CN208791109U - Unmanned fork truck and automated warehouse storage system - Google Patents
Unmanned fork truck and automated warehouse storage system Download PDFInfo
- Publication number
- CN208791109U CN208791109U CN201821327733.6U CN201821327733U CN208791109U CN 208791109 U CN208791109 U CN 208791109U CN 201821327733 U CN201821327733 U CN 201821327733U CN 208791109 U CN208791109 U CN 208791109U
- Authority
- CN
- China
- Prior art keywords
- fork truck
- shelf
- chassis
- door frame
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000000465 moulding Methods 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000013475 authorization Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The utility model discloses unmanned fork truck and automated warehouse storage system, including warehouse and unmanned fork truck, parallel arrangement has multiple tracks shelf in warehouse, and shelf passage is formed between shelf, and unmanned fork truck linear fashion can be run in shelf passage；Unmanned fork truck, the two secondary door frame components including chassis, on chassis and the lifting pallet fork on each door frame component, a secondary door frame component and lifting pallet fork accordingly operate the cargo on the shelf of shelf passage side；Fork truck operation method executes stacking instruction or pick-up instruction by operation warehousing system；Since only the shelf passage length direction along library is made straight line and run back and forth for the chassis of unmanned fork truck, navigation system needed for omitting unmanned fork truck reduces production cost；Simultaneously because unmanned fork truck is run along pallet fork passages, without considering the turning radius of fork truck, therefore the width of layout of shelf passage can be reduced, and can effectively improve the utilization rate in 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.
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 the linear running of unmanned fork truck, without considering the turning half of fork truck
Diameter, 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 two of direction linear running and each door frame component, a secondary door frame component are corresponding with lifting pallet fork
Ground operates the cargo on the shelf of shelf passage side.
The further preferred embodiment of the utility model are as follows: the secondary door frame component of described two is on the length direction of shelf passage
It is arranged on chassis parallel, running track of the two secondary door frame components on chassis is two regions that are parallel to each other on chassis.
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: two groups of parallel tracks are distributed on the chassis, it is described
The lower part of door frame component is equipped with idler wheel, and the idler wheel of each door frame component is rolled in corresponding track to realize door frame component on chassis
On linear motion.
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 being fixed on door frame component bottom
The second servo motor, gear and the rack gear being laid with along chassis width direction, the servo motor driving gear with it is described
Rack gear engagement, movement of the servo motor driving gear on the rack gear is to come the straight line that drives door frame component
Movement.
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 groups of frames being parallel to each other, Mei Gebian
Frame includes two and is parallel to each other and moulding spaced apart, and every group of track is located at the inside of each frame, intermediate two frames
Item is mutually permanently connected.
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 unmanned fork truck includes transporting along warehouse shelf channel-length direction straight line
Capable chassis, on chassis and can be on chassis along the two secondary door frame components and Ge Men of shelf passage width direction linear running
Lifting pallet fork on frame component, a secondary door frame component and lifting pallet fork accordingly operate the cargo on the shelf of shelf passage side.
The further preferred embodiment of the utility model are as follows: the width of the shelf passage is between 200~300 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) unmanned fork
After a lifting pallet fork on vehicle is connected to cargo from the entrance of shelf passage, unmanned fork truck is under locating X axis coordinate
Shelf passage in linear running, when the lifting pallet fork for being loaded with cargo is moved at Y axis coordinate, unmanned fork truck stops,
Then lifting pallet fork send cargo to the Z axis coordinate position of shelf.
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.
Compared with prior art, the utility model has the advantages that unmanned fork truck has a chassis, has two on chassis
The door frame component of subband pallet fork, each responsible stacking of two door frame components with pallet fork or the wherein side shelf for loading and unloading shelf passage
On cargo；Since only the shelf passage length direction along library is made straight line and run back and forth for the chassis of unmanned fork truck, nobody is omitted
Navigation system needed for driving fork truck reduces production cost.Simultaneously because unmanned fork truck is run along pallet fork passages, nothing
It need to consider the turning radius of fork truck, therefore the width of layout of shelf passage can reduce, the utilization in warehouse can be effectively improved
Rate.
Detailed description of the invention
Fig. 1 is the partial schematic diagram of parallel arrangement multiple tracks shelf in warehouse；
Fig. 2 is the schematic diagram one of unmanned fork truck linear running on shelf passage；
Fig. 3 is the schematic diagram two of unmanned fork truck linear running on shelf passage；
Operation schematic diagram of the unmanned fork truck of Fig. 4 when picking and placing cargo on shelf passage；
Fig. 5 is side view of the unmanned fork truck when picking and placing cargo on shelf passage；
Fig. 6 is the overall structure diagram one of unmanned fork truck；
Fig. 7 is the overall structure diagram two of unmanned fork truck；
Fig. 8 is the overall structure diagram three of unmanned fork truck；
Fig. 9 is the overall structure diagram four of unmanned fork truck；
Figure 10 is the overall structure diagram five of unmanned fork truck；
Figure 11 is enlarged drawing at A in Fig. 8；
Figure 12 is enlarged drawing at B in Fig. 9.
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 in warehouse, with shape between shelf
At shelf passage, unmanned fork truck 1 linear fashion can be run in one or more shelf passage.Shelf passage
Width generally between 200~300 centimetres, the shelf passage in warehouse is arranged to 240 centimetres or 280 cm widths compare conjunction
It is suitable.2-12 meters of the height of shelf in warehouse, the unmanned fork truck 1 of the utility model are suitable for the storehouse of high shelf and narrow passage
Library can effectively improve the utilization rate in warehouse in this way.
As shown in Figure 1, one shelf passage 5 is corresponding with two goods in left and right for the shelf schematic layout pattern in a warehouse
Frame 6, cargo 6 are seated on shelf 6 by pallet, and the position of shelf passage is expressed as X, two column shelf be expressed as X1 and
X2, the length direction of shelf passage 5 are expressed as Y, and the height of shelf 6 is expressed as Z.Coordinate representation of the cargo on shelf 6 be
(X1, Y, Z) or (X2, Y, Z).
As shown in Figures 2 to 5, unmanned when a unmanned fork truck 1 is responsible for more than two shelf passages 5
Fork truck 1 needs to carry out two right-angled bends in the side-aisle region 10 in warehouse；When unmanned fork truck 1 because shelf passage 5 becomes
When more needing to turn, the car body direction of unmanned fork truck 1 is remained unchanged, to meet unmanned fork truck 1 in different shelf
The constant of car body direction is kept when channel 5 handles the cargo on shelf 6.
As shown in Figures 2 to 5, 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 two secondary door frame components 3 and Ge Men of 5 width direction linear running of shelf passage
Lifting pallet fork 4 on frame component 3, a secondary door frame component 3 and lifting pallet fork 4 accordingly operate on 5 side shelf 6 of shelf passage
Cargo 7.Operation specifically refers to unmanned fork truck will be on cargo stacking arrival frame or from goods using door frame component and lifting pallet fork
The process of unloading on frame.The direction of lifting pallet fork 4 is substantially perpendicular to the length direction of shelf passage 5, in manufacturing process and
For the pallet fork hole being aligned on pallet, the direction for allowing to go up and down pallet fork 4 has slightly deviation or slightly corrects.
Shown in Fig. 6 to Figure 10, lifting pallet fork 4 is of an L-shaped structure comprising two yokes 41 are connected to by mechanical structure
On door frame component 3, specific structure can be realized using routine techniques.
That is two secondary door frame components 3 be each responsible for lifting pallet fork 4 towards that column shelf 6 of place.Shelf 6 have one
Fixed height, this can realize stacking and the unloading of cargo by going up and down the automatic lifting of pallet fork 4.Specifically, unmanned
The control of the linear movement of fork truck 1, the height of elastic and lifting pallet fork 4 raising and lowering of the door frame component 3 on chassis 2
The unmanned control systems such as degree are realized using computer；The unmanned control system can be by control system in the prior art and soft
Part is realized, is herein no longer developed in details.
If 6 to shown in Figure 10, chassis 2 is a general frame in rectangular configuration, and it is logical that the width on chassis 2 is slightly less than shelf
The width in road 5 is moved linearly with not influencing chassis 2 in shelf passage 5.Two pairs are distributed on the length direction on chassis 2
The door frame component 3 that can be moved on chassis width direction.The two secondary door frame component 3 can be run independently of each other, but two secondary door frames
Component 3 moves linearly by length direction of the same chassis 2 in shelf passage 5 along shelf passage 5.
Be arranged on chassis 2 parallel on the length direction of shelf passage 5, two secondary door frame components 3 exist two secondary door frame components 3
Running track on chassis 2 is two regions that are parallel to each other on chassis.In the actual operational process in warehouse, one of door
Frame component 3 and lifting pallet fork 4 carry out stacking or unloading；And another door frame component 3 and lifting pallet fork 4 are in no operatton state；
Certainly, in order to improve the efficiency of loading and unloading of cargo, two secondary door frame components 3 and lifting pallet fork 4 also handle operation simultaneously.
