CN117023458A

CN117023458A - Unmanned forklift with steering balancing device

Info

Publication number: CN117023458A
Application number: CN202310965463.0A
Authority: CN
Inventors: 李德斌; 杜华贵; 李国宇; 林中华; 李超旭; 郭智勇
Original assignee: Guangdong Tianpin Intelligent Equipment Manufacturing Co ltd
Current assignee: Guangdong Tianpin Intelligent Equipment Manufacturing Co ltd
Priority date: 2023-08-02
Filing date: 2023-08-02
Publication date: 2023-11-10

Abstract

The application relates to the technical field of unmanned forklifts, in particular to an unmanned forklifts with a steering balancing device, which comprises a fork lift chassis; the anti-toppling mechanism is used for preventing the unmanned forklift from turning over; the gravity center balancing mechanism is used for counteracting the moment of tilting the unmanned forklift; and the automatic triggering mechanism is used for triggering the anti-toppling mechanism and the gravity center balancing mechanism to operate. According to the unmanned forklift with the steering balancing device, by the aid of the gravity balancing mechanism, when the centrifugal force of the unmanned forklift steering reaches a certain value, the gravity center of the whole device is offset to one side of the bending center, and meanwhile, the gravity center is downwards moved to resist the centrifugal force and enable the forklift to have torsion with tilting trend. In the moment that fork truck inclines, can offset because of the transfer of focus position, make fork truck take place the moment that emptys for fork truck is automatic to be right, thereby has improved the stability when fork truck turns to, makes the speed when fork truck turns to can promote, has improved the security and the efficiency of fork truck work.

Description

Unmanned forklift with steering balancing device

Technical Field

The application relates to the technical field of unmanned forklifts, in particular to an unmanned forklift with a steering balancing device.

Background

Fork trucks are industrial transportation vehicles, and are various wheeled transportation vehicles that perform handling, stacking, and short-distance transportation operations on pallet goods. Unmanned fork truck is an intelligent transport vehicle, and delivery tasks such as delivery, unloading, material handling are gone up to the culvert line limit. The problem of line edge distribution, loading and unloading among process links in each industry and the problem of rear section material handling in product warehouse entry can be solved. The labor intensity is effectively reduced, and the production efficiency is improved.

The existing unmanned forklift is poor in stability in steering, so that the running speed of the forklift is limited, and the working efficiency of the forklift is difficult to improve. Firstly, centrifugal force is generated when the unmanned forklift turns, on one hand, the goods on the forklift can move to one side under the action of the centrifugal force, so that the gravity center of the forklift and the goods are offset; on the other hand, the forklift itself receives centrifugal force and centripetal force, and a moment is generated that causes the forklift to have a tendency to roll sideways. When the speed of the forklift reaches a certain value or the gravity center is excessively shifted, the forklift can topple to one side. When the forklift is carelessly impacted in the same direction as the centrifugal force, rollover is easy to occur. Secondly, at present two steering wheels of unmanned fork truck are controlled by two drive arrangement respectively, and two drive arrangement mutually independent produces the error easily during operation, leads to the steering angle of two steering wheels inconsistent, and then has reduced the stability when turning to, leads to fork truck to take place to slide and turn on one's side easily. This has just led to traditional unmanned fork truck protective force and security not enough, has also restricted the promotion of speed when fork truck turns to simultaneously, has restricted fork truck's development and work efficiency's improvement. In view of this, we propose an unmanned forklift with steering balancing device.

Disclosure of Invention

The application aims to provide an unmanned forklift with a steering balancing device, which solves the problems in the background technology.

In order to achieve the above purpose, the present application provides the following technical solutions:

an unmanned forklift with a steering balancing device comprises a forklift chassis; the anti-toppling mechanism is used for preventing the unmanned forklift from turning over; the gravity center balancing mechanism is used for counteracting the moment of tilting the unmanned forklift; the automatic triggering mechanism is used for triggering the anti-toppling mechanism and the gravity center balancing mechanism to operate; the supporting vertical frame is used for supporting the anti-toppling mechanism and the gravity center balancing mechanism; and the steering mechanism is used for controlling the steering of the unmanned forklift.

Preferably, the anti-toppling mechanism comprises a shaft lever, a swinging arm is rotatably arranged on the shaft lever, and a supporting plate is fixedly arranged at the bottom of the swinging arm.

Preferably, the baffle is rotatably installed on the inner wall of the swing arm, the baffle is elastically connected with the supporting plate through a spring, a limiting frame is in surface contact with the baffle, the limiting frame is fixedly installed on the supporting vertical frame, a fixing plate is fixedly installed on the limiting frame, and the shaft rod is fixedly installed on the fixing plate.

Preferably, the gravity center balancing mechanism comprises two balancing weights, the tops of the two balancing weights are connected through a connecting rope, and pull ropes are fixedly arranged at the bottoms of the two balancing weights; the anti-toppling mechanism is provided with two, the stay cord is kept away from one end fixed mounting of balancing weight is in the backup pad of far side.

Preferably, the connecting rod is slidably mounted on the inner wall of the balancing weight, the driving shaft is fixedly mounted on the top end of the connecting rod, the first guide wheel is rotatably mounted on the driving shaft and is in transmission connection with the connecting rope, the sleeve is fixedly mounted at one end of the driving shaft, the supporting shaft is slidably mounted on the inner wall of the sleeve, the mounting plate is fixedly mounted on the supporting shaft, the mounting plate is fixedly mounted on the supporting stand, and one end of the sleeve is in elastic connection with the mounting plate through a spring.

Preferably, the gravity center balancing mechanism further comprises a connecting frame, the connecting frame is fixedly arranged on the swing arm, a sliding block is slidably arranged on the inner wall of the connecting frame, the sliding block is elastically connected with the inner wall of the connecting frame through a spring, and the sliding block is rotationally connected with the sleeve through a connecting shaft.

Preferably, the bottom fixed mounting of connecting rod has the driven shaft, the rotation is installed No. two guide pulleys on the driven shaft, no. two guide pulleys with the stay cord transmission is connected, slidable mounting has the gag lever post on the inner wall of driven shaft, the gag lever post fixed mounting is in on the support grudging post.

Preferably, the automatic triggering mechanism comprises a guide rod, the guide rod is fixedly arranged on the forklift chassis, a movable weight is movably connected to the guide rod, the movable weight is elastically connected with the forklift chassis through a spring, push rods are fixedly arranged at two ends of the movable weight, and one end of the push rod, far away from the movable weight, penetrates through the forklift chassis and is fixedly provided with a triggering push plate.

Preferably, the steering mechanism comprises a fixing frame, the fixing frame is fixedly arranged on the forklift chassis, a first hydraulic motor and a second hydraulic motor are fixedly arranged on the fixing frame, a first bogie is fixedly arranged on an output shaft of the first hydraulic motor, a second bogie is fixedly arranged on an output shaft of the second hydraulic motor, steering wheels are rotatably arranged on the first bogie and the second bogie, and the first hydraulic motor is communicated with the second hydraulic motor through a connecting pipe.

Preferably, the steering mechanism further comprises an oil storage cylinder, one end of the oil storage cylinder is communicated with the first hydraulic motor through a pipeline, the other end of the oil storage cylinder is communicated with the second hydraulic motor through a pipeline, a driving rod is rotatably installed on the inner wall of the oil storage cylinder, a gear is fixedly installed on the driving rod, racks are meshed on the surfaces of the gears, pistons are fixedly installed at two ends of the racks, the surfaces of the pistons are attached to the inner wall of the oil storage cylinder, and one end of the driving rod penetrates through the oil storage cylinder and is fixedly provided with a motor.

