CN208791108U - Unmanned fork truck and automated warehouse storage system - Google Patents
Unmanned fork truck and automated warehouse storage system Download PDFInfo
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- CN208791108U CN208791108U CN201821325585.4U CN201821325585U CN208791108U CN 208791108 U CN208791108 U CN 208791108U CN 201821325585 U CN201821325585 U CN 201821325585U CN 208791108 U CN208791108 U CN 208791108U
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Abstract
The utility model discloses unmanned fork trucks and automated warehouse storage system, automated warehouse storage system, including warehouse and unmanned fork truck, parallel arrangement has multiple tracks shelf in warehouse, shelf passage is formed between shelf, unmanned fork truck linear fashion can be run in shelf passage, unmanned fork truck, including along the chassis of warehouse shelf channel-length direction linear running, and it can lifting pallet fork on chassis on a secondary door frame component and door frame component for shelf passage width direction linear running on chassis, go up and down the either side shelf in the direction alignment shelf passage two sides of pallet fork；Fork truck operation method executes stacking instruction or pick-up instruction by operation warehousing system, and only the shelf passage length direction along library is made straight line and run back and forth on the chassis of unmanned fork truck, omits navigation system, reduces production cost；Unmanned fork truck is run along pallet fork passages simultaneously, therefore the width of layout of shelf passage can reduce, and effectively improve utilization rate of warehouse.
Description
Technical field
The utility model relates to a kind of electri forklift and warehousing system field more particularly to a kind of unmanned fork truck and certainly
Dynamicization warehousing system and fork truck operation method.
Background technique
Fork truck is industrial transportation vehicle, refer to pallet cargo is loaded and unloaded, stacking and short distance transportation operation
Various wheeled transport vehicles.Fork truck is widely used in harbour, goods yard, factory floor, warehouse and logistics center etc..Traditional fork truck
Require configuration driver, and large labor intensity very high to the skill requirement of driver.Since human cost rises and calculates
The development of the machine communication technology uses unmanned fork truck standardizing more and more in warehouse.
Chinese Authorization Notice No. is the unmanned transportation fork-truck of laser navigation of CN205709704U, is swept in fact by setting first
Imaging apparatus and the second scanning means scan fork truck or so two sides and subsequent barrier, prevent fork truck from colliding.
Chinese Authorization Notice No. is the laser navigation of CN207158711U from electrical forklift, pass through simultaneously safety sensor,
Warning lamp, scram button guarantee the personal safety of field personnel；And optional laser radar is to meet different costs, function
Energy demand realizes high performance-price ratio, and laser navigation is more reliable and more stable from electrical forklift.
Chinese Authorization Notice No. is the unmanned electric railless three-dimensional stacking fork truck of CN104442452B, passes through vehicle control
Device PLC processed controls the automation for completing logistics, and guiding control is accurate, and data information is perfect, is suitable for pallet carrying and pallet certainly
Dynamic storage and outbound operation.
Chinese application publication number is CN107038546A based on RFID fork truck intelligent warehouse management system and method, packet
The RFID antenna and card reader that cargo is read on fork truck are included, the first RFID electronic label being attached on goods carrier is attached to cargo
On the second RFID electronic label and control host.Card reader is connected with control host to arrive the data information transfer of reading
Control host, the utility model can easy warehousing management, make that cargo is put and quantity is very clear, specification warehousing management makes
The more appropriate keeping of cargo specifies cargo trend, makes cargo process definitely.
Traditional fork truck configured with driver, due to driver's seat and the layout of operating system, so that traditional fork
The length of vehicle at least needs 2.4 meters, it is contemplated that the turning radius of fork truck, shelf passage at least need 3 meters or more.Traditional fork truck
Pallet fork direction it is identical as vehicle course.
Unmanned fork truck and the technology in automated warehousing management tend to be mature at present, but unmanned fork truck
Laser navigation instrument, be related to optics, computer communication etc. subjects, technical requirements are very high, thus its prices are rather stiff, this is making
It causes to be difficult to bear on this.By unmanned fork lift truck applications when carrying out handling, the stacking of cargo in regular warehouse, fork truck needs
Certain turning radius, the channel between adjacent two rows of shelf in warehouse are generally required at 3 meters or more, this influences whether warehouse
Utilization efficiency.
