CN203401988U - Unmanned electric fork-lift truck - Google Patents
Unmanned electric fork-lift truck Download PDFInfo
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- CN203401988U CN203401988U CN201320517288.0U CN201320517288U CN203401988U CN 203401988 U CN203401988 U CN 203401988U CN 201320517288 U CN201320517288 U CN 201320517288U CN 203401988 U CN203401988 U CN 203401988U
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- vehicle
- fork truck
- truck
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model provides an unmanned electric fork-lift truck. The unmanned electric fork-lift truck is provided with a truck body and storage batteries arranged on the truck body. A working device is arranged on the truck body; a left driving wheel and a right driving wheel are arranged at the lower end of the front portion of the truck body, the left driving wheel is controlled and driven by a left driving motor and a left gearbox, and the right driving wheel is controlled and driven by a right driving motor and a right gearbox; a steering axle device capable of turning in a 180-degree mode is arranged at the lower end of the rear portion of the truck body; a general truck control device having control over operation of a single fork-lift truck or a general truck control device having control over simultaneous operation of a plurality of fork-lift trucks is arranged on the truck body; meanwhile, a mode conversion device achieving converting between an automatic operation mode and a manual operation mode is further arranged in a cab of the truck. The storage batteries are adopted as power, the operation modes comprise the automatic unmanned truck operation mode and the manual operation mode, and therefore the two modes can be converted safely and immediately; manpower resources are saved, and man-made error probability is reduced; because the truck is provided with a reliable safeguard alarm device, accidents are avoided.
Description
Technical field
The utility model belongs to electri forklift technical field, is specifically related to a kind of driverless operation electri forklift.
Background technology
Existing fork truck, the steering angle of steeraxle is 172 ° to the maximum, and the steeraxle of this kind of structure turns to flexibly heavy, and resistance is large, weight capacity is poor, and generally adopt transverse hydro-cylinder structure hydraulic to drive, and cause the precision that turns to of steeraxle accurately to control, fork truck can only adopt pilot steering operation, can not adopt automatic driverless operation pattern, along with industrialized development, more and more to the demand of unmanned automatic driving fork truck, be therefore necessary to improve.
Utility model content
The technical matters that the utility model solves: provide a kind of can pilot steering, also automatically driverless operation and steeraxle device can left rotation and right rotation the driverless operation electri forklift of 180 °.
The technical solution adopted in the utility model: driverless operation electri forklift, there is car body and be located at the storage battery on car body, described car body is provided with equipment, described Vehicular body front lower end is provided with left driving wheel and right drive wheel, described left driving wheel is controlled and is driven by left drive motor and left change speed gear box, described right drive wheel is controlled and is driven by right drive motor and right change speed gear box, described rear vehicle lower end is provided with can 180 ° of steeraxle devices that turn to, on car body, be provided with and control the gross vehicle control setup of separate unit fork truck operation or control the gross vehicle control setup that many fork trucks move simultaneously, in the operator's compartment of car body, be also provided with the mode conversion device of automatic operation mode/manual operation pattern conversion simultaneously.
Preferably, the gross vehicle control setup of described control separate unit fork truck operation comprises the master control of unit fork truck, vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device, four delivery ports of described unit fork truck master control connect respectively vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device input port, and described vehicle safety detection alarm device and running state detecting device delivery port be order machine fork truck master control second and the 3rd input port respectively.
Preferably, the gross vehicle control setup that many fork trucks of described control move simultaneously comprises vehicle operating master controller, signal wireless transmission device, the gross vehicle control setup of unit signal transmitting apparatus and the operation of control separate unit fork truck, wherein, the gross vehicle control setup of described control separate unit fork truck operation comprises the master control of unit fork truck, vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device and said apparatus are arranged on same fork truck, described vehicle operating master controller delivery port connects signal wireless transmission device input port, a plurality of delivery ports of described signal wireless transmission device connect the unit signal transmitting apparatus input port of a plurality of parallel connections, the master control of described unit signal transmitting apparatus delivery port order machine fork truck, four delivery ports of described unit fork truck master control connect respectively vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device input port, described vehicle safety detection alarm device and running state detecting device delivery port be order machine fork truck master control second and the 3rd input port respectively, described unit fork truck master control delivery port order machine signal transmitting apparatus input port, the unit signal transmitting apparatus delivery port of described a plurality of parallel connections connects a plurality of input ports of signal wireless transmission device, described radio transmitting device delivery port connects vehicle operating master controller input port.