Another is the specific scheme is that two secondary door frame components 3 can also be arranged on chassis 2 to symmetrical opposite direction, door frame
Component 3 is the upper front and back opposite direction movement on the straight line on chassis 2 in the movement on chassis 2, and specific structure is two secondary
Door frame component 3 mutually leans against ground mode and arranges, under the premise of narrow shelf passage, structure of the door frame component on chassis can phase for this
It complicates over the ground.
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 22 makes the more easily control edge of chassis 2
The length direction of shelf passage 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, two first servo motors 21 respectively drive a driving wheel
221, chassis 2 is respectively driven to two different directions movements, runs unmanned fork truck 1 back and forth respectively.
Two groups of parallel tracks 23 are distributed on chassis 2, the lower part of door frame component 3 is equipped with idler wheel 31, each door frame component 3
Idler wheel 31 rolls in corresponding track 23 to realize linear motion of the door frame component 3 on chassis 2, to reduce door frame component 3
Frictional force in moving process.Unmanned fork truck 1 further includes the second driving mechanism for driving door frame component 3 for linear motion.
As shown in figure 12, the second driving mechanism includes the second servo motor 32, the gear 33 for being fixed on 3 bottom of door frame component
With the rack gear 34 being laid in 2 width direction of chassis, the second servo motor 32 driving gear 33 is engaged with rack gear 34, the second servo
Motor 32 drives movement of the gear 33 on rack gear 34 to come the linear motion that drives door frame component 3.Second servo motor 32
It is equipped with the gearbox 37 of worm and gear composition between gear 34, while can increase the output torque of the second servo motor 32.
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.
As shown in figure 11, chassis 2 includes two groups of frames 24 being parallel to each other, every group of frame 24 include two be parallel to each other and
Moulding 241 spaced apart, every group of track 23 are located at the inside of every moulding 241, and intermediate two mouldings 241 are mutual
It is fixedly connected using high-intensitive screw.Based on the considerations of intensity and reliability, moulding 241 is made of steel.Track 23 is by another
Outer C-type steel material is made, and is fixedly connected on the inside of moulding 241.
Coupled between two mouldings 241 by gusset piece component 242, gusset piece component is divided between two mouldings
Downside gusset piece 2422 and upside gusset piece 2421, gusset piece component 242 are located at the rear side of place door frame component 3, couple board group
A receiving channel 243 is formed between part 242.The rear side of door frame component 3 is connected with balance plate 35, is mounted on there are two idler wheel 31
The two sides of the bottom position of door frame component 3, another there are two the two sides that idler wheel 31 is mounted on balance plate 35, door frame component 3 is in orbit
Stability when mobile is just very good.When door frame component 3 moves backward, the balance plate 35 of 3 rear side of door frame component can put in connection
In the channel 243 of fishplate bar component 242.
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
241 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 241 and forward extend out moulding 241.Door frame component 3 chassis 2 central region,
For unmanned fork truck 1 in unloaded or heavy duty, the center of gravity and balance of unmanned fork truck 1 are relatively good, and fork truck is not
Unstable situation can occur because of load weight.
It is equipped in chassis 2 to battery needed for fork truck operation power supply.Battery is used as unpiloted counterweight simultaneously,
Since chassis 2 needs the movement for door frame component 3, the width on chassis 2 is relatively large, and the frame on chassis 2 is made of steel,
Its relatively large floor space and weight are also used as the counterweight of unmanned fork truck 1；To bear lifting pallet fork in a high position and again
Equilibrant force when load, separately since a door frame component 3 on chassis 2 loads cargo, and another door frame component 3 and corresponding
Chassis can become counterweight, therefore the stability of unmanned fork truck 1 can be very reliable.Battery is seated in gusset piece component
242 positions belong to the rearward position on chassis 2, and door frame component 3 is located at the forward position on chassis 2, and battery plays 2 counterweight of chassis
Effect.
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 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 that X-axis is sat
Mark, 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 of shelf passage 5, nobody is driven
The linear running along the shelf passage 5 under locating X axis coordinate of fork truck 1 is sailed, when the lifting pallet fork 4 for being loaded with cargo is moved to Y
At axial 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 linear running along the shelf passage 5 under locating X axis coordinate, when lifting pallet fork 4 is mobile
To Y axis coordinate, unmanned fork truck 1 stops；Then lifting pallet fork 4 rises to Z axis coordinate position load target goods, load
There is the lifting pallet fork 4 of target goods to reset, subsequent unmanned fork truck 1 is moved to the entrance of the shelf passage 5 under X axis coordinate
At C.
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 (7)
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 on chassis on two secondary door frame components of shelf passage width direction linear running and each door frame component on disk
Pallet fork, a secondary door frame component and lifting pallet fork accordingly operate the cargo on the shelf of shelf passage side；The secondary door frame of described two
Component is arranged on chassis parallel on the length direction of shelf passage, and running track of the two secondary door frame components on chassis is bottom
Two regions that are parallel to each other on disk；Including the first driving mechanism that driving chassis is for linear motion along shelf passage；Described
First driving mechanism is first servo motor, and the chassis is equipped with multiple movable pulleys controlled by first servo motor, watches
The movable pulley taken under motor control drives chassis for linear motion along shelf passage.
2. unmanned fork truck according to claim 1, it is characterised in that be distributed on the chassis two groups it is parallel
The lower part of track, the door frame component is equipped with idler wheel, and the idler wheel of each door frame component rolls in corresponding track to realize door
Linear motion of the frame component on chassis.
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 2, it is characterised in that the chassis includes two groups and is parallel to each other
Frame, every group of frame include two and are parallel to each other and moulding spaced apart, every group of track are located at the inside of every moulding,
Intermediate two mouldings are mutually permanently connected.
It is parallel in warehouse 6. automated warehouse storage system, including warehouse and unmanned fork truck a method as claimed in any one of claims 1 to 5
Layout has multiple tracks shelf, forms shelf passage between shelf, and the unmanned fork truck can shelf described at least one
Linear fashion is run in channel.
7. automated warehouse storage system according to claim 6, it is characterised in that the width of the shelf passage be 200~
Between 300 centimetres.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821327733.6U CN208791109U (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 |
|---|---|---|---|
| CN201821327733.6U CN208791109U (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208791109U true CN208791109U (en) | 2019-04-26 |
Family
ID=66205813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821327733.6U Expired - Fee Related CN208791109U (en) | 2018-08-16 | 2018-08-16 | Unmanned fork truck and automated warehouse storage system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208791109U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2018
- 2018-08-16 CN CN201821327733.6U patent/CN208791109U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108773798A (en) | Unmanned fork truck and automated warehouse storage system and fork truck operation method | |
| CN108946585A (en) | Unmanned fork truck and automated warehouse storage system and fork truck operation method | |
| CN109607014B (en) | Wheel adjusting device and four-way carrier thereof | |
| CN210162597U (en) | Unmanned warehousing system | |
| CN102730360B (en) | Non-stocker small-sized intelligent stereoscopic warehouse | |
| CN108750521A (en) | Work platform and order completion system | |
| CN114314426B (en) | Unmanned pallet truck and its working method | |
| CN109911492B (en) | A three-dimensional matrix storage system | |
| CN208265098U (en) | The autonomous mobile robot of cargo is picked and placed for shelf | |
| CN113772315B (en) | Sorting device and warehousing system | |
| CN209922137U (en) | Automatic intensive warehousing system | |
| CN113979372B (en) | A loading and unloading method and latent AGV, composite four-leg pallet and forklift AGV | |
| CN204777331U (en) | A RGV device for power battery automatic handling | |
| CN111960014A (en) | Intelligent three-dimensional storage system | |
| CN111673759A (en) | Intelligent logistics carrying robot | |
| CN104495182B (en) | RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and rail layout and positioning control method | |
| CN114789864A (en) | Shuttle and commodity circulation warehouse system | |
| CN115027857A (en) | Primary and secondary transfer robot | |
| CN208791109U (en) | Unmanned fork truck and automated warehouse storage system | |
| CN208791108U (en) | Unmanned fork truck and automated warehouse storage system | |
| CN216105849U (en) | Unmanned pallet truck | |
| CN214326146U (en) | Roadway steering engine for automatic three-dimensional bin | |
| CN114004561A (en) | Automatic waste storage system based on unmanned forklift | |
| CN117088028B (en) | Automatic stacker for intelligent storage and control method thereof | |
| CN118618845A (en) | A composite transfer AGV capable of docking with a conveyor line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190620 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. |
|
| 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 |