lift, the supporting piece is provided with a driving hole, and the driving mechanism is exposed in the driving hole and is used for driving the goods to move along the length direction of the material fork through the driving hole.
Still further, the fork is open-top's hollow structure, and elevating system is including all setting up lift driving piece, first lifting unit, second lifting unit and the linkage piece in the fork, and lift driving piece is used for driving first lifting unit and goes up and down, and the linkage piece sets up between first lifting unit and second lifting unit, and the linkage piece is used for driving the support piece and goes up and down.
Preferably, the first lifting assembly comprises a first lifting shell, two first connecting rods and two second connecting rods, the first lifting shell is arranged in the fork, and lifting grooves are respectively formed in two sides of the first lifting shell; the two second connecting rods are respectively and rotatably connected to two sides of the first lifting shell, the two second connecting rods are respectively and rotatably connected to the linkage piece, the two first connecting rods are respectively provided with a transmission shaft, the two transmission shafts are slidably arranged in the two lifting grooves, the two first connecting rods are respectively and rotatably connected to the linkage piece, and the middle parts of the first connecting rods are rotatably connected with the middle parts of the second connecting rods;
the lifting driving piece is used for driving the transmission shaft to slide along the lifting groove, and the transmission shaft rotates in the sliding process so that the first connecting rod rotates.
More preferably, the lifting driving piece comprises a lifting motor, a lifting speed reducer, a lifting screw rod and a lifting nut, wherein the lifting screw rod is arranged in the first lifting shell, the lifting motor is in driving connection with the lifting screw rod through the lifting speed reducer, and the lifting nut is positioned in the first lifting shell and is in threaded connection with the lifting screw rod; one end of the first connecting rod provided with a transmission shaft is connected with the lifting nut.
Preferably, the driving mechanism comprises a driving motor, a speed reduction reversing assembly and a driving wheel which are all arranged in the material fork, the driving wheel is exposed in the driving hole and used for driving the goods to move, the driving wheel is positioned between the first lifting assembly and the second lifting assembly, and the driving motor is in transmission connection with the driving wheel through the speed reduction reversing assembly.
The invention also provides a cargo transferring method, which comprises the following steps:
A. a cargo transferring instruction is sent to a forklift, and the forklift moves according to the instruction and recognizes and avoids surrounding obstacles through a detection device;
B. the forklift is moved to the vicinity of the goods, the gesture recognition of the goods is carried out through the recognition device, the forklift adjusts the direction according to the recognition information, and then the forklift moves forward until the bottom of the goods is supported by the supporting unit;
C. the forklift drives the goods to leave the underframe for placing the goods, drives the goods to move, and recognizes the surrounding environment through the detection device so as to avoid the obstacle;
D. the forklift is moved to the unloading position and then the goods are put down.
Further, in the step B, specifically including:
B1. the forklift moves to the vicinity of the goods, the gesture of the goods is identified through the identification device, and the direction of the forklift is adjusted according to the relative gesture of the goods and the forklift until the fork of the forklift is opposite to the goods;
B2. the fork is moved forward so that the fork is inserted into the gap of the underframe for supporting the goods;
B3. the forklift continues to move forward, the distance between the goods and the forklift is judged through the inductive switch, and the forklift stops moving forward after the distance of the goods is up to a set value;
B4. the forks lift the load and then the fork lift moves to cause the load to leave the undercarriage.
Further, in step D, the method specifically includes:
D1. the forklift moves to the unloading position, and the fork is lifted and then inserted into a bracket for supporting the goods;
D2. the driving mechanism on the fork acts to drive the goods to move so that the goods slide onto the bracket from the fork;
D3. the fork descends to enable goods to fall on the support and separate from the fork, and the fork truck moves to drive the fork to separate from the support.
The invention has the beneficial effects that: according to the invention, the detection device and the identification device are arranged, so that the forklift can automatically identify whether the cargoes and the gesture of the cargoes exist on the supporting unit or not, and has the function of detecting the surrounding environment, the forklift can automatically finish the actions of supporting the cargoes and moving, the manual operation is reduced, and the volume of the forklift is smaller, namely the space required by the movement of the forklift is smaller.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic view of the support unit of the present invention after the lifting member is removed.
Fig. 3 is a schematic view of the lifting mechanism of the present invention.
Fig. 4 is a schematic view of the lift drive and first lift assembly of the present invention.
Fig. 5 is a schematic view of the driving mechanism of the present invention.
Reference numerals: 1-car body, 2-supporting unit, 3-lifting member, 4-supporting member, 5-fork, 6-driving mechanism, 7-lifting mechanism, 11-recognition device, 12-detection device, 21-inductive switch, 41-driving hole, 61-driving motor, 62-deceleration reversing component, 63-driving wheel, 71-lifting driving member, 72-first lifting component, 73-second lifting component, 74-linkage, 711-lifting motor, 712-lifting speed reducer, 713-lifting screw, 714-lifting nut, 721-first lifting shell, 722-first connecting rod, 723-second connecting rod, 741-first lifting plate, 742-second lifting plate, 743-linkage plate, 744-yielding hole, 7211-lifting groove, 7221-transmission shaft
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention. The present invention will be described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1 to 5, the embodiment provides a full-automatic electric forklift for cargo transportation, which comprises a forklift body 1 and a supporting unit 2 movably arranged at the front end of the forklift body 1, wherein the forklift body 1 is provided with a recognition device 11 and a detection device 12, the detection device 12 is used for detecting the surrounding environment of the forklift body 1 and whether the supporting unit 2 supports cargoes, the recognition device 11 is used for recognizing the gesture of the cargoes on the supporting unit 2, the detection device 12 is in signal connection with the forklift body 1, and the recognition device 11 is in signal connection with the two supporting units 2.
In actual use, the vehicle body 1 has a moving function and can adopt a wheel or AGV mode. During operation, the vehicle body 1 judges the surrounding environment according to the feedback information of the detection device 12, so that the vehicle body 1 can avoid obstacles and smoothly move to the goods in the moving process, then the support unit 2 is inserted into the bottom of the goods to realize the effect of supporting the goods, at the moment, the gesture of the goods is fed back by the identification device 11 until the goods can be stably supported, and then the vehicle body 1 moves again, so that the effect of transportation is realized. The invention has simple structure, can automatically judge the surrounding environment and the goods posture, achieves the effect of automatic transportation, reduces the volume of the invention, and improves the utilization rate of the goods storage space of the warehouse by reducing the space occupied by the transportation route.
In the present embodiment, the detection device 12 includes a radar provided on the top of the vehicle body 1. The invention realizes information feedback to surrounding environment by sending out electromagnetic waves through the radar, identifies surrounding obstacles and the position of goods according to feedback information, and achieves the effect of automatically moving to the goods.
In this embodiment, the identifying device 11 includes a vision camera, the vision camera is disposed at the front end of the vehicle body 1, and the vision camera is located above the supporting unit 2, and is used for identifying the gesture of the cargo, and determining whether the cargo is stably supported by the supporting unit 2, so as to ensure that the cargo cannot fall during the transportation process.
In this embodiment, the supporting unit 2 is provided with a sensor switch 21, the sensor switch 21 is used for identifying the distance between the goods and the vehicle body 1, and the sensor switch 21 is in signal connection with the vehicle body 1 and the supporting unit 2. The inductive switch 21 is used for identifying goods or barriers in front of the vehicle body 1, avoiding collision and accidents of the vehicle body 1 and improving safety.
In this embodiment, the supporting unit 2 includes a lifting member 3, two supporting members 4, and two material forks 5, where the lifting member 3 is liftably disposed at the front end of the vehicle body 1, the two supporting members 4 are both disposed at the front end of the lifting member 3, the two material forks 5 are both disposed on the vehicle body 1, the two supporting members 4 are disposed in one-to-one correspondence with the two material forks 5, and the supporting members 4 are used for supporting goods; the material fork 5 is internally provided with a driving mechanism 6 and a lifting mechanism 7 for driving the supporting piece 4 to lift, the supporting piece 4 is provided with a driving hole 41, and the driving mechanism 6 is exposed in the driving hole 41 and is used for driving the goods to move along the length direction of the material fork 5 through the driving hole 41. When the vehicle body 1 works, two material forks 5 are inserted into the bottom of a cargo, the bottom of the cargo is generally supported through a bottom frame, namely, the material forks 5 are inserted into gaps in the bottom frame to smoothly contact with the bottom of the cargo, then, the driving mechanism 6 acts to drive the cargo to move towards the vehicle body 1 along the length direction of the material forks 5, and at the moment, the identification device 11 and the inductive switch are matched to judge the position, namely the posture, of the cargo; when the goods arrive at a specific position, the identification device 11 controls the driving mechanism 6 to stop acting, the lifting mechanism 7 can drive the supporting piece 4 to lift along the lifting direction, and the lifting piece 3 plays a guiding role, so that the goods leave the underframe and then are transported by the car body 1, and the goods are prevented from colliding due to interference of the underframe during transportation.
Specifically, the fork 5 is a hollow structure with an open top, the lifting mechanism 7 comprises a lifting driving member 71, a first lifting assembly 72, a second lifting assembly 73 and a linkage member 74, which are all arranged in the fork 5, the lifting driving member 71 is used for driving the first lifting assembly 72 to lift, the linkage member 74 is arranged between the first lifting assembly 72 and the second lifting assembly 73, and the linkage member 74 is used for driving the supporting member 4 to lift. Namely, when the cargo is driven to rise, the lifting driving member 71 drives the first lifting assembly 72 to rise, and the second lifting assembly 73 rises together with the first lifting assembly 72 through the linkage member 74, so that the effect of driving the whole bearing member 4 to stably rise is achieved, and the cargo is ensured to be balanced in the lifting process. In actual use, the lifting mechanism 7 can also cooperate with the movement of the vehicle body 1 to realize the avoidance of the obstacle by lifting the goods, so that the movement of the invention is more flexible.
Preferably, the first lifting assembly 72 includes a first lifting shell 721, two first connecting rods 722 and two second connecting rods 723, the first lifting shell 721 is disposed in the fork 5, and lifting grooves 7211 are respectively disposed on two sides of the first lifting shell 721; the two second connecting rods 723 are respectively and rotatably connected to two sides of the first lifting shell 721, the two second connecting rods 723 are respectively and rotatably connected to the linkage 74, the two first connecting rods 722 are respectively provided with transmission shafts 7221, the two transmission shafts 7221 are slidably arranged in the two lifting grooves 7211, the two first connecting rods 722 are respectively and rotatably connected to the linkage 74, and the middle parts of the first connecting rods 722 and the middle parts of the second connecting rods 723 are rotatably connected. In actual use, the two first connecting rods 722 are respectively located at two sides of the first lifting shell 721, so that lifting balance is ensured.
When the lifting driving member 71 is lifted, the first link 722 is driven to move along the lifting groove 7211 in a direction approaching the vehicle body 1, and the middle parts of the first link 722 and the second link 723 are rotatably connected with each other, so that the first link 722 and the second link 723 are lifted along with the movement of the first link 722, the linkage member 74 is lifted to drive the second lifting assembly 73 to lift, and the effect of supporting the supporting member is achieved.
The second lifting assembly 73 is substantially similar to the first lifting assembly 72 in structure, so when the first lifting assembly 72 is lifted, the second lifting assembly 73 is connected with the linkage 74, and when the first lifting assembly 72 drives the linkage 74 to lift, the linkage 74 drives the second lifting assembly 73 to lift, so that the second lifting assembly 73 performs a similar action with the first lifting assembly 72, and the effect that one lifting driving member 71 drives the first lifting assembly 72 and the second lifting assembly 73 to simultaneously act is achieved.
More preferably, the lifting driving member 71 includes a lifting motor 711, a lifting speed reducer 712, a lifting screw rod 713 and a lifting nut 714, wherein the lifting screw rod 713 is installed in the first lifting shell 721, the lifting motor 711 is in driving connection with the lifting screw rod 713 through the lifting speed reducer 712, and the lifting nut 714 is positioned in the first lifting shell 721 and is in threaded connection with the lifting screw rod 713; one end of the first link 722 provided with a drive shaft 7221 is connected to the lifting nut 714.
In the present embodiment, the lift motor 711 is a servo motor, and the lift speed reducer 712 is a planetary speed reducer. That is, when the lift motor 711 is operated, the lift screw 713 is driven to rotate by the lift speed reducer 712, so that the lift nut 714 is operated along the lift screw 713, thereby having the effect of driving the first link 722 to operate. The lifting speed reducer 712 is used for ensuring that the rotation speed of the lifting screw rod 713 is stable, so as to ensure that the actions of the two lifting mechanisms 7 are kept consistent as much as possible, so that the goods cannot fall down when ascending, and the stability is improved.
Preferably, the driving mechanism 6 comprises a driving motor 61, a speed reduction reversing assembly 62 and a driving wheel 63 which are all arranged in the fork 5, the driving wheel 63 is exposed in the driving hole 41 and used for driving the goods to move, the driving wheel 63 is positioned between the first lifting assembly 72 and the second lifting assembly 73, and the driving motor 61 is in transmission connection with the driving wheel 63 through the speed reduction reversing assembly 62. The speed reduction reversing assembly 62 can be composed of a speed reducer and a belt transmission mechanism, namely, the speed reducer is used for reversing the rotation of the driving motor 61, and the belt transmission mechanism is used for synchronizing the reversing to the rotation of the driving wheel 63, so that the driving wheel 63 can drive goods to move, the driving motor 61 is positioned at one end of the driving wheel 63 instead of one side on the premise of ensuring the driving effect of the goods, the width of the material fork 5 is reduced, and the movement of the material fork 5 is more flexible.
More preferably, the linkage member 74 includes a first lifting plate 741, a second lifting plate 742 and a linkage plate 743, the first lifting assembly 72 is used for driving the first lifting plate 741 to lift, the second lifting assembly 73 is used for driving the second lifting plate 742 to lift, two ends of the linkage plate 743 are respectively connected to the first lifting plate 741 and the second lifting plate 742, the linkage plate 743 is provided with a yielding hole 744, and the yielding hole 744 is communicated with the driving hole 41; the first lifting plate 741, the second lifting plate 742 and the linkage plate 743 are all connected to the bottom of the support 4. Namely, when the first lifting assembly 72 acts, the first lifting plate 741 is driven to act, and meanwhile, the first lifting plate 741 forces the second lifting assembly 73 to act through the linkage plate 743 and the second lifting plate 742, so that the effect that the first lifting assembly 72 and the second lifting assembly 73 lift simultaneously is achieved; the relief hole 744 is also used to relief the drive wheel 63 so that the drive wheel 63 can extend outside and drive the cargo.
Specifically, the lifting mechanism 7 and the driving mechanism 6 are respectively provided with a sealing structure, and the sealing mechanism is used for dust prevention and water prevention. Namely, the invention modularly arranges the supporting unit 2, so that the assembly and maintenance are more efficient; each module is dustproof and waterproof, so that the moving module can avoid contact with external dust and water, and the service life of the module is prolonged.
Example 2
The present embodiment provides a cargo transferring method, which is applicable to the full-automatic electric forklift for cargo transportation according to embodiment 1, and includes the following steps:
A. a cargo transferring instruction is sent to a forklift, and the forklift moves according to the instruction and recognizes and avoids surrounding obstacles through the detection device 12;
B. the forklift is moved to the vicinity of the goods, the gesture recognition of the goods is carried out through the recognition device 11, the forklift adjusts the direction according to the recognition information, and then the forklift moves forward until the bottom of the goods is supported by the supporting unit;
C. the forklift drives the goods to leave the underframe for placing the goods, drives the goods to move, and recognizes the surrounding environment through the detection device 12 to avoid the obstacle;
D. the forklift is moved to the unloading position and then the goods are put down.
Specifically, in step B, specifically including:
B1. the forklift moves to the vicinity of the goods, the gesture of the goods is identified through the identification device 11, and the direction of the forklift is adjusted according to the relative gesture of the goods and the forklift until the fork 5 of the forklift is opposite to the goods;
B2. the fork is moved forward so that the fork 5 is inserted into the gap of the chassis supporting the load;
B3. the forklift continues to move forward, the distance between the goods and the forklift is judged through the inductive switch 21, and the forklift stops moving forward after the distance of the goods is up to a set value;
B4. the forks 5 lift the load and then the fork lift is moved to move the load away from the undercarriage.
Specifically, in step D, specifically including:
D1. the forklift moves to the unloading position, and the fork 5 is lifted and then inserted into a bracket for supporting the goods;
D2. the driving mechanism on the fork 5 acts to drive the goods to move so that the goods slide onto the bracket from the fork 5;
D3. the fork 5 descends so that the goods fall on the support and are separated from the fork 5, and the fork truck moves to drive the fork 5 to leave the support.
In addition, the transferring method further includes specific actions of the driving mechanism 6 and the lifting mechanism 7 described in embodiment 1, which are described in embodiment 1, and are used for driving the goods to realize translation and lifting actions, so that the goods can be conveniently taken out to collide with other objects, and obstacles can be avoided in the moving process of the forklift, so that the movement is smoother and more flexible.
The present invention is not limited to the preferred embodiments, but is intended to be limited to the following description, and any modifications, equivalent changes and variations in light of the above-described embodiments will be apparent to those skilled in the art without departing from the scope of the present invention.

Claims (8)

1. A full-automatic electric fork-lift for cargo transportation, including automobile body and activity set up in the supporting element of automobile body front end, its characterized in that:
the vehicle body is provided with a recognition device and a detection device, the detection device is used for detecting the surrounding environment of the vehicle body and whether the supporting unit supports cargoes, the recognition device is used for recognizing the gesture of the cargoes on the supporting unit, the detection device is in signal connection with the vehicle body, and the recognition device is in signal connection with the two supporting units;
the supporting unit comprises a lifting part, two supporting parts and two material forks, wherein the lifting part is arranged at the front end of the vehicle body in a lifting manner, the two supporting parts are arranged at the front end of the lifting part, the two material forks are arranged on the vehicle body, the two supporting parts are arranged in a one-to-one correspondence manner with the two material forks, and the supporting parts are used for supporting goods;
the material fork is internally provided with a driving mechanism and a lifting mechanism for driving the supporting member to lift, the supporting member is provided with a driving hole, and the driving mechanism is exposed in the driving hole and is used for driving the goods to move along the length direction of the material fork through the driving hole;
the fork is open-top's hollow structure, and elevating system is including all setting up lift driving piece, first lifting unit, second lifting unit and the linkage piece in the fork, and lift driving piece is used for driving first lifting unit and goes up and down, and the linkage piece sets up between first lifting unit and second lifting unit, and the linkage piece is used for driving the bearing piece and goes up and down.
2. The fully automatic electric fork-lift truck for cargo transportation of claim 1, wherein:
the detection device comprises a radar, and the radar is arranged at the top of the vehicle body; the recognition device comprises a vision camera, which is positioned above the supporting unit;
the supporting unit is provided with an inductive switch, the inductive switch is used for identifying the distance between goods and the vehicle body, and the inductive switch is in signal connection with the supporting unit and the vehicle body.
3. The fully automatic electric fork-lift truck for cargo transportation of claim 1, wherein:
the first lifting assembly comprises a first lifting shell, two first connecting rods and two second connecting rods, the first lifting shell is arranged in the fork, and lifting grooves are respectively formed in two sides of the first lifting shell; the two second connecting rods are respectively and rotatably connected to two sides of the first lifting shell, the two second connecting rods are respectively and rotatably connected to the linkage piece, the two first connecting rods are respectively provided with a transmission shaft, the two transmission shafts are slidably arranged in the two lifting grooves, the two first connecting rods are respectively and rotatably connected to the linkage piece, and the middle parts of the first connecting rods are rotatably connected with the middle parts of the second connecting rods;
the lifting driving piece is used for driving the transmission shaft to slide along the lifting groove, and the transmission shaft rotates in the sliding process so that the first connecting rod rotates.
4. A fully automatic electric fork-lift truck for the transportation of goods according to claim 3, characterized in that:
the lifting driving piece comprises a lifting motor, a lifting speed reducer, a lifting screw rod and a lifting nut, the lifting screw rod is arranged in the first lifting shell, the lifting motor is in driving connection with the lifting screw rod through the lifting speed reducer, and the lifting nut is positioned in the first lifting shell and is in threaded connection with the lifting screw rod;
one end of the first connecting rod provided with a transmission shaft is connected with the lifting nut.
5. The fully automatic electric fork-lift truck for cargo transportation of claim 1, wherein:
the driving mechanism comprises a driving motor, a speed reduction reversing assembly and a driving wheel which are all arranged in the material fork, the driving wheel is exposed in the driving hole and used for driving the goods to move, the driving wheel is positioned between the first lifting assembly and the second lifting assembly, and the driving motor is in transmission connection with the driving wheel through the speed reduction reversing assembly.
6. A cargo transferring method of a fully automatic electric forklift for cargo transportation according to any one of claims 1 to 5, characterized by:
the method comprises the following steps:
A. a cargo transferring instruction is sent to a forklift, and the forklift moves according to the instruction and recognizes and avoids surrounding obstacles through a detection device;
B. the forklift is moved to the vicinity of the goods, the gesture recognition of the goods is carried out through the recognition device, the forklift adjusts the direction according to the recognition information, and then the forklift moves forward until the bottom of the goods is supported by the supporting unit;
C. the forklift drives the goods to leave the underframe for placing the goods, drives the goods to move, and recognizes the surrounding environment through the detection device so as to avoid the obstacle;
D. the forklift is moved to the unloading position and then the goods are put down.
7. The cargo transferring method according to claim 6, wherein:
in step B, specifically including:
B1. the forklift moves to the vicinity of the goods, the gesture of the goods is identified through the identification device, and the direction of the forklift is adjusted according to the relative gesture of the goods and the forklift until the fork of the forklift is opposite to the goods;
B2. the fork is moved forward so that the fork is inserted into the gap of the underframe for supporting the goods;
B3. the forklift continues to move forward, the distance between the goods and the forklift is judged through the inductive switch, and the forklift stops moving forward after the distance of the goods is up to a set value;
B4. the forks lift the load and then the fork lift moves to cause the load to leave the undercarriage.
8. The cargo transferring method according to claim 6, wherein:
in step D, specifically including:
D1. the forklift moves to the unloading position, and the fork is lifted and then inserted into a bracket for supporting the goods;
D2. the driving mechanism on the fork acts to drive the goods to move so that the goods slide onto the bracket from the fork;
D3. the fork descends to enable goods to fall on the support and separate from the fork, and the fork truck moves to drive the fork to separate from the support.
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CN116477534B (en) * 2023-06-25 2023-09-08 浙江省邮电工程建设有限公司 Vehicle dispatching system

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