Further, described steeraxle device comprises two wheel flutters and the pontic being arranged in rotating shaft, described pontic one end is fixedly connected with car body lower surface, the pontic other end is fixedly connected with rotating shaft, and the vertical line of centers of described pontic and the line of centers that the rotating shaft of two wheel flutters is installed are arranged vertically and are crosswise and make the wheel flutter 180 ° of rotations in left and right.
Further, described car body outer rim is provided with a plurality of peripheral obstacle safety monitoring assemblies, is also provided with fast battery charger on car body.
Further, described steeraxle device adopts hydraulic-driven or servo electric drive, and described pontic is provided with speed reduction gearing and steering angle detecting device.
The utility model advantage compared with prior art:
1, adopting storage battery is power, has basic structure and the function of common fork truck, and keeps its driver comfort, and control mode is the automatic driverless operation mode of vehicle and the double mode manipulation of pilot steering simultaneously, can realize two kinds of mode safeties and immediately change;
2, vehicle does not need manpower to drive, and also not needing people is that remote control or other modes are controlled.All operations have system automatically detect and control, and comprising: vehicle transhipment, access goods, travel, turn, detour, emergency engine kill.
3, vehicle is in operational process, can be according to the operation conditions of travel condition of vehicle detecting device automatic checkout equipment, if et out of order or vehicle hour reach maintenance specified time, vehicle meeting automatic alarm also feeds back to vehicle operating master controller by information, quits work simultaneously and drives to maintenance man position.When vehicle battery electric energy is not enough, vehicle can detect automatically, and the automatic running that quits work is to charging station, starts automatic charging.
4, vehicle can adopt magnetic guidance or laser guiding navigation to handle, and also can when the fixing transhipment action of enforcement route, have the autonomous nothing guiding of vehicle navigation to handle automatic cruising and handle;
5, vehicle range of use is wide, can effectively save human resources and take, and reduction people is the probability of makeing mistakes, and exempts the probability having an accident because of manpower fatigue;
6, vehicle is provided with failure-free safety protective alarming device, when occurring can automatically detouring fast or emergency braking under unforeseen circumstances, avoids the accident of meeting accident.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model inner structure schematic diagram;
Fig. 3 is the utility model theory structure schematic diagram;
Fig. 4 is that the utility model is worked as the principle of work structural representation of vehicle when automatic Pilot state.
The specific embodiment
Below in conjunction with accompanying drawing 1-4, a kind of embodiment of the present utility model is described.
Driverless operation electri forklift, there is car body 3 and be located at the storage battery 1 on car body 3, described car body 3 outer rims are provided with a plurality of peripheral obstacle safety monitoring assemblies 21, when there is obstacle and entering risk range in vehicle periphery, peripheral obstacle safety monitoring assembly 21 is worked and sends signal, make vehicle automatic retarding and take to detour or emergency braking such as stops at the action, thereby avoiding occurring safety misadventure.On car body 3, be also provided with fast battery charger 22, when storage battery 1 electric energy reaches warning threshold, vehicle can automatically run to charging station and start battery charger, fast battery charger 22 work, storage battery 1 is carried out to automatic charging, meet vehicle operating needs.Car body 3 is provided with equipment 2, described car body 3 front lower ends are provided with left driving wheel 8 and right drive wheel 4, described left driving wheel 8 is controlled and is driven by left drive motor 7 and left change speed gear box 5, described right drive wheel 4 is controlled and is driven by right drive motor 6 and right change speed gear box 12, described left driving wheel 8 and right drive wheel 4 are controlled and are driven separately by left drive motor 7 and right drive motor 6 respectively, adopt control system to realize Automated electronic differential, left drive motor 7 and right drive motor 6 can rotatings, therefore, left driving wheel 8 and right drive wheel 4 can be realized rotating, its rotating speed and output torque are according to the angle that turns pontic 15, after having controller computing, control voluntarily, when left rotation and right rotation opposite direction and speed are when identical with moment, wheel flutter 14 line of centerss are vertical with pontic 15 line of centerss, steering angle is ± 90 °, when steering angle is during in different angles, the moment of torsion of left driving wheel 8 and right drive wheel 4 and speed also change thereupon automatically, realizing the different turn radius of fork truck controls.When deflection angle is in-90 ° to 90 ° intervals, the hand of rotation of left driving wheel 8 and right drive wheel 4 and speed control to respective value after by controller computing automatically, thereby guarantee that turn inside diameter is normal.Described car body 3 lower ends, rear portion are provided with can 180 ° of steeraxle devices 10 that turn to, described steeraxle device 10 adopts hydraulic-driven or servo electric drive, described steeraxle device 10 comprises two wheel flutters 14 and the pontic 15 being arranged in rotating shaft, described pontic 15 one end are fixedly connected with car body 3 lower surfaces, pontic 15 other ends are fixedly connected with rotating shaft, the vertical line of centers of described pontic 15 and the line of centers that the rotating shaft of two wheel flutters 14 is installed are arranged vertically and are crosswise and make wheel flutter 180 ° of 14 left and right rotation, described pontic 15 is provided with speed reduction gearing and steering angle detecting device.