In view of this, those skilled in the art attempt to develop a kind of novel unmanned fork truck and automated warehousing system
System, to overcome above-mentioned technological deficiency.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of unmanned forks along shelf passage linear running
Vehicle and fork truck operation method, this can simplify the structure and control system of unmanned fork truck；It further provides based on above-mentioned
The automated warehouse storage system of unmanned fork truck, because of linear running of the unmanned fork truck in warehouse, the shelf in warehouse are logical
Road is just not necessarily to consider the turning radius of fork truck, this can reduce the width of shelf passage, increase substantially the utilization efficiency in warehouse.
Technical solution adopted by the utility model to solve the above technical problems is as follows: unmanned fork truck, it is characterised in that
Including along the chassis of warehouse shelf channel-length direction linear running, be set to chassis on and can be on chassis along shelf passage width
Lifting pallet fork on the secondary door frame component of the one of direction linear running and door frame component, the direction alignment shelf of the lifting pallet fork
Either side shelf in the two sides of channel.
The further preferred embodiment of the utility model are as follows: including the first drive that driving chassis is for linear motion along shelf passage
Motivation structure.
The further preferred embodiment of the utility model are as follows: first driving mechanism is first servo motor, described
Chassis is equipped with multiple movable pulleys controlled by first servo motor, and the movable pulley under Serve Motor Control drives chassis along shelf
Channel is for linear motion.
The further preferred embodiment of the utility model are as follows: track is distributed on the chassis, the door frame component
Lower part is equipped with idler wheel, and the idler wheel on door frame component is rolled in the track to realize straight line fortune of the door frame component on chassis
It is dynamic.
The further preferred embodiment of the utility model are as follows: including the second driving machine that driving door frame component is for linear motion
Structure.The further preferred embodiment of the utility model are as follows: second driving mechanism includes be fixed on door frame component bottom
Two servo motors, gear and the rack gear being laid with along chassis width direction, the second servo motor driving gear with it is described
Rack gear engagement, movement of the gear on the rack gear of the second servo motor driving is to come the straight line that drives door frame component
Movement.
The further preferred embodiment of the utility model are as follows: the synchronous steering of a control movable pulley is connected on each movable pulley
Third servo motor.
The further preferred embodiment of the utility model are as follows: the output gear and movable pulley wheel carrier of the third servo motor
On arc-shaped rack match, to realize the course changing control of movable pulley.
The further preferred embodiment of the utility model are as follows: the door frame component is made of multistage door frame, door frame component
The flexible control by lifting cylinder up and down.
The further preferred embodiment of the utility model are as follows: the chassis includes two and is parallel to each other and spaced apart
Moulding, the track is located at the inside of every moulding.
The further preferred embodiment of the utility model are as follows: the door frame component under initial position is located at the central region on chassis,
And the front end for going up and down pallet fork is no more than the front end of moulding；Door frame component can move linearly to extreme direction before moulding and forward extend out frame
Item.
The further preferred embodiment of the utility model are as follows: be equipped in chassis to battery needed for fork truck operation power supply.
The further preferred embodiment of the utility model are as follows: chassis underside face is equipped with magnetic navigation sensor, the magnetic navigation
Sensor is used cooperatively with the magnetic stripe, magnetic markers or cable being laid on shelf passage.
The further preferred embodiment of the utility model are as follows: automated warehouse storage system, including warehouse and unmanned fork truck, storehouse
Parallel arrangement has multiple tracks shelf in library, and shelf passage is formed between shelf, and the unmanned fork truck can be at least one institute
Linear fashion is run in the shelf passage stated.
The further preferred embodiment of the utility model are as follows: the width of the shelf passage is between 140~300 centimetres.
The further preferred embodiment of the utility model are as follows: clamp method of the unmanned fork truck in warehouse, feature exist
In comprising the following specific steps that: 1) unmanned fork truck is connected to the instruction of cargo stacking, and the stacking instruction includes goods information
With shelf information corresponding with goods information；Shelf information includes X axis coordinate, Y axis coordinate and Z axis coordinate；
2) after a lifting pallet fork on unmanned fork truck is connected to cargo from the entrance of shelf passage, unmanned fork
Vehicle linear running along the shelf passage under locating X axis coordinate, when the lifting pallet fork for being loaded with cargo is moved to Y axis coordinate
Place, unmanned fork truck stop, and then go up and down pallet fork and send cargo to the Z axis coordinate position of shelf.
The further preferred embodiment of the utility model are as follows: unmanned fork truck realizes any side in the entrance of shelf passage
To steering or realize 180 degree steering.
The further preferred embodiment of the utility model are as follows: picking method of the unmanned fork truck in warehouse, feature exist
In comprising the following specific steps that: 1) unmanned fork truck is connected to cargo unloading instruction, and the unloading instruction includes goods information
With shelf information corresponding with goods information, shelf information includes X axis coordinate, Y axis coordinate and Z axis coordinate；
2) unmanned fork truck linear running along the shelf passage under locating X axis coordinate, when lifting pallet fork is moved to Y
At axial coordinate, unmanned fork truck stops；Then lifting pallet fork rises to Z axis coordinate position load target goods, is loaded with mesh
The lifting pallet fork for marking cargo resets, and subsequent unmanned fork truck is moved to the entrance of the shelf passage under X axis coordinate.
The further preferred embodiment of the utility model are as follows: unmanned fork truck realizes any side in the entrance of shelf passage
To steering or realize 180 degree steering.
Compared with prior art, the utility model has the advantages that unmanned fork truck has a chassis, has one on chassis
The door frame component of subband pallet fork goes up and down the either side shelf in the direction alignment shelf passage two sides of pallet fork；Due to unmanned
Only the shelf passage length direction along library is made straight line and is run back and forth on the chassis of fork truck, navigation system needed for omitting unmanned fork truck
System reduces production cost.Simultaneously because unmanned fork truck is run along pallet fork passages, the shelf passage in warehouse is without examining
Consider the turning radius of fork truck, therefore the width of layout of shelf passage can reduce, by traditional 3 meters of shelf passage or more reduce to
Between 1.4 meters -3 meters, the utilization rate in warehouse can be effectively improved.
Detailed description of the invention
Fig. 1 is the schematic layout pattern of multiple tracks shelf in warehouse；
Fig. 2 is that unmanned fork truck operates in the schematic diagram in shelf passage；
Fig. 3 is the structural schematic diagram one of unmanned fork truck；
Fig. 4 is the structural schematic diagram two of unmanned fork truck；
Fig. 5 is the structural schematic diagram three of unmanned fork truck；
Fig. 6 is the structural schematic diagram four of unmanned fork truck；
Fig. 7 is enlarged drawing at A in Fig. 5；
Fig. 8 is enlarged drawing at B in Fig. 6.
Specific embodiment
The utility model is described in further detail below in conjunction with figure embodiment.
Automated warehouse storage system, including standardized warehouse, parallel arrangement has a multiple tracks shelf 6 in warehouse, between shelf 6 with
Shelf passage 5 is formed, usually the left and right sides of shelf passage 5 is respectively disposed with the shelf 6 of stack goods all the way.Unmanned fork
Vehicle 1 linear fashion can be run in one or more shelf passage 5.The width of the shelf passage 5 of the utility model
It drops between 1.4 meters -3 meters, it is contemplated that the width of the stability of cargo height and fork truck, shelf passage 5 is arranged in 1.6
It is proper between -2 meters of rice.The unmanned fork truck 1 of the utility model is suitable for 2 meters or more of high shelf and the storehouse of narrow passage
Library can effectively improve the utilization rate in warehouse in this way.
As shown in Figure 1, one shelf passage is corresponding with two shelf in left and right for the shelf schematic layout pattern in a warehouse
6, cargo is seated on shelf by pallet, and position of the shelf passage 5 in warehouse is expressed as X, and a shelf passage 5 is corresponding
Two column shelf be expressed as X1 and X2, the length direction of shelf passage 5 is expressed as Y, and the height of shelf is expressed as Z.Cargo
Coordinate representation on shelf is (X1, Y, Z) or (X2, Y, Z).
As shown in Fig. 2, when a unmanned fork truck 1 can be responsible for the two column shelf 6 an of shelf passage 5, switching simultaneously
To same shelf passage 5 different shelf 6 when, unmanned fork truck 1 needs (the entrance C of side-aisle region 10 in warehouse
Place) turn through 180 degree.If a unmanned fork truck 1 is responsible for the same direction shelf 6 on different shelf passages 5, nobody
Driving fork truck 1 need to be after 90 degree twice turning, and the pallet fork direction of fork truck remains unchanged.
As shown in Figures 3 to 6, unmanned fork truck 1, including along the bottom of 5 length direction linear running of warehouse shelf channel
Disk 2, on chassis 2 and can be on chassis 2 along the secondary door frame component 3 and door frame of 5 width direction linear running of shelf passage
Lifting pallet fork 4 on component 3, the direction of lifting pallet fork 4 are directed at the either side shelf 6 in 5 two sides of shelf passage, i.e. lifting goods
Length direction of the direction of fork 4 perpendicular to shelf passage 5.Unmanned fork truck 1 can utilize door frame component 3 and lifting pallet fork 4 will
On cargo 7 stacking to shelf 6 or from unloading on shelf 6.When shelf passage 5 is rectilinear direction, the direction of lifting pallet fork 4 is always
Perpendicular to the length direction of shelf passage 5, door frame component 3 is located on chassis 2 and on chassis 2 along the width side of shelf passage 5
Stretch forwards, backwards, unmanned fork truck 1 when driving, door frame component 3 need to be inwardly indented to the inside of chassis 2, in unmanned fork
1 stacking of vehicle or when taking oblique cargo, door frame component 3 is protruding on chassis 2 to be used for operation.
Only make straight line along 5 length direction of library shelf passage due to the chassis 2 of unmanned fork truck 1 to run back and forth, therefore can be with
Navigation system needed for omitting unmanned fork truck 1, to reduce production cost.Simultaneously because unmanned fork truck 1 is logical along pallet fork
5 linear running of road, without considering the turning radius of fork truck, therefore the width of layout of shelf passage 5 can reduce, by traditional goods
3 meters of frame channel or more is reduced between 1.4 meters -3 meters, this can effectively improve the utilization rate in warehouse.
Lifting pallet fork 4 is of an L-shaped structure comprising two yokes 41 are connected on door frame component 3 by mechanical structure, tool
Body structure can be realized using routine techniques.
Shelf 6 have certain height, this can by go up and down pallet fork 4 automatic lifting come realize cargo 7 stacking and
Unloading.Specifically, the control of the linear movement of unmanned fork truck 1, elastic and lifting of the door frame component 3 on chassis 2
The unmanned control systems such as the height of the raising and lowering of pallet fork 4 are realized using computer；The unmanned control system can be by existing
There are control system and software in technology to realize, is no longer developed in details herein.
Chassis 2 is a general frame in rectangular configuration, and the width on chassis 2 is equal to or slightly less than shelf passage 5
Width moves linearly in shelf passage 5 as long as not influencing chassis 2.
Unmanned fork truck 1 includes driving chassis 2 first driving mechanism for linear motion along shelf passage 5, and first drives
Motivation structure is first servo motor 21, and chassis 2 is equipped with 4 movable pulleys 22, and the setting of movable pulley makes chassis 2 more easily control along goods
The length direction in frame channel 5 is for linear motion.Specifically, movable pulley 22 includes that there are two driving wheel 221 and two driven wheels
222.A first servo motor 21 is respectively filled on driving wheel 221 on 2 diagonal line of chassis, two first servo motors 21 are driven respectively
A driving wheel 221 is moved, to drive chassis 2 mobile to two different directions, so that unmanned fork truck 1 is executed straight at one
Front and back operation back and forth on line shelf passage 5.There are four movable pulleys 22 for installation on the chassis 2 of unmanned fork truck 1, diagonal
Two on line are driving wheels 221.When fork-truck steering, four movable pulleys 22 first turn to an angle, and axis is made to be directed at fork truck
Midpoint, one of driving wheel 221 rotate forward, and another driving wheel 221 is to rotate backward, and be can be realized unmanned
The commutation of fork truck 1.When two driving wheels 221 rotate in same direction, it can be achieved that four direction is freely converted, fork truck is with rectilinear direction row
It sails.
The synchronous third servo motor 25 turned to of a control movable pulley 22 is connected on each movable pulley 22.As shown in fig. 7,
The output gear 251 of third servo motor 25 is matched with the arc-shaped rack 2231 on movable pulley wheel carrier 223, to realize movable pulley
22 course changing control.For unmanned fork truck 1 when needing to rotate, four third servo motors 25 distinguish synchronously control movable pulley wheel
The rotation of frame 223, to meet the turning consistency of four movable pulleys 22.Unmanned fork truck 1 is in 6 side-aisle region 10 of shelf
Realize the steering of any direction, but the direction of travel of unmanned fork truck 1 is still advanced with rectilinear direction.22 top of movable pulley
Position is equipped with the housing 224 of protection third servo motor 25 and first servo motor 21.Third servo motor 25 is built-in with detection
The feedback coder of steering angle.
When unmanned fork truck 1 passes through magnetic navigation sensor along with 11 linear running of magnetic stripe in shelf passage 5, when
When unmanned fork truck deviates linear position, the synchronization steering structure of movable pulley 22 can be to the traveling road of unmanned fork truck 1
Line is rectified a deviation.
Track 23 is distributed on chassis 2, the lower part of door frame component 3 is equipped with idler wheel 31, and the idler wheel 31 of door frame component 3 is in correspondence
Track 23 in roll to realize linear motion of the door frame component 3 on chassis 2, to reduce in 3 moving process of door frame component
Frictional force.Unmanned fork truck 1 further includes the second driving mechanism for driving door frame component 3 for linear motion.
As shown in Figure 6 and Figure 8, the second driving mechanism includes the second servo motor 32, the tooth for being fixed on 3 bottom of door frame component
34, tooth for taking turns 33 and being laid in 2 width direction of chassis, the second servo motor 32 driving gear 33 are engaged with rack gear 34, the
Two servo motors 32 drive movement of the gear 33 on rack gear 34 to which come the linear motion that drives door frame component 3, gear 33 can
To install two and rotation of intermeshing.The speed changer of worm and gear composition is equipped between second servo motor 32 and gear 33
37, while can increase the output torque of the second servo motor 32.Feedback coder is installed on speed changer 37, by detecting tooth
The revolving speed of wheel 33, exactly detects stroke signal and feeds back to controller, meets the needs of 3 forwardly moved position of door frame component detection.
Door frame component 3 is made of multistage door frame, the upper and lower flexible control by lifting cylinder 38 of door frame component 3.Door frame group
The connection of lifting pallet fork 4 and driving structure, operational mode on part 3 and door frame component 3 can be identical as conventional fork truck, herein
No details will be provided.Altimeter coder is installed on door frame component 3, to detect the telescopic height of door frame component 3.
Chassis 2 is parallel to each other including two and moulding 24 spaced apart, every group of track are located at every moulding 24
Inside, based on the considerations of intensity and reliability, moulding 24 is made of steel.Track 23 is made of other C-type steel material, and fixed
It is connected to the inside of moulding 24.
Coupled between two mouldings 24 by gusset piece component 242, gusset piece component 242 is divided to for two mouldings 24
Between downside gusset piece 2422 and upside gusset piece 2421, gusset piece component 242 is located at the rear side of place door frame component 3, joins
A receiving channel 243 is formed between fishplate bar component 242.The rear side of door frame component 3 is connected with balance plate 35, there is one or two
Idler wheel 31 is separately mounted to the two sides of the bottom position of door frame component 3, and another there are two the two sides that idler wheel 31 is mounted on balance plate 35, doors
Stability when frame component 3 moves in track 23 is just very good.When door frame component 3 moves backward, 3 rear side of door frame component is put down
Weighing apparatus plate 35 can be put in the receiving channel 243 of gusset piece component 242.
Another second servo motor 32, speed changer 351 and encoder 352 etc. are fixedly mounted on the top of balance plate 35, in door
When frame component 3 moves backward, the second servo motor 32, speed changer 351 and encoder 352 etc. can protrude into receiving channel 243
It is interior.
One mask 36 is arranged at the lower part of door frame component 3, and the bottom cover of door frame component 3 is got up, mask 36 and balance plate
35 are interconnected and fixed.
Door frame component 3 under initial position is located at the central region on chassis 2, and the front end for going up and down pallet fork 4 is no more than moulding
24 front end；When the chassis 2 of unmanned fork truck 1 is moved in shelf passage 5, lifting pallet fork 4 will not encounter shelf 6.Door frame
Component 3 can move linearly to extreme direction before moulding 341 and forward extend out moulding 241.Middle region of the door frame component 3 on chassis 2
Domain, for unmanned fork truck 1 in unloaded or heavy duty, the center of gravity and balance of unmanned fork truck 1 are relatively good, fork truck
Unstable situation will not occur because of load weight.
It is equipped on upside gusset piece 2421 on chassis 2 to battery 12 needed for fork truck operation power supply and gives lifting oil
The hydraulic pump 13 of 38 fuel feeding of cylinder.The counterweight as unmanned fork truck 1 simultaneously of battery 12, since chassis 2 is needed for door frame group
The movement of part 3, therefore the width on chassis 2 is relatively large, the frame on chassis 2 is made of steel, relatively large floor space and
Weight is also used as the counterweight of unmanned fork truck 1；To bear the equilibrant force of lifting pallet fork 4 in a high position and when overloaded.Battery
12 are seated in upside 2421 position of gusset piece, belong to the rearward position on chassis 2, and door frame component 3 is located at the forward position on chassis 2,
Battery 12 plays the role of 2 counterweight of chassis.
2 downside of chassis be equipped with magnetic navigation sensor, magnetic navigation sensor be laid on shelf passage 5 magnetic stripe 11,
Magnetic markers or cable are used cooperatively.Magnetic stripe 11, magnetic markers or cable are laid in a linear fashion on shelf passage 5, unmanned
Fork truck 1 is by magnetic navigation sensor along 5 linear running of shelf passage.
Clamp method of the unmanned fork truck 1 in warehouse, comprises the following specific steps that: 1) unmanned fork truck 1 is connected to
The instruction of cargo stacking, stacking instruction include goods information and shelf information corresponding with goods information；Shelf information includes X-axis
Coordinate, Y axis coordinate and Z axis coordinate；
2) after a lifting pallet fork 4 on unmanned fork truck 1 is connected to cargo from the entrance C of shelf passage 5, nobody
It drives fork truck 1 to run along the shelf passage 5 under locating X axis coordinate, when the lifting pallet fork 4 for being loaded with cargo is moved to Y-axis
At coordinate, unmanned fork truck 1 stops, and then goes up and down pallet fork 4 and send cargo to the Z axis coordinate position of shelf.
Picking method of the unmanned fork truck 1 in warehouse, it is characterised in that comprise the following specific steps that: 1) unmanned
Fork truck 1 is connected to cargo unloading instruction, and unloading instruction includes goods information and shelf information corresponding with goods information, shelf information
Including X axis coordinate, Y axis coordinate and Z axis coordinate；
2) unmanned fork truck is run along the shelf passage 5 under locating X axis coordinate, when lifting pallet fork 4 is moved to Y
At axial coordinate, unmanned fork truck 1 stops；Then lifting pallet fork 4 rises to Z axis coordinate position load target goods, is loaded with
The lifting pallet fork 4 of target goods resets, and subsequent unmanned fork truck 1 is moved to the entrance C of the shelf passage 5 under X axis coordinate
Place.Unmanned fork truck realizes the steering of any direction at the entrance C of shelf passage 5 or realizes the steering of 180 degree.
Above to unmanned fork truck provided by the utility model and automated warehouse storage system and fork truck operation method into
It has gone and has been discussed in detail, specific case used herein is expounded the principles of the present invention and embodiment, above
The explanation of embodiment is merely used to help understand the utility model and core concept.It should be pointed out that for the general of the art
For logical technical staff, without departing from the principle of this utility model, several improvement can also be carried out to the utility model
And modification, modifications and modifications also fall within the protection scope of the claims of the utility model.
Claims (13)
1. unmanned fork truck, it is characterised in that including along the chassis of warehouse shelf channel-length direction linear running, be set to bottom
And it can lifting goods on chassis on a secondary door frame component and door frame component for shelf passage width direction linear running on disk
The direction of fork, the lifting pallet fork is directed at the either side shelf in shelf passage two sides；Including driving chassis along shelf passage
First driving mechanism for linear motion；First driving mechanism is first servo motor, and the chassis is equipped with more
A movable pulley controlled by first servo motor, the movable pulley under Serve Motor Control drive chassis to make straight line fortune along shelf passage
It is dynamic.
2. unmanned fork truck according to claim 1, it is characterised in that track is distributed on the chassis, it is described
The lower part of door frame component is equipped with idler wheel, and the idler wheel on door frame component is rolled in the track to realize door frame component on chassis
On linear motion.
3. unmanned fork truck according to claim 2, it is characterised in that for linear motion including driving door frame component
Second driving mechanism.
4. unmanned fork truck according to claim 3, it is characterised in that second driving mechanism includes being fixed on
The second servo motor, gear and the rack gear being laid with along chassis width direction of door frame component bottom, the driving of the second servo motor
The gear is engaged with the rack gear, and movement of the gear of the second servo motor driving on the rack gear is thus to drive
The linear motion of dynamic door frame component.
5. unmanned fork truck according to claim 1, it is characterised in that connect a control movement on each movable pulley
The synchronous third servo motor turned to of wheel.
6. unmanned fork truck according to claim 5, it is characterised in that the output gear of the third servo motor
It is matched with the arc-shaped rack on movable pulley wheel carrier, to realize the course changing control of movable pulley.
7. unmanned fork truck according to claim 1, it is characterised in that the door frame component is made of multistage door frame,
The upper and lower flexible control by lifting cylinder of door frame component.
8. unmanned fork truck according to claim 2, it is characterised in that the chassis include two be parallel to each other and
Moulding spaced apart, the track are located at the inside of every moulding.
9. unmanned fork truck according to claim 8, it is characterised in that the door frame component under initial position is located at chassis
Central region, and go up and down pallet fork front end be no more than moulding front end；Door frame component can move linearly to extreme direction before moulding
And forward extend out moulding.
10. unmanned fork truck according to claim 1, it is characterised in that be equipped on chassis and run power supply station to fork truck
The battery needed.
11. unmanned fork truck according to claim 10, it is characterised in that the width of the shelf passage be 140~
Between 300 centimetres.
12. unmanned fork truck according to claim 1, it is characterised in that chassis underside face is equipped with magnetic navigation sensor,
The magnetic navigation sensor is used cooperatively with the magnetic stripe, magnetic markers or cable being laid on shelf passage.
13. automated warehouse storage system, including warehouse and unmanned fork truck as claimed in claim 1, put down in warehouse
Row layout has multiple tracks shelf, forms shelf passage between shelf, and the unmanned fork truck can goods described at least one
Linear fashion is run in frame channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325585.4U CN208791108U (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325585.4U CN208791108U (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system |
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| CN208791108U true CN208791108U (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821325585.4U Expired - Fee Related CN208791108U (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112183851A (en) * | 2020-09-25 | 2021-01-05 | 灵动科技（北京）有限公司 | Driving and parking method, device, equipment and storage medium |
| US20230139296A1 (en) * | 2021-10-29 | 2023-05-04 | Mitsubishi Logisnext Co., LTD. | Initial setting method of unmanned forklift, palette for adjustment, and adjustment system of unmanned forklift |
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2018
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112183851A (en) * | 2020-09-25 | 2021-01-05 | 灵动科技（北京）有限公司 | Driving and parking method, device, equipment and storage medium |
| US20230139296A1 (en) * | 2021-10-29 | 2023-05-04 | Mitsubishi Logisnext Co., LTD. | Initial setting method of unmanned forklift, palette for adjustment, and adjustment system of unmanned forklift |
| US12209004B2 (en) * | 2021-10-29 | 2025-01-28 | Mitsubishi Logisnext Co., LTD. | Initial setting method of unmanned forklift, palette for adjustment, and adjustment system of unmanned forklift |
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Effective date of registration: 20190612 Address after: 3145 No. 66 Dasong Road, Zhanqi Town, Yinzhou District, Ningbo City, Zhejiang Province Patentee after: NINGBO LIFTSTAR MATERIAL HANDLING EQUIPMENT CO.,LTD. Address before: Room 525, Office Building No. 26, Business Center, Meishan Avenue, Beilun District, Ningbo City, Zhejiang Province Patentee before: NINGBO YONGBIN ROBOT TECHNOLOGY Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190426 |