By means of the technical scheme, the application provides the unmanned forklift with the steering balancing device. The method has at least the following beneficial effects:

(1) According to the unmanned forklift with the steering balancing device, by the aid of the gravity balancing mechanism, when the centrifugal force of the unmanned forklift steering reaches a certain value, the gravity center of the whole device is offset to one side of the bending center, and meanwhile, the gravity center is downwards moved, so that the centrifugal force is resisted, and the forklift has torsion force with tilting trend. In the moment that fork truck inclines, can offset because of the transfer of focus position, make fork truck take place the moment that emptys for fork truck is automatic to be right, thereby has improved the stability when fork truck turns to, makes the speed when fork truck turns to can promote, has improved the security and the efficiency of fork truck work.

(2) This unmanned fork truck with turn to balancing unit through setting up preventing empting the mechanism, can open automatically when fork truck takes place to empty to support fork truck, avoid fork truck to fall to the ground. Meanwhile, when the centrifugal force during steering reaches a certain value, the baffle is automatically opened, and side shielding is carried out on goods on the forklift, so that the goods are prevented from moving continuously, the gravity center is prevented from moving continuously, and the stability during steering is improved.

(3) This unmanned forklift with turn to balancing unit through setting up steering mechanism, can be through two hydraulic motor synchronous operation of a hydraulic system control for the flow volume and the flow velocity of hydraulic oil are the same in two hydraulic motor, thereby make the steering angle of two bogies unanimous, avoid the steering angle of two steering wheels different, thereby further improved unmanned forklift's steering stability.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate and together with the description serve to explain a part of the application:

FIG. 1 is a schematic diagram of the overall structure of the present application;

FIG. 2 is a schematic view of a partial structure of the present application;

FIG. 3 is a schematic view of an automatic triggering mechanism according to the present application;

FIG. 4 is a schematic diagram of a pull cord according to the present application;

FIG. 5 is a schematic view of an anti-toppling mechanism according to the present application;

FIG. 6 is a schematic view of a slider according to the present application;

FIG. 7 is a schematic view of a steering mechanism according to the present application;

FIG. 8 is a cross-sectional view of an oil reservoir according to the present application;

fig. 9 is a schematic view of a movable weight according to the present application.

In the figure: 1. a forklift chassis; 2. an automatic triggering mechanism; 21. a movable weight; 22. a push rod; 23. triggering a push plate; 24. a guide rod; 3. an anti-toppling mechanism; 31. a shaft lever; 32. a swing arm; 33. a support plate; 34. a baffle; 35. a limiting frame; 36. a fixing plate; 4. a gravity center balancing mechanism; 41. balancing weight; 42. a connecting rope; 43. a driving shaft; 44. a first guide wheel; 45. a pull rope; 46. a driven shaft; 47. a second guide wheel; 48. a limit rod; 49. a connecting rod; 410. a sleeve; 411. a slide block; 412. a connecting shaft; 413. a connection frame; 414. a support shaft; 415. a mounting plate; 5. a movable weight; 51. a fixing frame; 52. an oil storage cylinder; 53. a hydraulic motor number one; 54. a first bogie; 55. a connecting pipe; 56. a hydraulic motor II; 57. a second bogie; 58. a rack; 59. a gear; 510. a motor; 511. a driving rod; 6. and (5) supporting the vertical frame.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1 to 9, the present application provides a technical solution:

an unmanned forklift with a steering balancing device comprises a forklift chassis 1;

the anti-toppling mechanism 3 is used for preventing the unmanned forklift from turning over;

the gravity center balancing mechanism 4 is used for counteracting moment for tilting the unmanned forklift;

the automatic triggering mechanism 2 is used for triggering the anti-toppling mechanism 3 and the gravity center balancing mechanism 4 to operate;

a supporting stand 6 for supporting the anti-toppling mechanism 3 and the gravity center balancing mechanism 4;

and a steering mechanism 5 for controlling steering of the unmanned forklift.

In use, steering and movement of the unmanned forklift is controlled by the steering mechanism 5. The unmanned forklift can generate centrifugal force when turning, on one hand, the goods on the forklift can move to one side under the action of the centrifugal force, so that the gravity center of the forklift and the goods is offset; on the other hand, the forklift itself is subject to centrifugal forces and tends to move outwardly. When the speed of the forklift reaches a certain value or the gravity center is offset to an excessive degree, the forklift can topple to one side. When centrifugal force reaches a certain value, the automatic triggering mechanism 2 can automatically run, and synchronously drives the anti-toppling mechanism 3 and the gravity center balancing mechanism 4 to run, the gravity center balancing mechanism 4 can reduce the overall gravity of the device, the stability of the forklift is improved, and meanwhile, the gravity center of the device is offset towards one side of the bending center so as to resist the centrifugal force and enable the forklift to have torsion force with toppling trend, and the steering stability of the forklift is improved. When the forklift tilts, the automatic triggering mechanism 2 changes the gravity center of the device to offset the moment for tilting the unmanned forklift, so that the forklift is automatically righted. The anti-toppling mechanism 3 can automatically open, and side shielding is carried out on cargoes on a forklift, so that cargoes are prevented from moving continuously, and gravity center is prevented from moving continuously. If the forklift carelessly falls down, the falling-down preventing mechanism 3 can support the forklift to avoid falling down.

Specifically, the anti-toppling mechanism 3 includes a shaft lever 31, a swinging arm 32 is rotatably mounted on the shaft lever 31, a supporting plate 33 is fixedly mounted at the bottom of the swinging arm 32, and the supporting plate 33 is used for contacting with the ground after the forklift topples over, so that the forklift is supported, and the tilting of the forklift is avoided. The baffle 34 is rotatably installed on the inner wall of the swing arm 32, and when the baffle 34 is rotated by a moving angle, the side surface of the goods can be shielded, and the goods can be limited to move to the side. The baffle 34 is elastically connected with the supporting plate 33 through a spring, a limiting frame 35 is contacted with the surface of the baffle 34, and the limiting frame 35 is fixedly arranged on the supporting vertical frame 6. By providing the limiting frame 35, the baffle 34 can be limited, so that the baffle 34 is stored in the swing arm 32, and the goods can be loaded and unloaded. When the swing arm 32 rotates around the shaft lever 31 by a certain angle, the baffle 34 can be automatically separated from the limit frame 35 and automatically spring outwards under the elasticity of the spring, so that the automatic protection of cargoes is realized. The limiting frame 35 is fixedly provided with a fixing plate 36, and the shaft lever 31 is fixedly arranged on the fixing plate 36.

Referring to fig. 4, the gravity center balancing mechanism 4 includes two balancing weights 41, the tops of the two balancing weights 41 are connected by a connecting rope 42, and pull ropes 45 are fixedly installed at the bottoms of the two balancing weights 41. The anti-toppling mechanism 3 is provided with two, and the one end of the stay cord 45 away from the balancing weight 41 is fixedly arranged on the support plate 33 on the far side. When unmanned fork truck emptys to the right side, the backup pad 33 on right side can outwards rotate under the effect of automatic triggering mechanism 2, and this backup pad 33 can drive left balancing weight 41 downwardly moving through stay cord 45 for the focus moves down, improves fork truck's stability.

In this embodiment, the connecting rod 49 is slidably mounted on the inner wall of the weight 41, and the connecting rod 49 can limit the moving direction of the weight 41, so as to avoid random shaking of the weight 41, thereby improving the stability of the gravity center balancing mechanism 4. The top of the connecting rod 49 is fixedly provided with a driving shaft 43, the driving shaft 43 is rotatably provided with a first guide wheel 44, and the first guide wheel 44 is in transmission connection with the connecting rope 42 and is used for guiding the connecting rope 42. A sleeve 410 is fixedly installed at one end of the driving shaft 43, and a support shaft 414 is slidably installed at the inner wall of the sleeve 410. By arranging the supporting shaft 414, the sleeve 410 can be limited, so that the sleeve 410 can only move along the axis direction of the sleeve, and the driving shaft 43 is driven to move by the connecting rod 49, so that the distance between the two balancing weights 41 is changed, and the center of gravity is shifted. The support shaft 414 is fixedly provided with a mounting plate 415, and the mounting plate 415 is fixedly arranged on the support stand 6. One end of the sleeve 410 is elastically connected with the mounting plate 415 through a spring, and the spring is arranged, so that the support stand 6 can automatically reset when external force restriction is lost.

Further, the gravity balancing mechanism 4 further includes a connection frame 413, the connection frame 413 is fixedly mounted on the swing arm 32, a sliding block 411 is slidably mounted on an inner wall of the connection frame 413, the sliding block 411 is elastically connected with the inner wall of the connection frame 413 through a spring, and the sliding block 411 is rotatably connected with the sleeve 410 through a connection shaft 412. By arranging the sliding block 411 and the connecting shaft 412, the movement interference between the connecting frame 413 and the sleeve 410 can be avoided, so that the connecting frame 413 can synchronously drive the sleeve 410 to horizontally move when rotating around the shaft rod 31. The bottom end of the connecting rod 49 is fixedly provided with a driven shaft 46, a second guide wheel 47 is rotatably arranged on the driven shaft 46, and the second guide wheel 47 is in transmission connection with the stay cord 45 and is used for guiding the stay cord 45. The limiting rod 48 is slidably mounted on the inner wall of the driven shaft 46, the limiting rod 48 is fixedly mounted on the supporting vertical frame 6, and the driven shaft 46 can be supported and limited by the limiting rod 48, so that the stability of the connecting rod 49 and the balancing weight 41 during movement is improved.

In this embodiment, the automatic triggering mechanism 2 includes a guide rod 24, the guide rod 24 is fixedly mounted on the forklift chassis 1, the guide rod 24 is movably connected with a movable weight 21, and the movable weight 21 is elastically connected with the forklift chassis 1 through a spring, so that the movable weight 21 can be located at the middle position of the guide rod 24 when the forklift chassis 1 moves horizontally. The movable weight 21 is internally provided with balls, and friction force between the balls and the guide rods 24 can be reduced by contacting the balls with the guide rods, so that the movable weight 21 can move better along with centrifugal force. Both ends of the movable weight 21 are fixedly provided with push rods 22, one end of the push rod 22 away from the movable weight 21 penetrates through the forklift chassis 1 and is fixedly provided with a trigger push plate 23, one end of the trigger push plate 23 away from the push rod 22 is in contact with a supporting plate 33, and when the movable weight 21 moves to one side under the action of centrifugal force, the supporting plate 33 on the side can be pushed to rotate by the trigger push plate 23, so that the anti-toppling mechanism 3 automatically operates.

The general unmanned fork truck steering system is driven by two mutually independent hydraulic control devices, and two hydraulic control devices respectively control a steering wheel when in operation, and as the two hydraulic control devices are mutually independent, the steering wheel is inevitably different in the working process. If this occurs, the steering angles of the steering wheels are inconsistent, thereby increasing the walking resistance of the forklift and even causing slippage and rollover of the forklift.

In this embodiment, the steering mechanism 5 includes a fixing frame 51, the fixing frame 51 is fixedly mounted on the forklift chassis 1, a first hydraulic motor 53 and a second hydraulic motor 56 are fixedly mounted on the fixing frame 51, a first bogie 54 is fixedly mounted on an output shaft of the first hydraulic motor 53, a second bogie 57 is fixedly mounted on an output shaft of the second hydraulic motor 56, and steering wheels are rotatably mounted on the first bogie 54 and the second bogie 57. The two hydraulic motors are used for respectively controlling the rotation of the two steering wheels, so that the steering stability can be improved, and the two hydraulic motors are provided with two oil ports for inputting and outputting hydraulic oil. One of the oil ports of the first hydraulic motor 53 is communicated with one of the oil ports of the second hydraulic motor 56 through a connecting pipe 55, so that hydraulic oil in the two hydraulic motors can flow through each other. Two bogies are controlled to turn simultaneously through a hydraulic system, and compared with a traditional transverse pull rod transmission mode, the steering bogie can have a larger steering angle, and even three hundred sixty degrees of rotation of the steering bogie is realized, so that the unmanned forklift is more flexible. The steering mechanism 5 further comprises an oil storage cylinder 52, one end of the oil storage cylinder 52 is communicated with a first hydraulic motor 53 through a pipeline, the other end of the oil storage cylinder 52 is communicated with a second hydraulic motor 56 through a pipeline, a driving rod 511 is rotatably arranged on the inner wall of the oil storage cylinder 52, a gear 59 is fixedly arranged on the driving rod 511, a rack 58 is meshed with the surface of the gear 59, pistons are fixedly arranged at two ends of the rack 58, and the surface of the pistons is attached to the inner wall of the oil storage cylinder 52. When the rack 58 moves, it can synchronously drive two pistons to move, where the moving distance of the two pistons is the same, one piston presses oil into the first hydraulic motor 53 through a pipeline, drives the first hydraulic motor 53 to operate, and the other piston pumps an equal amount of hydraulic oil into the oil storage cylinder 52 through a pipeline, so that the second hydraulic motor 56 discharges an equal amount of hydraulic oil. In this process, the hydraulic oil flowing amount in the second hydraulic motor 56 is the same as that of the first hydraulic motor 53, and the rotation angle of the second bogie 57 is identical to that of the first bogie 54, so that the steering angles of the two steering wheels are prevented from being different, and the steering stability of the unmanned forklift is improved. One end of the driving rod 511 penetrates through the oil storage cylinder 52 and is fixedly provided with a motor 510, the motor 510 can provide power for the rotation of the gear 59, and further the gear 59 and the rack 58 are meshed to drive the two pistons to move for the same distance, so that the oil outlet amount in the oil storage cylinder 52 is equal to the oil inlet amount.

The unmanned forklift with the steering balancing device provided by the application runs by virtue of the two driving wheels when in use. During steering, the output end of the motor 510 drives the driving rod 511 to rotate, the driving rod 511 drives the gear 59 to rotate, and the gear 59 drives the rack 58 to move through meshing, so that pistons at two ends of the rack 58 move. The moving distance of the two pistons is the same, one piston is used for pressing oil into a pipeline, hydraulic oil enters a first hydraulic motor 53 through the pipeline, the oil pressure drives the motor to operate, so that an output shaft of the motor rotates, and further the first bogie 54 at the bottom of the motor is driven to rotate for a certain angle, and the first bogie 54 drives the steering wheel at the bottom of the motor to change the angle. After one end of the first hydraulic motor 53 is filled with oil, the other end discharges the same amount of oil, and the discharged hydraulic oil enters the second hydraulic motor 56 through the connecting pipe 55. Meanwhile, as the other piston pumps the same amount of hydraulic oil into the oil storage cylinder 52, the second hydraulic motor 56 discharges the same amount of hydraulic oil through the pipeline, so that the hydraulic oil flowing amount in the second hydraulic motor 56 is the same as that of the first hydraulic motor 53, the rotating angle of the second bogie 57 is consistent with that of the first bogie 54, the steering angles of the two steering wheels are prevented from being different, and the steering stability of the unmanned forklift is improved.

When the centrifugal force reaches a certain value or the forklift is toppled, the movable weight 21 moves. The movable weight 21 moves to one side under the action of centrifugal force, the push rod 22 drives the trigger push plate 23 to move to the side, and the supporting plate 33 on the side of the trigger push plate 23 is pushed outwards, so that the swing arm 32 rotates around the shaft rod 31, the swing arm 32 and the supporting plate 33 are in an outwards opened state, and if a forklift falls down, the supporting plate 33 can be in contact with the ground and support the forklift, so that the forklift is prevented from falling down. When the swing arm 32 rotates, the baffle 34 is synchronously driven to move, and after the baffle 34 is completely separated from the limiting frame 35, the baffle can rotate clockwise under the elasticity of the spring, so that cargoes on a forklift are blocked laterally, the cargoes are prevented from being offset continuously, the gravity center is prevented from being offset continuously, and meanwhile, the cargoes can be prevented from being damaged due to falling to the ground.

During the outward opening process of the supporting plate 33, the counterweight 41 close to the bending center side is pulled downwards through the pull rope 45, so that the gravity center moves downwards, and the stability of the forklift is improved. Meanwhile, due to the fact that a downward pulling force is applied to the side, the tendency of lifting of the side can be offset to a certain extent, and the tendency of vehicle toppling is relieved. In addition, in the process of outward rotation of the swing arm 32, the connecting frame 413 at the top end of the swing arm is synchronously driven to rotate, and the connecting frame 413 drives the connecting shaft 412 to move through the sliding block 411, so that when the connecting frame 413 rotates, the sliding block 411 can slide in the connecting frame, and the connecting shaft 412 is in rotational connection with the sleeve 410, thereby avoiding movement interference and enabling the sleeve 410 to horizontally move. The sleeve 410 moves to the side close to the center of curvature and synchronously drives the driving shaft 43 to move, and the driving shaft 43 drives the other balancing weight 41 to move to the side close to the center of curvature through the connecting rod 49, so that the center of gravity moves to the side, the centrifugal force or the tilting moment of the forklift is further resisted, and the steering stability of the forklift is improved. In addition, due to the movement of one of the driving shafts 43, the distance between the two first guide wheels 44 is shortened, the distance between the horizontal sections of the connecting ropes 42 is reduced, and the two balancing weights 41 can move downwards, so that the center of gravity is further lowered, and the stability of the unmanned forklift is improved.

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

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An unmanned forklift with steering balancing device, comprising:

a forklift chassis (1);

the anti-toppling mechanism (3) is used for preventing the unmanned forklift from turning over;

the gravity center balancing mechanism (4) is used for counteracting moment for tilting the unmanned forklift;

the automatic triggering mechanism (2) is used for triggering the anti-toppling mechanism (3) and the gravity center balancing mechanism (4) to operate;

a supporting stand (6) for supporting the anti-toppling mechanism (3) and the gravity center balancing mechanism (4);

and the steering mechanism (5) is used for controlling the steering of the unmanned forklift.

2. The unmanned forklift with the steering balancing device according to claim 1, wherein the anti-toppling mechanism (3) comprises a shaft lever (31), a swinging arm (32) is rotatably mounted on the shaft lever (31), and a supporting plate (33) is fixedly mounted at the bottom of the swinging arm (32).

3. The unmanned forklift with the steering balancing device according to claim 2, wherein a baffle plate (34) is rotatably mounted on the inner wall of the swing arm (32), the baffle plate (34) is elastically connected with the supporting plate (33) through a spring, a limiting frame (35) is in contact with the surface of the baffle plate (34), the limiting frame (35) is fixedly mounted on the supporting stand (6), a fixing plate (36) is fixedly mounted on the limiting frame (35), and the shaft lever (31) is fixedly mounted on the fixing plate (36).

4. The unmanned forklift with the steering balancing device according to claim 2, wherein the gravity center balancing mechanism (4) comprises two balancing weights (41), the tops of the two balancing weights (41) are connected through a connecting rope (42), and pull ropes (45) are fixedly arranged at the bottoms of the two balancing weights (41);

the anti-toppling mechanism (3) is provided with two, one end of the stay cord (45) away from the balancing weight (41) is fixedly arranged on the support plate (33) at the far side.

5. The unmanned forklift with the steering balancing device according to claim 4, wherein a connecting rod (49) is slidably mounted on the inner wall of the balancing weight (41), a driving shaft (43) is fixedly mounted at the top end of the connecting rod (49), a first guide wheel (44) is rotatably mounted on the driving shaft (43), the first guide wheel (44) is in transmission connection with the connecting rope (42), a sleeve (410) is fixedly mounted at one end of the driving shaft (43), a supporting shaft (414) is slidably mounted on the inner wall of the sleeve (410), a mounting plate (415) is fixedly mounted on the supporting shaft (414), the mounting plate (415) is fixedly mounted on the supporting stand (6), and one end of the sleeve (410) is in elastic connection with the mounting plate (415) through a spring.

6. The unmanned forklift with the steering balancing device according to claim 5, wherein the gravity center balancing mechanism (4) further comprises a connecting frame (413), the connecting frame (413) is fixedly installed on the swinging arm (32), a sliding block (411) is slidably installed on the inner wall of the connecting frame (413), the sliding block (411) is elastically connected with the inner wall of the connecting frame (413) through a spring, and the sliding block (411) is rotatably connected with the sleeve (410) through a connecting shaft (412).

7. The unmanned forklift with the steering balancing device according to claim 5, wherein a driven shaft (46) is fixedly arranged at the bottom end of the connecting rod (49), a second guide wheel (47) is rotatably arranged on the driven shaft (46), the second guide wheel (47) is in transmission connection with the pull rope (45), a limiting rod (48) is slidably arranged on the inner wall of the driven shaft (46), and the limiting rod (48) is fixedly arranged on the supporting stand (6).

8. The unmanned forklift with the steering balancing device according to claim 1, wherein the automatic triggering mechanism (2) comprises a guide rod (24), the guide rod (24) is fixedly installed on the forklift chassis (1), a movable weight (21) is movably connected to the guide rod (24), the movable weight (21) is elastically connected with the forklift chassis (1) through a spring, pushing rods (22) are fixedly installed at two ends of the movable weight (21), and one end, far away from the movable weight (21), of the pushing rods (22) penetrates through the forklift chassis (1) and a triggering pushing plate (23) is fixedly installed.

9. The unmanned forklift with the steering balance device according to any one of claims 1 to 8, wherein the steering mechanism (5) comprises a fixed frame (51), the fixed frame (51) is fixedly mounted on the forklift chassis (1), a first hydraulic motor (53) and a second hydraulic motor (56) are fixedly mounted on the fixed frame (51), a first bogie (54) is fixedly mounted on an output shaft of the first hydraulic motor (53), a second bogie (57) is fixedly mounted on an output shaft of the second hydraulic motor (56), steering wheels are rotatably mounted on both the first bogie (54) and the second bogie (57), and the first hydraulic motor (53) is communicated with the second hydraulic motor (56) through a connecting pipe (55).

10. The unmanned forklift with the steering balancing device according to claim 9, wherein the steering mechanism (5) further comprises an oil storage cylinder (52), one end of the oil storage cylinder (52) is communicated with the first hydraulic motor (53) through a pipeline, the other end of the oil storage cylinder (52) is communicated with the second hydraulic motor (56) through a pipeline, a driving rod (511) is rotatably mounted on the inner wall of the oil storage cylinder (52), a gear (59) is fixedly mounted on the driving rod (511), a rack (58) is meshed with the surface of the gear (59), pistons are fixedly mounted at two ends of the rack (58), the surface of the pistons is attached to the inner wall of the oil storage cylinder (52), and one end of the driving rod (511) penetrates through the oil storage cylinder (52) and is fixedly provided with a motor (510).