On car body 3, be provided with and control the gross vehicle control setup of separate unit fork truck operation or control the gross vehicle control setup that many fork trucks move simultaneously, concrete, the gross vehicle control setup of described control separate unit fork truck operation comprises unit fork truck master control 11, vehicle running state controller 9, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18, four delivery ports of described unit fork truck master control 11 connect respectively vehicle running state controller 9, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18 input ports, described vehicle safety detection alarm device 13 and running state detecting device 18 delivery ports are order machine fork truck master control 11 second and the 3rd input port respectively.The gross vehicle control setup that many fork trucks of described control move simultaneously comprises vehicle operating master controller 20, signal wireless transmission device 16, the gross vehicle control setup of unit signal transmitting apparatus 17 and the operation of control separate unit fork truck, wherein, the gross vehicle control setup of described control separate unit fork truck operation comprises unit fork truck master control 11, vehicle running state controller 9, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18 and said apparatus are arranged on same fork truck, described vehicle operating master controller 20 delivery ports connect signal wireless transmission device 16 input ports, more than 16 delivery port of described signal wireless transmission device connects unit signal transmitting apparatus 17 input ports of a plurality of parallel connections, described unit signal transmitting apparatus 17 delivery port order machine fork truck master controls 11, four delivery ports of described unit fork truck master control 11 connect respectively vehicle running state controller 9, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18 input ports, described vehicle safety detection alarm device 13 and running state detecting device 18 delivery ports are order machine fork truck master control 11 second and the 3rd input port respectively, described unit fork truck master control 11 delivery port order machine signal transmitting apparatus 17 input ports, unit signal transmitting apparatus 17 delivery ports of described a plurality of parallel connections connect more than 16 input port of signal wireless transmission device, described radio transmitting device 16 delivery ports connect vehicle operating master controller 20 input ports, the master control 11 of a plurality of unit fork truck sends travel condition of vehicle and vehicle location automatic detection signal after operation master controller 20 to by unit signal transmitting apparatus 17 and signal wireless transmission 16, by operation master controller 20, coordinate a plurality of light locomotive runnings, prevent the generation of the dangerous accident such as obstruction or entrucking mutually between unit.In the operator's compartment of car body 3, be also provided with the mode conversion device 23 of automatic operation mode/manual operation pattern conversion simultaneously.
When vehicle is when automatically driving state of value, the completing by unit fork truck master control 11 of action such as handling, shovel goods, goods putting have been controlled automatically.The running of hydraulic power unit 24 is controlled in unit fork truck master control 11, by hydraulic actuator 25, drive hydraulic operation unit 26, by hydraulic control device 27, control hydraulic actuator 25 and 26 actions of hydraulic operation unit simultaneously, complete various function actions, by the performance of hydraulic operation unit 26 and the 28 monitoring hydraulic function actions of hydraulic operation detecting device, and its feedback information is fed back to unit fork truck master control 11 Correction and Control orders, realize closed loop and automatically control.The storage battery electric energy of vehicle detects, in unit fork truck master control 11 the insides, the voltage signal of storage battery is passed to unit fork truck master control 11, and the control program of unit fork truck master control 11 the insides can detect battery tension automatically, and while only having battery tension to reach operating needs, vehicle just can start work.
Above-described embodiment, is preferred embodiment of the present utility model, is not used for limiting the utility model practical range, and the equivalence of being done with content described in the utility model claim therefore all changes, within all should being included in the utility model claim scope.
Claims (6)
1. driverless operation electri forklift, there is car body (3) and be located at the storage battery (1) on car body (3), described car body (3) is provided with equipment (2), it is characterized in that: described car body (3) front lower ends is provided with left driving wheel (8) and right drive wheel (4), described left driving wheel (8) is controlled and is driven by left drive motor (7) and left change speed gear box (5), described right drive wheel (4) is controlled and is driven by right drive motor (6) and right change speed gear box (12), described car body (3) lower end, rear portion is provided with can 180 ° of steeraxle devices (10) that turn to, on car body (3), be provided with and control the gross vehicle control setup of separate unit fork truck operation or control the gross vehicle control setup that many fork trucks move simultaneously, in the operator's compartment of car body (3), be also provided with the mode conversion device (23) of automatic operation mode/manual operation pattern conversion simultaneously.
