CN113371647A - Remote control type small electric driving folding forklift - Google Patents
Remote control type small electric driving folding forklift Download PDFInfo
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- CN113371647A CN113371647A CN202110627424.0A CN202110627424A CN113371647A CN 113371647 A CN113371647 A CN 113371647A CN 202110627424 A CN202110627424 A CN 202110627424A CN 113371647 A CN113371647 A CN 113371647A
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Classifications
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- 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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
- B66F9/075—Constructional features or details
- B66F9/07568—Steering 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
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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
- B66F9/08—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
- B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
- B66F9/165—Foldable forks, i.e. where only the horizontal section moves
-
- 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
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a remote control type small electric-driven folding forklift, which comprises a frame, a portal folding and lifting system, a walking and steering system, an electric control system, a hydraulic system and a safety collision avoidance system, wherein the portal folding and lifting system, the walking and steering system, the electric control system, the hydraulic system and the safety collision avoidance system are arranged on the frame, the portal folding and lifting system is used for forking and lifting cargoes and can be folded on the frame under the drive of the hydraulic system, the walking and steering system receives a control command of the electric control system and controls the walking and steering of the forklift, the electric control system controls the action of the forklift, and the safety collision avoidance system is used for alarming in the process of reversing and steering of the forklift and protecting the forklift; the operation performance of various operation environments of the forklift can be improved to a great extent during use, the forklift is very suitable for material loading and unloading operation under field conditions, and the forklift is designed in an integral three-fulcrum rear-drive layout mode.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a remote control type small electric-driven folding forklift.
Background
When the goods are transported in a short distance, for example, the goods are transported to a gantry from a truck, or the goods are transported to the truck from the gantry, a forklift is often needed, the forklift is convenient and fast to transport, and the labor intensity of operators is low;
in order to ensure the safety of goods, the operation speed of a driver is very slow and the efficiency is low under the condition that the visual field of the driver is limited; in addition, fork truck's portal is mostly vertical structure, can not fold, and self volume is great, weight is heavier, and in addition fork truck self functioning speed is not high, and the continuation of the journey mileage is limited, is not convenient for vehicle-mounted transportation and guarantee. Therefore, the traditional forklift is generally only suitable for the storehouse environment and has a narrow application field;
therefore, it is urgently needed to design a foldable forklift capable of being intelligently controlled so as to meet the increasingly diversified use requirements.
Disclosure of Invention
In view of the problems, the invention aims to provide a remote control type small electric-driven folding forklift which comprises a frame, a portal folding and lifting system, a walking and steering system, an electric control system, a hydraulic system, a safety collision avoidance system and the like.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a small-size electric folding fork truck of remote control formula, includes the frame, sets up the portal folding and play to rise system, walking and a steering system, electric control system, hydraulic system and safe anticollision system on the frame, the portal folding and play to rise the system and be responsible for the fork lift goods to can fold on the frame under hydraulic system's drive, walking and steering system receive electric control system's control command, control fork truck's walking and turn to, electric control system control fork truck action, safe anticollision system is used for backing a car at fork truck and turns to the in-process and reports to the police, protects fork truck.
Preferably, the portal folding and lifting system comprises a portal, a lifting mechanism and an inclined folding mechanism, the portal is connected with the frame through a bearing, the portal is driven to lift and turn through the lifting mechanism and the inclined folding mechanism, and the frame and the portal are both provided with inclination sensors; the door frames comprise folding fork arms, inner door frames, outer door frames and fork frames, wherein the inner door frames are arranged in the outer door frames and slide along the inner side guide rails of the outer door frames; the fork frame is arranged on the inner door frame through the hoisting mechanism and moves up and down along the inner door frame, the folding fork is arranged on the lower side of the fork frame through the turnover mechanism, connecting holes are further formed in the two sides of the outer door frame, the outer door frame is rotatably arranged on the frame through the connecting holes and the inclined folding mechanism, and a fixing clamp used for fixing goods is arranged on the folding fork.
Preferably, the hoisting mechanism is a two-stage vertical portal structure and comprises a first-stage hoisting mechanism and a second-stage hoisting mechanism; the primary lifting mechanism is a lifting oil cylinder, the lifting oil cylinder is arranged on the outer gantry, and the inner gantry is driven to move up and down along the guide rail of the outer gantry through the movement of a piston of the lifting oil cylinder; the two-stage lifting mechanism comprises chain wheels and chains, the chain wheels are symmetrically arranged on the inner gantry, the chains penetrate through the chain wheels to be connected with the fork frame, and the fork frame is driven by the chains to ascend or descend along the inner gantry at twice speed.
Preferably, the turnover mechanism comprises a connecting plate embedded on the inner side of the fork frame, a hinge ring arranged on the folding fork, a pin shaft, a connecting block and a buffer spring, wherein the hinge ring is connected with the connecting ring at the lower end of the connecting block through the pin shaft, an arc-shaped groove is formed in the side surface of the fork frame, the arc-shaped groove is matched with an arc-shaped inserting block arranged on the folding fork for use, and a handle is arranged on the end surface of the outer side of the arc-shaped inserting block; the connecting plate is provided with a movable cavity, the upper end part of the connecting block is movably arranged in the movable cavity, the tail part of the connecting block is further provided with a limiting block which is matched with the movable cavity for use, and the buffer spring is sleeved on the connecting block in the movable cavity.
Preferably, the inclined folding mechanism is a folding/inclining oil cylinder, the folding/inclining oil cylinder is connected with the outer gantry through a connecting hole and a bearing, the outer gantry is driven to turn over through the movement of the folding/inclining oil cylinder, the folding/inclining oil cylinder comprises an ear ring, a cylinder body, a piston body and a steel back bearing, the piston body is movably arranged in the cylinder body, and the ear ring is arranged at the outer side end of the piston body and is connected with the frame; the cylinder body is also provided with a first inflatable column and a second inflatable column which are communicated with the inner cavity, wherein the second inflatable column is communicated with the inner cavity of the cylinder body through a pressurization inflation pipe; the first inflation column and the pressurization inflation pipe are respectively communicated with two ends of the cylinder body; the inclination angle of the outer gantry during working is forward 3 degrees or backward 5 degrees.
Preferably, the walking and steering system comprises a walking mechanism, a steering mechanism and a braking mechanism which are mutually independent, the walking mechanism is arranged on the frame in a three-pivot rear-drive layout mode, the braking mechanism is an electromagnetic brake and drives the walking mechanism to move through the electromagnetic brake, and the steering mechanism is arranged on the walking mechanism and drives the walking mechanism to steer through a slewing bearing arranged on the steering mechanism.
Preferably, the travelling mechanism comprises a traction motor and wheels arranged on the frame, the traction motor is connected with the wheels through a speed reducer, and the wheels are driven to rotate through the traction motor; the steering mechanism comprises a pinion, a steering gear box, a steering motor, a supporting pinion, a pinion encoder and a mounting plate, wherein the steering gear box and the steering motor are arranged on the outer side of a wheel hub of a wheel; the steering gear box is driven to rotate by the steering motor, the steering gear box drives the pinion to rotate, the pinion is meshed with the slewing bearing, the supporting pinion is meshed with the slewing bearing and arranged on the upper side of the pinion encoder, the supporting pinion is driven to rotate by the pinion encoder, and the reduction ratio of the steering gear box is greater than 1: 40.
Preferably, the electric control system comprises a walking subsystem, a steering subsystem, a lifting/folding subsystem, an interactive instrument, a remote control subsystem, a lithium battery subsystem, a DC-DC converter, an emergency stop subsystem and a charging protection function system, and the electric control system respectively controls the forward movement, the backward movement, the lifting, the descending, the forward tilting, the backward tilting, the folding, the unfolding, the left steering, the right steering, the protection and the conversion of the forklift; and the handles of all the systems are arranged on the remote control subsystem.
Preferably, the hydraulic system includes oil pump motor, gear pump, multiple control valve, installing support, connects to rise hydro-cylinder high pressure rubber tube, connects to lean forward the rubber tube, connects hypsokinesis rubber tube, middle transition valve body, oil pump inhale oil pipe, apron assembly and multiple unit valve oil return pipe, the oil pump motor passes through the installing support setting on the frame, is connected with the gear pump, the oil pump output end and the multiple unit control valve of gear pump are connected, the output control end of multiple unit control valve respectively with connect to rise hydro-cylinder high pressure rubber tube, connect to lean forward the rubber tube, connect the hypsokinesis rubber tube and be connected, the input control end of multiple unit control valve respectively with oil pump inhale oil pipe, apron assembly, multiple unit valve oil return union coupling.
Preferably, the lifting oil cylinder high-pressure rubber pipe, the forward-inclined rubber pipe and the backward-inclined rubber pipe are connected with the multi-way control valve through intermediate transition valve bodies, wherein the lifting oil cylinder high-pressure rubber pipe is connected with the lifting oil cylinder, and the forward-inclined rubber pipe and the backward-inclined rubber pipe are connected with the folding/inclining oil cylinder.
Preferably, the safety collision avoidance system comprises a laser scanner, a controller and a vehicle body alarm buzzer, wherein the scanning angle of the laser scanner is 200 degrees.
The invention has the beneficial effects that: the invention discloses a remote control type small electric-driven folding forklift, which is improved in that:
(1) the invention designs a remote control type small electric-driven folding forklift, which comprises a portal folding and lifting system, a walking and steering system, an electric control system, a hydraulic system, a safety collision avoidance system and a remote control system, wherein a frame adopts a foldable design, can be driven into a matched transport box after the portal is folded, and can be transported along with transport tools such as automobiles and the like, so that the accompanying guarantee is convenient to realize, and the problems of large vehicle volume, inconvenience in vehicle-mounted transportation and the like existing in the existing forklift are solved;
(2) the forklift is controlled in a remote control (supporting wireless and wired modes), all actions of the forklift can be realized through a remote controller, the forklift is folded and unfolded through a mode switch on the remote controller, unmanned driving is realized to a certain extent, and the laser distance measuring device is arranged on the forklift body, has an anti-collision function, liberates human resources, reduces the operation cost and can realize remote intelligent control;
(3) the foldable electric forklift is powered by the lithium battery made of the lithium iron phosphate material, and has the characteristics of higher energy density and long continuous working time;
(4) the forklift adopts a rear-drive three-fulcrum layout mode, has the characteristics of flexible steering and small turning radius, and can walk and operate in a narrow space;
(5) the forklift adopts a modular design, and a walking power supply, a control system, a power supply system, a hydraulic pump station and the like are all in a modular integrated design, so that the installation and maintenance efficiency of products can be improved on the premise of ensuring compact structure and reducing the size of the whole forklift.
Drawings
Fig. 1 is a schematic structural diagram of the electric driven folding forklift.
Fig. 2 is a schematic structural diagram of the gantry folding and lifting system structure of the present invention.
FIG. 3 is a side view of the fork carriage of the present invention with the folding forks not inverted.
FIG. 4 is a side view of the fork carriage with the folding forks of the present invention inverted.
Fig. 5 is a front view of the canting mechanism of the present invention.
FIG. 6 is a schematic view of the folding fork of the present invention.
Fig. 7 is a front view of the collapse/tilt cylinder of the present invention.
Fig. 8 is a cross-sectional view of the collapse/tilt cylinder of the present invention.
Fig. 9 is a schematic structural view of the walking and steering system of the present invention.
FIG. 10 is a schematic diagram of the electrical control system of the present invention.
Fig. 11 is a front view of the foldable electric fork lift truck remote control of the present invention.
FIG. 12 is a schematic diagram of the controller assembly of the walking and working motor of the present invention.
Fig. 13 is a schematic diagram of the structure of the hydraulic system of the present invention.
Fig. 14 is a schematic diagram of a hydraulic system of the hydraulic system configuration of the present invention.
Fig. 15 is a schematic view of a crash safety system of the present invention.
Fig. 16 is a schematic view of the area arrangement of the collision avoidance system of the folding point drive forklift truck of the present invention.
Wherein: 1. frame, 2. portal folding and lifting system, 21. folding fork, 211. hinge ring, 212. arc plug, 213. handle, 22. folding/tilting cylinder, 221. oil cup, 222. ear ring, 223. small round nut, 224. dust ring, 225. baffle, 226. shaft seal ring, 227. guide sleeve, 228. baffle, 229. O-ring, 2210. cylinder body, 2211. piston body, 2212.T type terga ring, 2213. hole support ring, 2214. steel back bearing, 2215. joint bearing, 2216. hole retainer ring diagram, 2217. first gas-filled column, 2218. second gas-filled column, 2219. pressurized gas-filled tube, 23. lifting cylinder, 24. inner portal, 25. outer portal, 26. chain wheel, 27. chain, 28. fork frame, 281. connecting plate, 2811. movable cavity, 282. arc groove, limiting block, 283, 2831. connecting ring, 284. buffer spring, 29. connection hole, 20, pin, 3, walk steering system, 31, pinion, 32, steering gear box, 33, steering motor, 34, traction motor, 35, wheel, 36, support pinion, 37, electromagnetic brake, 38, pinion encoder, 39, mounting plate, 310, slewing bearing, 4, electrical control system, 41, walk subsystem, 42, steering subsystem, 43, lift/fold subsystem, 44, interactive instrument, 45, remote control subsystem, 451, right/left turn handle, 452, down/lift handle, 453, backup handle, 454, unfold/fold handle, 455, forward/back handle, 456, forward/back handle, 457, collision avoidance switch, 458, fold/unfold auxiliary switch, 459, emergency stop button, 4510, power switch/horn button, 4511, headlight switch, 46. the system comprises a lithium battery subsystem, a 47 DC-DC converter, a 48 emergency stop subsystem, a 49 charging protection function system, a 5 hydraulic system, a 51 oil pump motor, a 52 gear pump, a 53 multi-way control valve, a 54 mounting bracket, a 55 lifting oil cylinder high-pressure rubber pipe, a 56 forward-inclined rubber pipe, a 57 backward-inclined rubber pipe, a 58 intermediate transition valve body, a 59 oil pump oil suction pipe, a 510 cover plate assembly, a 511 multi-way valve oil return pipe, a 6 safety collision avoidance system, a 61 laser scanner, a 62 controller and a 63 vehicle body alarm buzzer.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
Referring to the attached drawings 1-16, the remote control type small electric-driven folding forklift comprises a frame 1, and a portal folding and lifting system 2, a walking and steering system 3, an electric control system 4, a hydraulic system 5 and a safety anti-collision system 6 which are arranged on the frame 1, wherein the portal folding and lifting system 2 is responsible for forking and lifting goods and can be folded on the frame 1 under the driving of the hydraulic system 5, the overall height of the forklift is reduced, the transportation along with the forklift is facilitated, the walking and steering system 3 receives a control command of the electric control system 4 to control the walking and steering of the forklift, the electric control system 4 is used for controlling the action of the forklift, and the safety anti-collision system 6 is used for giving an alarm in the process of reversing and steering of the forklift, preventing the forklift from colliding with other objects and protecting the forklift.
Preferably, the portal folding and lifting system 2 comprises a portal, a lifting mechanism and an inclined folding mechanism, the portal is connected with the frame 1 through a bearing, the portal is driven to lift and turn through the lifting mechanism and the inclined folding mechanism to load and transport goods, and the frame 1 and the portal are both provided with inclination angle sensors for monitoring the inclination angles of the portal and the frame in real time and according to measured data; the door frames comprise folding forks 21, an inner door frame 24, an outer door frame 25 and a fork frame 28, wherein the inner door frame 24 is arranged in the outer door frame 25 and slides up and down along a guide rail at the inner side of the outer door frame 25; the fork frame 28 is arranged on the inner door frame 24 through a hoisting mechanism, the fork frame moves up and down along the inner door frame 24, the folding fork 21 is arranged on the lower side of the fork frame 28 through a turnover mechanism, connecting holes 29 are further formed in two sides of the outer door frame 25, the outer door frame 25 is rotatably arranged on the frame 1 through the connecting holes 29 and the inclined folding mechanism, the door frame is driven to turn over through the inclined folding mechanism, and a fixing clamp used for fixing goods is arranged on the folding fork 21 to fix the goods, so that the goods are prevented from falling.
Preferably, the hoisting mechanism is a two-stage vertical portal structure and comprises a first-stage hoisting mechanism and a second-stage hoisting mechanism; the primary lifting mechanism is a lifting oil cylinder 23, the lifting oil cylinder 23 is arranged on the outer gantry 25, and the inner gantry 24 is driven to move up and down along a guide rail of the outer gantry 25 through the movement of a piston of the lifting oil cylinder 23 so as to lift the goods; the secondary lifting mechanism comprises a chain wheel 26 and a chain 27, the chain wheel 26 is symmetrically arranged on the inner gantry 24, the chain 27 penetrates through the chain wheel 26 to be connected with the fork frame 28, the chain 27 drives the fork frame 28 to ascend or descend along the inner gantry 24 at double speed, when the fork frame ascends, the inner frame extends out under the thrust of the piston of the lifting oil cylinder 23 to drive the chain wheel 26 to ascend, and the chain 26 drives the fork frame to ascend along the inner frame 24 at double speed, so that the forklift can pass through a short space to transfer and transport goods.
Preferably, the turnover mechanism comprises a connecting plate 281 embedded inside the fork frame 28, a hinge ring 211 arranged on the folding fork 21, a pin 20, a connecting block 283 and a buffer spring 284, wherein the hinge ring 211 is connected with a connecting ring 2832 at the lower end of the connecting block 283 through the pin 20, i.e. the fork frame 28 is rotatably connected with the folding fork 21 through the pin 20, an arc-shaped groove 282 is formed in the side surface of the fork frame 28, the arc-shaped groove 282 is matched with an arc-shaped inserting block 212 arranged on the folding fork 21, i.e. when the folding fork 21 is turned over relative to the fork frame 28, the arc-shaped inserting block 212 makes telescopic motion along the arc-shaped groove 282, when the folding fork 21 is horizontal, the arc-shaped inserting block 212 tightly abuts against the inner wall of the arc-shaped groove 282 to form bending constraint on the folding fork 21, and to facilitate manual pushing of the folding fork 21 during the turnover of the fork frame 28, the arc-shaped insertion block 212 is turned over under gravity, and a handle 213 is arranged on the end face of the outer side of the arc-shaped insertion block; the connecting plate 281 is provided with a movable cavity 2811, the upper end part of the connecting block 283 is movably arranged in the movable cavity 2811, the tail part of the connecting block 283 is further provided with a limiting block 2831 which is matched with the movable cavity 2811 for use, the position of the connecting block 283 in the movable cavity 2811 is limited, and the buffer spring 284 is sleeved on the connecting block 283 in the movable cavity 2811 and has a damping and buffering effect.
Preferably, the inclined folding mechanism is a folding/inclining oil cylinder 22, the folding/inclining oil cylinder 22 is connected with the outer gantry 25 through a connecting hole 29 and a bearing, the outer gantry 25 is driven to turn over through the movement of the folding/inclining oil cylinder 22, the gantry can be driven to incline backwards from 3 degrees forwards until the gantry is completely in a horizontal state in a folding mode, namely the gantry is in a folded state, the overall height of the forklift can be greatly reduced after the gantry is folded, and the transportation along with the forklift is facilitated; in the working mode, the forward inclination of the door frame is 3 degrees and the backward inclination of the door frame is 5 degrees, so that goods can be loaded and unloaded conveniently; the folding/tilting cylinder 22 comprises an earring 222, a cylinder body 2210, a piston body 2211 and a steel back bearing 2214, wherein the piston body 2211 is movably arranged in the cylinder body 2210, the earring 222 is arranged at the outer side end of the piston body 2211, and the steel back bearing 2214 is arranged at the outer side end of the cylinder body 2210 and is connected with the frame 1; the cylinder 2210 is further provided with a first inflation column 2217 and a second inflation column 2218 which are communicated with the inner cavity, wherein the second inflation column 2218 is communicated with the inner cavity of the cylinder 2210 through a pressurization inflation tube 2219, and the first inflation column 2217 and the pressurization inflation tube 2219 are respectively communicated with two ends of the cylinder 2210, so that the cylinder 2210 is pressurized to enable the piston 2211 to move in the cylinder 2210 to drive the outer door frame 25 to turn.
Preferably, the traveling and steering system 3 includes a traveling mechanism, a steering mechanism and a braking mechanism which are mutually independent, the traveling mechanism is arranged on the frame 1 according to a three-pivot rear-drive layout mode, the braking mechanism is an electromagnetic brake 37, the traveling mechanism is driven to move by the electromagnetic brake 37, and then the forklift is driven to move, the steering mechanism is arranged on the traveling mechanism, and the traveling mechanism is driven to steer by a rotary bearing 310 arranged on the steering mechanism, so that the steering of the forklift is realized;
the running mechanism comprises a traction motor 34 and wheels 35, the wheels 35 are arranged on the lower side of the frame 1 in a three-pivot layout mode, the traction motor 34 is connected with the wheels 35 through a speed reducer, the wheels 35 are driven to rotate through the traction motor 34, horizontal movement of the forklift is achieved, a control route of the running mechanism adopts a direct control mode of a storage battery → alternating current electric control → a running driving unit, waste of energy in an intermediate link is avoided, and simplicity and energy conservation are achieved; the braking mechanism is driven by a motor in the walking control unit, and after the power supply is switched on, the braking mechanism drives the traction motor 34 to rotate, and drives the wheels 35 to rotate after being decelerated by the deceleration mechanism, so that the forward and backward movement of the forklift is realized; the steering mechanism comprises a pinion 31, a steering gear box 32, a steering motor 33, a supporting pinion 38, a pinion encoder 36 and a mounting plate 39, wherein the steering gear box 32 and the steering motor 33 are arranged outside the hub of a wheel 35, the mounting plate 39 is arranged on the upper side of the wheel 35, and the pinion 31, the pinion encoder 36 and a slewing bearing 310 are arranged on the wheel 35; when the steering mechanism is used, the steering gear box 32 is driven to rotate by the steering motor 33, the gear box 32 drives the pinion 31 to rotate, the pinion 31 is meshed with the slewing bearing 310, namely the slewing bearing 310 is driven to rotate by the pinion 31, the supporting pinion 38 is meshed with the slewing bearing 310 and arranged on the upper side of the pinion encoder 36, and the supporting pinion 38 is driven to rotate by the pinion encoder 36, namely the steering mechanism drives the tire 35 to steer by the steering motor 33 in the steering process;
the steering system and the walking system are independently controlled, the steering gear box 32, the pinion 31 and the rotary bearing 310 are driven by the steering motor 33 to drive the tire 35 to steer, and the reduction ratio of the steering gear box 32 is more than 1:40 so as to ensure the stability and controllability of the steering speed; the main parameters of the walking driving mechanism and the walking gearbox parameters are shown in the following tables 1 and 2:
table 1: main parameters of the travel drive
| Asynchronous motor | Walking motor | Steering motor |
| Rated power (S2-60min) | 1.4Kw | 0.3Kw |
| Voltage of motor | 27V | 27V |
| Supply voltage | 48V | 48V |
| Rated speed of rotation | 3500rpm | 2850rpm |
| Rated current | 36A | 8A |
| Rated torque of motor | 3.8N.m | 1N.m |
| Protection class | IP44 | IP44 |
Table 2: walk gear case parameters
Preferably, the electrical control system 4 is controlled by a CAN bus signal transmission so as to improve the reliability of the electrical control system, and specifically comprises a walking subsystem 41, a steering subsystem 42, a lifting/folding subsystem 43, an interactive instrument 44, a remote control subsystem 45, a lithium battery subsystem 46, a DC-DC converter 47, an emergency stop subsystem 48 and a charging protection function system 49, which are used for respectively realizing various actions and functions of forward movement, backward movement, lifting, descending, forward tilting, backward tilting, folding, unfolding, left steering, right steering, protection, conversion and the like of the forklift, and each handle is arranged on the remote control subsystem 45;
wherein: the walking subsystem 41 is controlled by a walking controller and mainly comprises a forward handle, a backward handle, an alternating-current walking controller, an alternating-current walking motor, a lithium battery, a remote controller and other elements; the forward and backward movements and functions of the forklift are respectively realized, a key is switched on, a forward handle is pulled, a remote controller transmits forward signals to an alternating-current walking controller, the controller sends out corresponding instructions according to the signal size to control an alternating-current walking motor to rotate in the forward direction, meanwhile, a rotating speed sensor in the alternating-current walking motor returns rotating speed pulse signals to the controller, closed-loop control is realized, the runaway and the stalling are prevented, and the backward movement is just opposite;
the traveling motor controller and the working motor controller are the same in model, a ZAPI alternating current controller is adopted, and the main parameters are shown in a table 3:
table 3: main parameters of walking motor controller and working motor controller
The steering subsystem 42 is controlled by a steering controller and mainly comprises a left-turning and right-turning handle, an alternating-current steering controller, an alternating-current steering motor, a lithium battery, a remote controller, a left limit position switch, a right limit position switch, a middle position sensor, a direction identification guide rail and other elements; the left-turning action and the right-turning action and the function of the forklift are respectively realized; the key is switched on, the left-turn handle is pulled, the remote controller transmits a forward signal to the alternating current steering controller, the controller sends a corresponding instruction according to the signal size to control the alternating current motor to rotate in the left-turn direction, meanwhile, a rotating speed sensor in the alternating current steering motor returns a rotating speed pulse signal to the controller, closed-loop control is realized, runaway and stalling are prevented, and the right-turn is just opposite;
the steering controller adopts a ZAPI alternating current controller, mainly controls the left turning and the right turning of the vehicle, and automatically leads the wheels to return to the center according to instructions, and the main parameters are shown in a table 4:
table 4: steering controller principal parameter
| Electric control type | ZAPI EPSAC0 AMPSEAL 48V/70A |
| Rated operating voltage | 48V |
| Maximum working current for 2 minutes | 70A |
| Continuous working current | 35A |
| Controller water-proof rating | IP65 |
The lifting/folding subsystem 43 mainly comprises a lifting and descending handle, a forward-tilting and backward-tilting handle, an unfolding and folding handle, an alternating-current lifting controller, an alternating-current lifting motor, a lithium battery, a remote controller and other elements; the actions and functions of lifting, descending, forward tilting, backward tilting, folding, unfolding and the like of the forklift are respectively realized; a key is switched on, a lifting handle is pulled, a remote controller transmits a lifting signal to an alternating-current lifting controller, the controller sends a corresponding instruction according to the signal size to control an alternating-current lifting motor to operate at a lifting speed according to requirements, and meanwhile, corresponding electro-hydraulic proportional valves are in corresponding opening degrees to realize lifting of a forklift; the folding and retroversion handles control the same electro-hydraulic proportional valve through the controller, the retroversion limit position of the portal is determined by the tilt sensor, and when the portal retrovertes to the retroversion limit position, the controller closes the electro-hydraulic proportional valve and stops retroversion; when the forklift needs to tilt forwards and backwards on the slope, the tilt angle sensor on the frame plays a role in correcting the forward and backward tilt angle, and the forward and backward tilt angle of the forklift is ensured; when the controller cannot detect the tilt sensor, the tilt handle fails; when the controller detects that the folding of the portal is about to be finished, the oil supply amount of the electro-hydraulic proportional valve can be reduced, so that the folding is slow and stable;
the interactive instrument 44 is connected with the controller through a CAN line, and CAN display the voltage and the electric quantity of the storage battery, and vehicle state information such as faults, running speed, working time and the like in real time; the instrument informs an operator of the state of the forklift in real time, and allows the operator to set parameters and adjust a forklift sensor;
the interactive instrument 44 is a ZAPI original installation inlet GRAPHIC SMART instrument which is connected with a controller through a CAN (controller area network) line and CAN display vehicle state information such as residual electric quantity, running speed, working time and the like of the storage battery in real time; when the vehicle breaks down, the instrument can display related fault codes to help quickly diagnose the fault; the key of the instrument is only used for debugging the forklift before leaving factory, when the forklift leaves factory, various parameters are already set, and the key on the instrument is not required to be pressed randomly in the using process, so that the normal use is not influenced;
the remote control subsystem 45 adopts an industrial remote controller, and can realize various actions and functions of forward movement, backward movement, lifting, descending, forward tilting, backward tilting, folding, unfolding, left steering, right steering, protection, conversion and the like of the forklift; the remote controller is controlled by adopting a Swedish SCANRECO industrial remote controller, the technology is mature, the control is flexible, and the response is sensitive; the remote controller can realize the driving actions of the forklift such as forward movement, backward movement, left turning, right turning and the like; the actions of lifting, descending, forward inclining, backward inclining, unfolding, folding and the like of the portal frame can be realized; in addition, the remote controller can also control the lighting and the horn of the forklift, emergency stop in emergency and the like, the specific structure of the remote controller is shown in fig. 11, the upper row of the remote controller is sequentially provided with a right-turn/left-turn handle, a descending/lifting handle, a standby handle, an unfolding/folding handle, a forward/backward tilting handle and a forward/backward moving handle from left to right, and the lower row is sequentially provided with an anti-collision release switch, a folding/unfolding auxiliary switch, an emergency stop button, a power supply/horn button and a headlight switch from left to right;
the actions of each handle, switch and button worker are defined as follows:
right/left turn handle 451: the handle is pulled upwards, and the forklift turns right; the handle is pulled downwards, and the forklift turns right;
lowering/lifting handle 452: the handle is pulled upwards, and the gantry descends; the handle is pulled downwards, and the gantry is lifted;
spare handle 453: the forklift is prepared for mounting accessories and the like for the forklift, and the forklift does not act no matter the handle is pulled downwards or upwards when the accessories are not mounted;
unfolding/folding handle 454: the handle is pulled upwards, and the gantry is unfolded from a horizontal state during folding to a state that the included angle between the gantry and the vehicle body is more than 85 degrees; the handle is pulled downwards, the portal frame is inclined backwards until the portal frame is in a horizontal state, and the function needs to be operated by matching with a folding/unfolding auxiliary button, and the handle is pulled only to be free of action;
forward/backward tilting handle 455: the handle is pulled upwards, and the gantry inclines forwards; the handle is turned downwards, and the gantry is inclined backwards; the front inclination angle of the bicycle is 3 degrees, and the rear inclination angle is 5 degrees;
forward/backward handle 456: the handle is pulled upwards, and the vehicle moves forwards; the handle is pulled downwards, and the vehicle moves backwards;
collision avoidance switch 457: the switch is dialed downwards, the anti-collision function is started, the laser scanning radar is started to work, the vehicle can realize the anti-collision function in a certain range, and when an obstacle is encountered, the forklift performs light alarm and sound-light alarm according to a preset anti-collision area until the vehicle stops; the switch is pushed upwards, the anti-collision function is released, at the moment, the forklift does not respond to the switch output of the laser scanner, no prompt is provided when the forklift meets an obstacle, the obstacle avoidance function cannot be realized, in order to ensure safety, when the anti-collision switch is pushed upwards, the maximum speed of the forklift is limited to 1.5km/h, and at the moment, the forklift can only be slowly moved;
fold/unfold auxiliary switch 458: the switch is effectively pulled to the left side, and the switch automatically resets after the hand is loosened. When the folding or unfolding operation is carried out, the switch is firstly pulled leftwards and kept, and the unfolding/folding handle is pulled at the same time; after the hand is loosened, the folding/unfolding auxiliary switch is automatically reset, and the unfolding/folding handle is pulled to have no action, so that unsafe time caused by misoperation is prevented;
scram button 459: the button is pressed downwards, the remote control is powered off, each handle button of the remote controller has no action, and meanwhile, the vehicle stops advancing;
power switch/horn button 4510: the button is a double-action button, which is not only a power-on button of the remote controller, but also a horn button. Before the forklift is used, firstly, an emergency stop button on a remote controller is rotated clockwise, then the button is pressed, and the remote controller is connected with a power supply; the remote control power supply is switched on, and the button is pressed after normal communication with the host computer, so that the loudspeaker sounds;
headlight switch 4511: the switch is dialed upwards, and the headlamp is lightened; the front headlight is turned off after the front headlight is turned on;
the remote controller is powered by a special lithium battery, two batteries are randomly arranged, and the battery capacity is 7.2V2000 Ah. A single cell may be used continuously for about 3.5 hours. To ensure normal use, please keep the two batteries fully charged before use, and after the first battery is used up, the spare battery is replaced and the first battery is immediately charged
The lithium battery subsystem 46 is used as a power supply of the whole vehicle, provides electric energy, and is provided with a power management system for monitoring the battery state at any time; the lithium battery subsystem 46 adopts a lithium iron phosphate lithium battery, and has the characteristics of high energy density and good safety;
the lithium iron phosphate lithium battery adopts a lithium iron phosphate power storage battery, and the lithium iron phosphate battery is referred to as a lithium iron battery for short, and is a lithium ion battery using lithium iron phosphate as an anode material, wherein a P-O bond in a lithium iron phosphate crystal is stable and difficult to decompose, and the lithium iron phosphate lithium battery does not generate heat due to structural collapse or form a strong oxidizing substance like a lithium battery using other materials as the anode material even at high temperature or during overcharge, so that the lithium iron phosphate lithium battery has good safety; the lithium iron phosphate battery has no memory phenomenon, can be charged and used at any time no matter what state the battery is in, and does not need to be discharged and recharged first, and compared with the traditional lead-acid storage battery, the lithium iron phosphate battery has the following advantages:
(1) the energy density is high: the nominal voltage is 3.2V, the energy density is about 4 times of that of a lead-acid battery, and the lead-acid battery is small in size and light in weight;
(2) the safety is strong: the lithium iron phosphate anode material has good electrochemical performance, a charging and discharging platform is very stable, the structure is stable in the charging and discharging process, and the battery is free of combustion and explosion and good in safety;
(3) the high-temperature performance is good: the battery normally works when the external temperature is 55 ℃;
(4) high power output: the standard discharge is 0.2C and can be charged and discharged by 3C;
(5) long cycle life: charging and discharging at normal temperature 1C, wherein the capacity of the monomer is still more than 80% after 2000 cycles;
(6) and (3) environmental protection: the whole production process is clean and non-toxic, and all raw materials are non-toxic;
specific parameters of the lithium iron phosphate battery are shown in table 5;
table 5: specific parameters of lithium iron phosphate battery
In order to facilitate use, the charging and discharging different-port design of the lithium battery of the vehicle is adopted, and the charging terminal is directly connected with the output terminal of the charger without disconnecting the discharging terminal and the power line during charging; the charging power supply is 220V commercial power, and the power line needs to bear more than 10A of current at least;
in order to ensure the safety of the battery, the power supply BMS automatically cuts off the discharging port during charging, namely, the whole machine does not have any action during charging;
the maximum charging current of the vehicle-mounted power transmitter is 30A, the charger charges at the current of 25-30A in the initial charging period, and automatically reduces the charging current until the vehicle-mounted power transmitter is fully charged in the later charging period. From 80% of discharge to full charge of the battery, the charging time needs more than 6 hours, and in order to ensure enough charging time, the night time is recommended to be used for charging after the battery works for 8 hours in a single day; if the single-day vehicle using time is short, the charging is not needed every day, but the residual electric quantity is observed through an instrument before the use, if the residual electric quantity is less than two grids, or the forklift autonomously reduces the vehicle speed or the lifting speed of the portal frame, the operation is stopped in time, and the charging is carried out in time;
the DC-DC converter 47 converts 48V of the battery into 24V for use by electrical components such as lamps and sensors, and the main parameters of the DC-DC converter are shown in table 6:
table 6: DC-DC converter main parameters
| Item | Operating parameters |
| Rated input voltage | 48V |
| Operating voltage range | 37.5～60V |
| Input current | ＜ |
| Output voltage | |
| 24V | |
| Output current | 12.5A |
| Rated output power | 300W |
The vehicle is provided with an inclination angle sensor on the portal frame and the vehicle body respectively, the inclination angle sensor is used for monitoring the inclination angles of the portal frame and the vehicle body in real time, and parameters of the inclination angle sensor are shown in a table 7 according to measured data:
table 7: parameters of a tilt sensor
| Mounting location | Working device | Vehicle body |
| Model number | ROB100-1Z | ROB100-2Z |
| Measuring range | ±45° | ±100° |
| Non-linearity | 0.05％Of FS | 0.05％Of |
| Operating voltage | ||
| 24V D.C | 24V D.C | |
| Operating temperature | -40～+85℃ | -40～+85℃ |
| Protection class | IP67 | IP67 |
The tilt angle sensor is a precise device, and is finely adjusted before the forklift leaves a factory so that the parameters of the whole forklift meet the use requirements; in the using process, any one of the door frame inclination angle sensor and the frame inclination angle sensor is not required to be manually removed or changed, otherwise, the output error of the inclination angle can be caused, and even serious safety accidents can be caused;
the emergency stop subsystem 48 has a function of stopping the folding forklift in an emergency. When the emergency stop button of the system is pressed, the remote control subsystem 45 is powered off, all the handle buttons on the remote control subsystem 45 do not act, and the vehicle stops moving forwards;
the charging protection function system 49 is composed of a charging and discharging change-over switch and a protection circuit in a lithium battery, and realizes the charging and discharging change-over function; opening the charging window, closing the change-over switch, powering off the discharging plug, powering on the charging plug, and turning off the charging plug; when the key is opened first, the charging window is opened, the discharging plug is still powered on, and the charging plug is still powered off.
Preferably, the hydraulic system 5 is mainly used for supplying hydraulic power oil to the actuators of the working device, namely the folding/tilting oil cylinder 22 and the lifting oil cylinder 23, and comprises an oil pump motor 51, a gear pump 52, a multi-way control valve 53, a mounting bracket 54, a lifting oil cylinder high-pressure rubber pipe 55, a forward tilting rubber pipe 56, a backward tilting rubber pipe 57, a middle transition valve body 58, an oil pump oil suction pipe 59, a cover plate assembly 510 and a multi-way valve oil return pipe 511, wherein the oil pump motor 51 is arranged on the frame 1 through the mounting bracket 54 and connected with the gear pump 52, the oil pump output end of the gear pump 52 is connected with the multi-way control valve 53, oil is distributed to each actuator through the multi-way control valve 53, the output control end of the multi-way control valve 53 is respectively connected with the lifting oil cylinder high-pressure rubber pipe 55, the forward tilting rubber pipe 56 and the backward tilting rubber pipe 57, and the input control end of the multi-way control valve 53 is respectively connected with the oil suction pipe 59, the oil pump oil suction pipe 59, the multi-way control valve 53, The cover plate assembly 510 is connected with the multi-way valve oil return pipe 511 for pumping oil pressure in and out, and lifting and lowering the door frame; the lifting oil cylinder high-pressure rubber pipe 55, the forward-inclined rubber pipe 56 and the backward-inclined rubber pipe 57 are connected with the multi-way control valve 53 through an intermediate transition valve body 58, wherein the lifting oil cylinder high-pressure rubber pipe 55 is connected with the lifting oil cylinder 23, and the forward-inclined rubber pipe 56 and the backward-inclined rubber pipe 57 are connected with the folding/inclining oil cylinder 22; in order to improve the stability of the action of the actuating mechanism, the multi-way control valve 53 is an electro-hydraulic proportional valve, the hydraulic oil flow passing through the multi-way valve is dynamically adjusted by controlling the current of the proportional electromagnet, the preset function of the system is realized, and the multi-way control valve has the characteristics of strong through-flow capacity, accurate control, high reliability and the like.
As shown in the hydraulic system schematic diagram of the hydraulic system structure shown in FIG. 13, in a specific operation process, the hydraulic system controls an oil tank, an oil inlet filter, an oil pump motor 51, a gear pump 52, a proportional directional valve, a load feedback proportional directional valve, a two-way compensating valve, a double-balanced valve, a lifting oil cylinder 23, a folding/tilting oil cylinder 22, a hydraulic system control oil filter, a hydraulic system control oil pump motor, a gear pump control oil pump motor, a hydraulic system control oil filter, a load feedback proportional directional valve, a two-way compensating valve, a double-balanced valve, a lifting oil cylinder 23, a folding/tilting oil cylinder 22, a hydraulic system control oil filter, a hydraulic system control oil pump motor, a gear pump 52, a load feedback proportional directional valve, a two-balanced valve, a two-way compensating valve, a double-balanced valve, a lifting oil control oil pump,
Hydraulic elements such as a manual unloading valve work; the safety pressure of the system is set by the main overflow valve, and when the maximum pressure of the system is greater than the set safety pressure of the main overflow valve, the main overflow valve is opened to unload, so that the safety of the system is protected;
the lifting motion of the lifting oil cylinder 23 is controlled by two proportional directional valves, and the folding and tilting motion of the folding/tilting oil cylinder 22 is controlled by a load feedback proportional directional valve;
when the lifting oil cylinder 23 performs lifting movement, high-pressure oil enters a plunger cavity of the lifting oil cylinder through the left proportional reversing valve to push a plunger rod of the lifting oil cylinder to move upwards, and the lifting movement speed of the oil cylinder is controlled by the left proportional reversing valve; when the lifting oil cylinder does descending motion, oil in the plunger cavity flows back to the oil tank through the right proportional reversing valve, and the descending motion speed of the oil cylinder is controlled by the right proportional reversing valve; when the folding/tilting oil cylinder 22 is tilted forwards (the piston rod of the folding/tilting oil cylinder is retracted), high-pressure oil enters the upper cavity of the folding tilting oil cylinder through the two-way compensating valve, the load feedback proportional reversing valve and the left side balancing valve, oil in the lower cavity of the folding/tilting oil cylinder flows back to the oil tank through the right side balancing valve and the load feedback proportional reversing valve, the forward tilting speed of the oil cylinder is controlled by the load feedback proportional reversing valve, and the two-way compensating valve is used for keeping the pressure of the inlet and the outlet of the proportional valve constant, so that the movement speed of the piston rod of the folding tilting oil cylinder is ensured to be stable; when the folding/tilting oil cylinder 22 tilts backwards (the piston rod of the folding/tilting oil cylinder extends out), high-pressure oil enters the lower cavity of the folding/tilting oil cylinder 22 through the two-way compensation valve, the load feedback proportional reversing valve and the right side balance valve, oil in the upper cavity flows back to the oil tank through the left side balance valve and the load feedback proportional reversing valve, and the backward tilting speed of the oil cylinder is also controlled by the load feedback proportional reversing valve.
In addition, the lifting oil cylinder 23 can also realize manual descending movement through a manual unloading valve, when the manual unloading valve of the loop is unscrewed (used for emergency manual descending), oil in a plunger cavity of the lifting oil cylinder directly flows back to an oil tank through the manual unloading valve, and the emergency descending movement of the lifting oil cylinder 23 is realized; the folding tilting oil cylinder can realize manual folding movement through two manual unloading valves (used for emergency manual folding), when the manual unloading valve of the loop is unscrewed (used for emergency manual folding), the positive cavity and the negative cavity of the folding tilting oil cylinder are in a floating communication state with the oil tank, and at the moment, the folding movement of the folding tilting oil cylinder can be realized manually.
Preferably, the safety anti-collision system 6 has the functions that in the process of backing and steering the vehicle, if an obstacle is encountered, the vehicle body can automatically slow down the vehicle speed, and an alarm message is sent out through a vehicle body alarm buzzer to prompt an operator to operate safely; the forklift truck parking protection system specifically comprises a laser scanner 61, a controller 62 and a truck body alarm buzzer 63, when a forklift truck approaches an obstacle, the truck frame 1 can automatically decelerate, and alarm information is sent out through the truck body alarm buzzer 63 to prompt an operator to safely operate, so that parking protection is realized; the scanner 61 used by the system has sensitive signals and wide sensing range, the scanning angle reaches 200 degrees, and the obstacles around the vehicle can be monitored in a large range; when the forklift approaches an obstacle, the laser scanner outputs 3 paths according to the distance from the obstacle, and the emergency reversal is sequentially added for light alarm, sound-light alarm and sound-light alarm, so that the parking protection is realized.
The remote control type small electric driving folding forklift realizes unmanned driving, liberates manpower, enlarges the visual field range of operators and improves the working efficiency; through the folding recovery of portal, realized fork truck's miniaturization, improved its trafficability characteristic, be convenient for realize vehicle-mounted guarantee and field work.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a folding fork truck of small-size electricity of remote control formula drives which characterized in that: including frame (1), set up portal folding and play to rise system (2), walking and a steering system (3), electric control system (4), hydraulic system (5) and safe anti-collision system (6) on frame (1), portal folding and play to rise system (2) and be responsible for the fork lift goods to can fold on frame (1) under hydraulic system's (5) drive, walking and steering system (3) receive electric control system's (4) control command, control fork truck's walking and turn to, electric control system (4) control fork truck action, safe anti-collision system (6) are used for reporting to the police at fork truck backing a car and turn to the in-process, protect fork truck.
2. A remotely controlled compact electrically driven folding forklift as claimed in claim 1, wherein: the portal frame folding and lifting system (2) comprises a portal frame, a lifting mechanism and an inclined folding mechanism, wherein the portal frame is connected with the frame (1) through a bearing, the portal frame is driven to lift and turn over through the lifting mechanism and the inclined folding mechanism, and the frame (1) and the portal frame are both provided with an inclination angle sensor; the mast comprises a folding fork (21), an inner mast (24), an outer mast (25) and a fork carriage (28), wherein the inner mast (24) is arranged in the outer mast (25) and slides along an inner guide rail of the outer mast (25); the fork frame (28) is arranged on the inner door frame (24) through a lifting mechanism and moves up and down along the inner door frame (24), the folding fork (21) is arranged on the lower side of the fork frame (28) through a turnover mechanism, connecting holes (29) are further formed in two sides of the outer door frame (25), the outer door frame (25) is rotatably arranged on the frame (1) through the connecting holes (29) and the inclined folding mechanism, and a fixing clamp used for fixing goods is arranged on the folding fork (21).
3. A remotely controlled compact electrically driven folding forklift as claimed in claim 2, wherein: the lifting mechanism is of a two-stage vertical portal structure and comprises a first-stage lifting mechanism and a second-stage lifting mechanism; the primary lifting mechanism is a lifting oil cylinder (23), the lifting oil cylinder (23) is installed on the outer gantry (25), and the inner gantry (24) is driven to move up and down along a guide rail of the outer gantry (25) through the movement of a piston of the lifting oil cylinder (23); the secondary lifting mechanism comprises chain wheels (26) and chains (27), the chain wheels (26) are symmetrically arranged on the inner door frame (24), the chains (27) penetrate through the chain wheels (26) to be connected with the fork frame (28), and the fork frame (28) is driven by the chains (27) to ascend or descend along the inner door frame (24) at twice speed.
4. A remotely controlled compact electrically driven folding forklift as claimed in claim 2, wherein: the turnover mechanism comprises a connecting plate (281) embedded on the inner side of the fork frame (28), a hinge ring (211) arranged on the folding fork (21), a pin shaft (20), a connecting block (283) and a buffer spring (284), wherein the hinge ring (211) is connected with a connecting ring (2832) at the lower end of the connecting block (283) through the pin shaft (20), an arc-shaped groove (282) is formed in the side surface of the fork frame (28), the arc-shaped groove (282) is matched with an arc-shaped inserting block (212) arranged on the folding fork (21) for use, and a handle (213) is arranged on the end surface of the outer side of the arc-shaped inserting block (212); a movable cavity (2811) is formed in the connecting plate (281), the upper end portion of the connecting block (283) is movably arranged in the movable cavity (2811), a limiting block (2831) is further arranged at the tail portion of the connecting block (283) and is matched with the movable cavity (2811) for use, and the buffer spring (284) is sleeved on the connecting block (283) in the movable cavity (2811).
5. A remotely controlled compact electrically driven folding forklift as claimed in claim 2, wherein: the inclined folding mechanism is a folding/inclining oil cylinder (22), the folding/inclining oil cylinder (22) is connected with the outer gantry (25) through a connecting hole (29) and a bearing, and the outer gantry (25) is driven to turn over through the movement of the folding/inclining oil cylinder (22); the folding/tilting oil cylinder (22) comprises an earring (222), a cylinder body (2210), a piston body (2211) and a steel back bearing (2214), wherein the piston body (2211) is movably arranged in the cylinder body (2210), and the earring (222) is arranged at the outer end of the piston body (2211) and is connected with the frame (1); the cylinder body (2210) is also provided with a first inflation column (2217) and a second inflation column (2218) which are communicated with the inner cavity, wherein the second inflation column (2218) is communicated with the inner cavity of the cylinder body (2210) through a pressurization inflation pipe (2219); the first inflation column (2217) and the pressurization inflation pipe (2219) are respectively communicated with two ends of the cylinder body (2210).
6. A remotely controlled compact electrically driven folding forklift as claimed in claim 1, wherein: the traveling and steering system (3) comprises a traveling mechanism, a steering mechanism and a braking mechanism which are mutually independent, the traveling mechanism is arranged on the frame (1) according to a three-pivot rear-drive layout mode, the braking mechanism is an electromagnetic brake (37), the traveling mechanism is driven to move through the electromagnetic brake (37), the steering mechanism is arranged on the traveling mechanism, and the traveling mechanism is driven to steer through a rotary bearing (310) arranged on the steering mechanism.
7. A remotely controlled compact electrically driven folding forklift as claimed in claim 6, wherein: the walking mechanism comprises a traction motor (34) and wheels (35) arranged on the frame (1), the traction motor (34) is connected with the wheels (35) through a speed reducer, and the wheels (35) are driven to rotate through the traction motor (34); the steering mechanism comprises a pinion (31), a steering gear box (32), a steering motor (33), a supporting pinion (38), a pinion encoder (36) and a mounting plate (39), wherein the steering gear box (32) and the steering motor (33) are arranged on the outer side of a wheel hub of a wheel (35), the mounting plate (39) is mounted on the upper side of the wheel (35), and the pinion (31), the pinion encoder (36) and a slewing bearing (310) are arranged on the wheel (35); the steering gear box (32) is driven to rotate by a steering motor (33), the pinion (31) is meshed with a rotary bearing (310), the supporting pinion (38) is meshed with the rotary bearing (310) and arranged on the upper side of a pinion encoder (36), the supporting pinion (38) is driven to rotate by the pinion encoder (36), and the reduction ratio of the steering gear box (32) is larger than 1: 40.
8. A remotely controlled compact electrically driven folding forklift as claimed in claim 1, wherein: the electric control system (4) comprises a walking subsystem (41), a steering subsystem (42), a lifting/folding subsystem (43), an interactive instrument (44), a remote control subsystem (45), a lithium battery subsystem (46), a DC-DC converter (47), an emergency stop subsystem (48) and a charging protection function system (49), and the electric control system respectively controls the forward movement, the backward movement, the lifting, the descending, the forward tilting, the backward tilting, the folding, the unfolding, the left steering, the right steering, the protection and the conversion of the forklift; and the handles of all the systems are arranged on a remote control subsystem (45).
9. A remotely controlled compact electrically driven folding forklift as claimed in claim 6, wherein: the hydraulic system (5) comprises an oil pump motor (51), a gear pump (52), a multi-way control valve (53), a mounting support (54), a high-pressure rubber pipe (55) connected with a lifting oil cylinder, a forward-inclined rubber pipe (56), a backward-inclined rubber pipe (57), a middle transition valve body (58), an oil pump oil suction pipe (59), a cover plate assembly (510) and a multi-way valve oil return pipe (511), wherein the oil pump motor (51) is arranged on the frame (1) through the mounting support (54) and connected with the gear pump (52), the oil pump output end of the gear pump (52) is connected with the multi-way control valve (53), the output control end of the multi-way control valve (53) is respectively connected with the high-pressure rubber pipe (55) connected with the lifting oil cylinder, the forward-inclined rubber pipe (56) connected with the backward-inclined rubber pipe (57), and the input control end of the multi-way control valve (53) is respectively connected with the oil suction pipe (59), the cover plate assembly (510), The multi-way valve oil return pipe (511) is connected; the lifting oil cylinder high-pressure rubber pipe (55), the forward-inclined rubber pipe (56) and the backward-inclined rubber pipe (57) are connected with the multi-way control valve (53) through an intermediate transition valve body (58), wherein the lifting oil cylinder high-pressure rubber pipe (55) is connected with the lifting oil cylinder (23), and the forward-inclined rubber pipe (56) and the backward-inclined rubber pipe (57) are connected with the folding/inclining oil cylinder (22).
10. A remotely controlled compact electrically driven folding forklift as claimed in claim 1, wherein: the safety collision avoidance system (6) comprises a laser scanner (61), a controller (62) and a vehicle body alarm buzzer (63), wherein the scanning angle of the laser scanner (61) is 200 degrees.
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| CN202110627424.0A CN113371647B (en) | 2021-06-04 | 2021-06-04 | Remote control type small-sized electrically-driven folding forklift |
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| CN113979365A (en) * | 2021-11-05 | 2022-01-28 | 安徽合力股份有限公司 | Forklift, automatic forklift control system and control method thereof |
| CN114329707A (en) * | 2021-12-24 | 2022-04-12 | 重庆市工程管理有限公司 | BIM technology-based medical equipment hoisting method |
| CN114538332A (en) * | 2022-03-02 | 2022-05-27 | 保定绍瑞机电设备有限公司 | Control method for wireless remote control new energy forklift and new energy forklift |
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| CN118255291A (en) * | 2024-05-31 | 2024-06-28 | 山东明宇重工机械有限公司 | Fork truck is used in commodity circulation goods transfer |
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