CN219341636U

CN219341636U - Small balancing weight type unmanned forklift

Info

Publication number: CN219341636U
Application number: CN202320733792.8U
Authority: CN
Inventors: 吕朝顺; 唐露; 金俏雪
Original assignee: Multiway Robotics Shenzhen Co Ltd
Current assignee: Multiway Robotics Shenzhen Co Ltd
Priority date: 2023-03-24
Filing date: 2023-03-24
Publication date: 2023-07-14
Anticipated expiration: 2033-03-24

Abstract

The utility model discloses a small balancing weight type unmanned forklift which comprises a forklift body and a steering mechanism arranged in the forklift body, wherein a first obstacle avoidance radar and a second obstacle avoidance radar which are used for detecting obstacles on two sides of the forklift body are respectively arranged on two sides of the bottom of the forklift body, the steering mechanism comprises a main wheel, a steering wheel, a first gear and a second gear, the first gear is arranged on the main wheel, the first gear is meshed with the second gear, the steering wheel is arranged on the first gear, a travelling motor used for controlling the main wheel to travel is arranged on the steering wheel, a travelling encoder is arranged on the travelling motor, a steering motor used for controlling the main wheel to steer is arranged on the second gear, and the travelling encoder and the steering encoder are used for adjusting the movement track of the main wheel in real time according to the detection conditions of the first obstacle avoidance radar and the second obstacle avoidance radar. The steering mechanism is flexible to operate, and the safe running of the small-counterweight unmanned forklift in a narrow roadway is realized.

Description

Small balancing weight type unmanned forklift

Technical Field

The utility model relates to the technical field of unmanned forklifts, in particular to a small-counterweight unmanned forklift.

Background

The balanced fork truck is one kind of truck with fork and balance weight, and is suitable for loading, unloading, stacking and transporting articles in port, station and enterprise. Unmanned fork truck is also known as intelligent fork truck, is an intelligent unmanned carrier, and it is through applying unmanned technique on fork truck to can accomplish the whole work content of manual driving.

The existing small balancing weight type unmanned forklift needs to rely on the sensor to sense the state of the small balancing weight type unmanned forklift and external environment information to realize safe running in a narrow roadway, however, the steering mechanism of the existing small balancing weight type unmanned forklift is not flexible enough to steer, the flexible operation of the small balancing weight type unmanned forklift in the narrow roadway cannot be met, the control is not facilitated, and the running safety of the whole small balancing weight type unmanned forklift is further affected.

Disclosure of Invention

The utility model mainly aims to provide a small-counterweight type unmanned forklift and aims to solve the problem that the steering operation of the existing small-counterweight type unmanned forklift steering mechanism is not flexible enough.

In order to achieve the above purpose, the utility model provides a small balancing weight type unmanned forklift, which comprises a forklift body and a steering mechanism arranged in the forklift body, wherein the two sides of the bottom of the forklift body are respectively provided with a first obstacle avoidance radar and a second obstacle avoidance radar for detecting obstacles on the left side and the right side of the forklift body, the steering mechanism comprises a main wheel, a steering wheel, a first gear and a second gear, the first gear is arranged on the main wheel, the first gear is meshed with the second gear, the steering wheel is arranged on the first gear, a walking motor for controlling the walking of the main wheel is arranged on the steering wheel, a walking encoder for monitoring and feeding back the number of turns of the walking motor is arranged on the walking motor, a steering encoder for controlling the steering of the main wheel is arranged on the second gear, and a steering encoder for monitoring and feeding back the actual turning angle and the direction of the main wheel is arranged on the steering motor, and the walking encoder and the steering encoder are used for adjusting the motion track of the main wheel according to the detection conditions of the first obstacle avoidance radar and the second obstacle avoidance radar.

In one embodiment, the steering mechanism further comprises a fixing frame, and the fixing frame is arranged on one side of the walking motor.

In one embodiment, the fixing frame comprises a first fixing seat, a second fixing seat and a fixing column, the first fixing seat is arranged on one side of the walking encoder, the second fixing seat is arranged on one side of the first gear, two ends of the fixing column respectively penetrate through the first fixing seat and the second fixing seat, and a damping spring is sleeved on the fixing column.

In one embodiment, two fixing columns and two damping springs are arranged, and the two fixing columns are symmetrically arranged on two sides of the fixing frame respectively.

In one embodiment, the steering mechanism further includes a wheel frame provided on one side of the main wheel, the main wheel being rotated with rotation of the wheel frame.

In one embodiment, the vehicle body further comprises auxiliary wheels for assisting the movement of the main wheels, two auxiliary wheels are arranged, and the two auxiliary wheels are respectively arranged on two sides of the vehicle body.

In one embodiment, the vehicle body further comprises a third obstacle avoidance radar for detecting whether an obstacle exists at the tail of the vehicle body, and the third obstacle avoidance radar is arranged at the tail of the vehicle body.

In one embodiment, the small counterweight unmanned forklift further comprises a safety contact edge for passive mechanical protection of the body, the safety contact edge being disposed around the bottom of the body.

In one embodiment, the vehicle body further comprises a sudden stop button for manual emergency braking, and the sudden stop button is fixedly arranged on the vehicle body.

The utility model has the beneficial effects that:

according to the utility model, the first obstacle avoidance radar and the second obstacle avoidance radar are arranged on two sides of the vehicle body and are matched with the walking encoder and the steering encoder on the steering mechanism, so that the steering mechanism is flexibly operated, and the safe running of the small-counterweight unmanned forklift in a narrow roadway is realized by controlling the corner size and the direction of the main wheel and adjusting the movement track in real time.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of a small counterweight unmanned forklift of the present utility model;

FIG. 2 is a schematic view of the steering mechanism of the present utility model;

fig. 3 is a schematic view of another angle of the small-counterweight unmanned forklift of the present utility model.

Reference numerals illustrate:

a vehicle body 10; a first obstacle avoidance radar 101; a second obstacle avoidance radar 102; a third obstacle avoidance radar 103; an emergency stop button 104; a sub wheel 105; a steering mechanism 20; a main wheel 201; a steering wheel 202; a first gear 203; a second gear 204; a travel motor 205; a walk encoder 206; a steering motor 207; a steering encoder 208; a wheel frame 209; a fixing frame 30; a first fixing base 301; a second fixing base 302; a fixed column 303; a damper spring 304; a safety contact edge 40.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

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

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" is presented throughout this document, it is intended to include three schemes in parallel, taking "a and/or B" as an example, including a scheme, or B scheme, or a scheme where a and B meet simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Referring to fig. 1 and 2, an embodiment of the present utility model provides a small-counterweight type unmanned forklift, which includes a car body 10 and a steering mechanism 20 disposed in the car body 10, wherein a first obstacle avoidance radar 101 and a second obstacle avoidance radar 102 for detecting obstacles on the left and right sides of the car body 10 are disposed on two sides of the bottom of the car body 10, the steering mechanism 20 includes a main wheel 201, a steering wheel 202, a first gear 203 and a second gear 204, the first gear 203 is disposed on the main wheel 201, the first gear 203 is engaged with the second gear 204, the steering wheel 202 is disposed on the first gear 203, a running motor 205 for controlling the running of the main wheel 201 is disposed on the steering wheel 202, a running encoder 206 for monitoring and feeding back the number of turns of the running motor 205 is disposed on the running motor 205, a steering motor 207 is disposed on the steering motor 207, a steering encoder 206 for monitoring and feeding back the actual turning angle of the main wheel 201, and a steering motor 206 is disposed on the steering motor 204, and the steering encoder is disposed on the steering motor 206, and the running encoder is adjusted in real-time by the small-counterweight type unmanned forklift, and the small-counterweight type unmanned forklift is realized by the small-counterweight type unmanned forklift.

In particular, referring to fig. 1 and 2, an encoder is a device that compiles, converts, or converts, a signal (e.g., a bit stream) or data into a signal form that can be used for communication, transmission, and storage. The walk encoder 206 and the steer encoder 208 are sensors for measuring and controlling the traveling direction and speed of the small-sized unmanned forklift, and the walk encoder 206 and the steer encoder 208 can precisely measure the rotation angle of the main wheel 201, usually using the photoelectric or magnetic principle. The first obstacle avoidance radar 101 forms a left radar scanning area on the left side of the vehicle body 10 in the forward direction, when the first obstacle avoidance radar 101 detects an obstacle in the left radar scanning area, the steering encoder 208 receives the detection condition from the first obstacle avoidance radar 101, so that the steering encoder 208 controls the second gear 204 to rotate through the steering motor 207, the second gear 204 rotates to drive the first gear 203 to rotate, and then drives the main wheel 201 to rotate by a corresponding angle, and at this time, the walking encoder 206 controls the main wheel 201 to move through the walking motor 205; the second obstacle avoidance radar 102 may form a right radar scan area on the right side of the forward direction of the vehicle body 10, and when the second obstacle avoidance radar 102 detects an obstacle in the right radar scan area, the operation principles of the walking encoder 206 and the steering encoder 208 are the same as the foregoing, which will not be described herein. The first obstacle avoidance radar 101, the second obstacle avoidance radar 102 and the walking encoder 206 and the steering encoder 208 are matched for use, so that the small counterweight type unmanned forklift has accurate positioning and ultrahigh stability, the small counterweight type unmanned forklift is helped to flexibly steer, the working efficiency is improved, and the running speed of the small counterweight type unmanned forklift is accelerated under the condition that the small counterweight type unmanned forklift safely runs.

Referring to fig. 2, the steering mechanism 20 further includes a fixing frame 30, the fixing frame 30 is disposed at one side of the steering motor 205, the fixing frame 30 is configured in a square shape, the bottom of the fixing frame 30 is on the same horizontal plane as the top of the main wheel 201, the top of the fixing frame 30 is on the same horizontal plane as the steering encoder 206, and the left and right sides of the fixing frame 30 are not contacted with the steering motor 205, which not only fixes the fixing frame 30 and other parts of the steering mechanism 20 together, but also facilitates flexible movement of the steering mechanism 20.

Referring to fig. 2, the fixing frame 30 includes a first fixing base 301, a second fixing base 302, and a fixing post 303, the first fixing base 301 is disposed on one side of the running encoder 206, the second fixing base 302 is disposed on one side of the first gear 203, two ends of the fixing post 303 respectively pass through the first fixing base 301 and the second fixing base 302, a damping spring 304 is sleeved on the fixing post 303, a portion of the first fixing base 301, which contacts with the running encoder 206, is set to be an arc surface, and a middle portion of the second fixing base 302 is set to be an arc surface, so that a space for movement is reserved for the first gear 203 and the running encoder 206, and in addition, the damping spring 304 is sleeved on the fixing frame 30. The damping spring 304 effectively reduces the vibration received by the steering mechanism 20 when the small balancing weight type unmanned forklift runs on a bumpy road section, and plays a role in protecting the small balancing weight type unmanned forklift.

Referring to fig. 2, two fixing columns 303 and two damping springs 304 are provided, the two fixing columns 303 are symmetrically disposed on two sides of the fixing frame 30, and the two damping springs 304 are respectively sleeved on two side edges of the fixing frame 30, so that the damping effect of the steering mechanism 20 is better.

Referring to fig. 2, the steering mechanism 20 further includes a wheel frame 209, the wheel frame 209 is disposed on one side of the main wheel 201, the main wheel 201 rotates along with the rotation of the wheel frame 209, and the rotation of the wheel frame 209 provides steering swing for the main wheel 201 to realize steering running, so that the steering of the main wheel 201 is smoother.

Referring to fig. 3, the vehicle body 10 further includes two auxiliary wheels 105 for assisting the movement of the main wheel 201, the auxiliary wheels 105 are provided with two auxiliary wheels 105 respectively provided on both sides of the vehicle body 10, the main wheel 201 is provided at the position of the vehicle body 10 in the forward direction, the two clothing wheels are respectively provided on both sides of the rear of the vehicle body 10 in the forward direction, the main wheel 201 and the two auxiliary wheels 105 form a three-pivot running mechanism, the turning radius of which is typically 10% smaller than that of the similar four-wheel vehicle type, and this operability is particularly useful in indoor applications (e.g., warehouse and logistics facilities), and the three-pivot running mechanism enables the small-counterweight unmanned forklift to have higher operability and saves part of cost.

Referring to fig. 3, the vehicle body 10 further includes a third obstacle avoidance radar 103 for detecting whether an obstacle exists at the tail of the vehicle body 10, the third obstacle avoidance radar 103 is disposed at the tail of the vehicle body 10, the third obstacle avoidance radar 103 is telescopically disposed at the tail of the vehicle body 10 in the advancing direction and is located at the bottom of the vehicle body 10, and the third obstacle avoidance radar 103 is used for actively protecting in the vehicle tail direction, detecting whether an obstacle exists in a large area at the tail of the vehicle body 10 in real time, and maintaining the safety of the tail of the vehicle body 10 in real time.

Referring to fig. 3, the small-counterweight type unmanned forklift further includes a safety contact edge 40 for passive mechanical protection of the vehicle body 10, the safety contact edge 40 is disposed around the bottom of the vehicle body 10, a sensor is disposed in the safety contact edge 40, and the sensor can start emergency braking for the small-counterweight type unmanned forklift after contacting an obstacle, so as to trigger the small-counterweight type unmanned forklift to stop in an emergency.

Referring to fig. 1, the vehicle body 10 further includes a sudden stop button 104 for manual emergency braking, the sudden stop button 104 is fixedly disposed on the vehicle body 10, and when an emergency situation occurs and the small counterweight type unmanned forklift is required to stop working, an operator can prompt the small counterweight type unmanned forklift to perform emergency braking by pressing the sudden stop button 104.

The foregoing description is only of the optional embodiments of the present utility model, and is not intended to limit the scope of the utility model, and all the equivalent structural changes made by the description of the present utility model and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims

1. The utility model provides a little balanced weight formula unmanned forklift, its characterized in that includes the automobile body and sets up the inside steering mechanism of automobile body, the automobile body bottom both sides are provided with respectively and are used for detecting the first obstacle avoidance radar, the second obstacle avoidance radar of automobile body both sides barrier, steering mechanism includes main wheel, steering wheel and first gear, second gear, first gear sets up on the main wheel, first gear with the second gear intermeshing, the steering wheel sets up on the first gear, be provided with on the steering wheel and be used for controlling the walking motor of main wheel walking, be provided with on the walking motor and be used for monitoring and feedback the walking encoder of walking motor rotation number of turns, be provided with on the second gear and be used for controlling the steering motor of main wheel steering, be provided with on the steering motor and be used for monitoring and feedback the actual corner size of main wheel, the steering encoder is according to the first obstacle avoidance radar with the second obstacle avoidance radar detects the condition the real-time adjustment of the motion of main wheel orbit.

2. The small counterweight unmanned forklift of claim 1, wherein said steering mechanism further comprises a mount, said mount being disposed on one side of said travel motor.

3. The small balancing weight type unmanned forklift as claimed in claim 2, wherein the fixing frame comprises a first fixing seat, a second fixing seat and a fixing column, the first fixing seat is arranged on one side of the walking encoder, the second fixing seat is arranged on one side of the first gear, two ends of the fixing column respectively penetrate through the first fixing seat and the second fixing seat, and a damping spring is sleeved on the fixing column.

4. The small-counterweight unmanned forklift as recited in claim 3, wherein two of said fixed columns and said damper springs are symmetrically disposed on both sides of said fixed frame.

5. The small counter weight unmanned forklift of claim 1, wherein said steering mechanism further comprises a wheel frame, said wheel frame being disposed on one side of said main wheel, said main wheel rotating with rotation of said wheel frame.

6. The small-counterweight unmanned forklift as recited in claim 1, wherein said body further comprises auxiliary wheels for assisting movement of said main wheels, said auxiliary wheels being provided in two, two of said auxiliary wheels being provided on both sides of said body, respectively.

7. The small counter weight unmanned forklift of claim 1, wherein said body further comprises a third obstacle avoidance radar for detecting the presence of an obstacle at the tail of said body, said third obstacle avoidance radar being disposed at the tail of said body.

8. The small-counterweight unmanned forklift of claim 1, further comprising a safety margin for passive mechanical protection of the body, the safety margin being disposed around the bottom of the body.

9. The small counter weight unmanned forklift of claim 1, wherein said body further comprises a scram button for manual emergency braking, said scram button being fixedly disposed on said body.