2. driverless operation electri forklift according to claim 1, it is characterized in that: the gross vehicle control setup of described control separate unit fork truck operation comprises unit fork truck master control (11), vehicle running state controller (9), transport function movement controller (19), vehicle safety detection alarm device (13) and running state detecting device (18), four delivery ports of described unit fork truck master control (11) connect respectively vehicle running state controller (9), transport function movement controller (19), vehicle safety detection alarm device (13) and running state detecting device (18) input port, described vehicle safety detection alarm device (13) and running state detecting device (18) delivery port be order machine fork truck master control (11) second and the 3rd input port respectively.
3. driverless operation electri forklift according to claim 1, it is characterized in that: the gross vehicle control setup that many fork trucks of described control move simultaneously comprises vehicle operating master controller (20), signal wireless transmission device (16), the gross vehicle control setup of unit signal transmitting apparatus (17) and the operation of control separate unit fork truck, wherein, the gross vehicle control setup of described control separate unit fork truck operation comprises unit fork truck master control (11), vehicle running state controller (9), transport function movement controller (19), vehicle safety detection alarm device (13) and running state detecting device (18) and said apparatus are arranged on same fork truck, described vehicle operating master controller (20) delivery port connects signal wireless transmission device (16) input port, a plurality of delivery ports of described signal wireless transmission device (16) connect unit signal transmitting apparatus (17) input port of a plurality of parallel connections, described unit signal transmitting apparatus (17) delivery port order machine fork truck master control (11), four delivery ports of described unit fork truck master control (11) connect respectively vehicle running state controller (9), transport function movement controller (19), vehicle safety detection alarm device (13) and running state detecting device (18) input port, described vehicle safety detection alarm device (13) and running state detecting device (18) delivery port be order machine fork truck master control (11) second and the 3rd input port respectively, described unit fork truck master control (11) delivery port order machine signal transmitting apparatus (17) input port, unit signal transmitting apparatus (17) delivery port of described a plurality of parallel connections connects a plurality of input ports of signal wireless transmission device (16), described radio transmitting device (16) delivery port connects vehicle operating master controller (20) input port.
4. according to the driverless operation electri forklift described in claim 1 or 2 or 3, it is characterized in that: described steeraxle device (10) comprises two wheel flutters (14) and the pontic (15) being arranged in rotating shaft, described pontic (15) one end is fixedly connected with car body (3) lower surface, pontic (15) other end is fixedly connected with rotating shaft, and the vertical line of centers of described pontic (15) and the line of centers that the rotating shaft of two wheel flutters (14) is installed are arranged vertically and are crosswise and make wheel flutter (14) the 180 ° of rotations in left and right.
5. driverless operation electri forklift according to claim 4, is characterized in that: described car body (3) outer rim is provided with a plurality of peripheral obstacle safety monitoring assemblies (21), is also provided with fast battery charger (22) on car body (3).
6. driverless operation electri forklift according to claim 5, is characterized in that: described steeraxle device (10) adopts hydraulic-driven or servo electric drive, and described pontic (15) is provided with speed reduction gearing and steering angle detecting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320517288.0U CN203401988U (en) | 2013-08-22 | 2013-08-22 | Unmanned electric fork-lift truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320517288.0U CN203401988U (en) | 2013-08-22 | 2013-08-22 | Unmanned electric fork-lift truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203401988U true CN203401988U (en) | 2014-01-22 |
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ID=49937929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320517288.0U Expired - Lifetime CN203401988U (en) | 2013-08-22 | 2013-08-22 | Unmanned electric fork-lift truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203401988U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419673A (en) * | 2013-08-22 | 2013-12-04 | 杨鹏波 | Unmanned-driving electric forklift |
| CN107290162A (en) * | 2017-06-22 | 2017-10-24 | 同济大学 | A kind of rail vehicle is dynamic to dynamic test system and method |
-
2013
- 2013-08-22 CN CN201320517288.0U patent/CN203401988U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419673A (en) * | 2013-08-22 | 2013-12-04 | 杨鹏波 | Unmanned-driving electric forklift |
| CN103419673B (en) * | 2013-08-22 | 2015-11-04 | 杨鹏波 | Driverless operation electri forklift |
| CN107290162A (en) * | 2017-06-22 | 2017-10-24 | 同济大学 | A kind of rail vehicle is dynamic to dynamic test system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140122 Effective date of abandoning: 20151104 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |