CN220596940U

CN220596940U - Crawler-type unmanned cross-country stacking forklift

Info

Publication number: CN220596940U
Application number: CN202322248704.8U
Authority: CN
Inventors: 高飞; 刘明政; 张建民; 刘小平; 刘振华; 赵吉敏; 连尧; 王郭俊; 林婉妮
Original assignee: Institute of Systems Engineering of PLA Academy of Military Sciences
Current assignee: Institute of Systems Engineering of PLA Academy of Military Sciences
Priority date: 2022-08-24
Filing date: 2023-08-21
Publication date: 2024-03-15
Anticipated expiration: 2033-08-21
Also published as: CN117105124A

Abstract

The utility model belongs to the technical field of unmanned warehouse logistics, in particular to a portal fork device and a forklift, and more particularly relates to a crawler-type unmanned cross-country stacking forklift, which comprises the following components: an upper frame having 2 vertical rails; a rectangular floating carriage with a through hole in the middle; a swivel mounted in the through-hole of the floating carriage; a traversing carriage fixedly connected with the turning part; the fork assembly is connected with the transverse sliding carriage in a left-right sliding manner; an automatic positioning device mounted on the fork; 2 floating lifting parts for lifting and leveling; and the control module is used for controlling the leveling action according to the received instruction. The utility model effectively solves the problem that the existing unmanned stacking forklift cannot automatically level the left and right swing of the fork under the condition of rugged road.

Description

Crawler-type unmanned cross-country stacking forklift

Technical Field

The utility model belongs to the technical field of unmanned warehouse logistics, in particular to a portal fork device and a forklift, and more particularly relates to a crawler-type unmanned cross-country stacking forklift.

Background

At present, the technology of the existing unmanned stacking forklift, namely an AGV (Automated Guided Vehicle automatic navigation transport vehicle), is mature, the automatic navigation accurate positioning and unmanned tray stacking and taking functions of the indoor unmanned forklift can be realized, the automatic stacking forklift has the functions of carrier detection and goods discharge detection, the self-adaptive accurate fork material taking and repeated goods discharge precision, the multi-vehicle and cross-scene scheduling is realized through an unmanned forklift central control scheduling system, the large-scale industrial vehicle scheduling scene is oriented, the functions of multi-vehicle scheduling, path planning, collision avoidance, task management, data analysis and the like can be realized, the unmanned forklift is integrated with the functions of laser navigation and perception, multi-axis real-time motion planning and high-precision visual servo control, the automatic path planning, obstacle recognition and obstacle detouring capability are realized, the vehicle body is provided with multiple safety protection, the safety obstacle avoidance of 360 degrees is realized, and the safety of people, vehicles and goods is ensured.

When the fork of the existing unmanned stacking forklift is used for stacking and forking, automatic leveling is needed for aligning fork holes of the goods shelves and the trays. The leveling mode comprises automatic up-down, left-right movement and front-back swing of the fork. But the left-right swing of the fork cannot be realized, and the leveling mode can only adapt to indoor and outdoor flat road surface operation. When the fork truck is in a field environment, the chassis is inclined when the fork truck works due to rugged road surface, and particularly the left and right inclination can enable the left and right fork arms of the fork to be uneven, so that the fork truck cannot automatically align with fork holes to carry out stacking and goods forking operations.

Therefore, the unmanned stacking forklift is designed, and the fork of the unmanned stacking forklift can automatically perform omnibearing leveling according to road conditions, in particular to a leveling mode for increasing left-right swing of the fork, so that the problem that the fork of the unmanned stacking forklift cannot automatically level when a road is rugged in a field environment is solved.

Disclosure of Invention

The utility model provides a crawler-type unmanned cross-country stacking forklift which can automatically level a fork in a field environment. The automatic leveling device aims at solving the problem that an existing unmanned stacking forklift cannot automatically level left and right of a fork under the condition that a road is rugged.

The specific technical scheme is as follows:

a crawler-type unmanned off-road stacking forklift comprising: the upper frame comprises a cross rod and 2 vertical rails, and two ends of the cross rod are fixedly connected with the 2 vertical rails respectively;

the floating sliding frame is a part with a through hole in the middle, is movably arranged between 2 vertical rails and slides back and forth along the vertical rails;

the rotating part is arranged in the through hole;

the transverse sliding carriage is fixedly connected with the rotating part and swings relative to the floating carriage by taking the axis of the rotating part as the center;

the fork assembly comprises a fork and automatic positioning equipment; the fork assembly is connected with the transverse sliding carriage in a left-right sliding manner; the automatic positioning equipment is arranged on the fork and used for collecting and transmitting position and angle information of the fork;

the 2 floating lifting parts are respectively arranged at the bottoms of the 2 vertical rails, and the telescopic ends of the floating lifting parts are connected with the transverse sliding carriage;

and the control module is arranged in the forklift and used for controlling the actions of the 2 floating lifting parts according to the received scheduling instruction and the information transmitted by the automatic positioning equipment.

Compared with the prior art, the embodiment of the utility model has the following beneficial effects:

(1) Through the design of the floating carriage which is slidably arranged on the upper frame and the rotary part which is arranged between the through hole and the transverse sliding carriage, the fork can swing in the left-right direction relative to the whole fork truck;

(2) Based on the design, through the design of 2 floating lifting parts, the left-right swing of the fork relative to the whole forklift under electric drive is realized;

(3) On the basis of the design, the fork is automatically leveled relative to the left and right directions of the whole forklift according to the road surface condition through the design of the automatic positioning equipment and the control module.

Drawings

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

Fig. 1 is a schematic overall structure of a crawler-type unmanned off-road stacking forklift.

Fig. 2 is a schematic diagram of the floating carriage and traversing carriage structure of the tracked off-road stacker forklift.

FIG. 3 is a schematic view of relative rotational angles of a floating carriage and a traversing carriage of a tracked off-highway stacker forklift.

Fig. 4 is a schematic view of a crawler chassis structure of the crawler-type unmanned off-road stacking forklift.

Fig. 5 is a schematic view of the track and frame structure of a crawler-type off-road stacker forklift.

Fig. 6 is a schematic diagram of a body frame structure of a crawler-type off-road stacker forklift.

Fig. 7 is a schematic diagram of the installation position of a battery box and an electric control cabinet of the crawler-type unmanned off-road stacking forklift.

Fig. 8 is a schematic diagram of a console layout of a crawler-type off-road stacker forklift.

Fig. 9 is a schematic diagram of a laser scanner assembly of a crawler-type off-road stacker forklift.

Fig. 10 is a schematic diagram of a frame and fork assembly of a crawler-type off-the-road stacker forklift.

Fig. 11 is a schematic view of the lower, middle and upper frames of a crawler-type off-road stacker forklift.

Fig. 12 is a schematic view of a fork assembly of a crawler-type off-road stacker forklift.

Fig. 13 is a schematic view of a pallet fork assembly of a crawler-type off-road stacker forklift 2.

Fig. 14 is a schematic view of the installation position of the stay wire encoder of the crawler-type off-road stacker forklift.

In the figure: 1. a walking mechanism; 2. a vehicle body frame; 3. a frame assembly; 4. a fork assembly; 5. a frame; 6. a track; 7. a travel driving unit; 8. a driving wheel; 9. an electric control cabinet; 10. a battery box; 11. a lower frame; 12. lifting an electric cylinder; 13. a middle frame; 14. a wheel roll; 15. an upper frame; 16. lifting the movable pulley; 17. lifting a chain; 18. a swing driving part; 19. a floating lifting part; 20. a floating carriage; 21. a turning part; 22. a drive chain; 23. a movable pulley; 24. a first bearing; 25. traversing the carriage; 26. a transverse moving rack; 27. a fork; 28. a fork mounting rack; 29. a rotating shaft; 30. a three-way rotating frame; 31. a second bearing; 32. a laser range finder; 33. a distance sensor; 34. an inclination sensor; a 3D vision camera; 36. a linear motor; 37. a laser scanner support; 38. a laser scanner; 39. a pull-wire encoder body; 40. pull ring of pull wire encoder; 41. a display screen; 42. a right track control handle; 43. an emergency stop button; 44. fork control deflector rod group; 45. powering up the knob; 46. a speed regulating knob; 47. a fork control button group; 48. a left track control handle; 49. and a third bearing.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

In the description of the present utility model, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation and specific orientation configuration and operation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in a specific case by those skilled in the art.

A crawler-type off-road, unmanned stacking forklift as shown in fig. 1-14, comprising:

the upper frame 15 comprises a cross rod and 2 vertical rails, and two ends of the cross rod are fixedly connected with the 2 vertical rails respectively. The vertical rail is preferably an H-shaped rail, i.e., the rail cross-sectional shape is H-shaped, and has higher strength than the C-shaped rail H-shaped rail. The cross bars are preferably solid bars, and more than 2 cross bars are adopted and are respectively arranged at the upper end and the middle part of the rail. The two ends of each cross rod are preferably fixed on 2 tracks in a welding mode, and can also be connected in a screw fixing mode.

The floating carriage 20 is a member with a through hole in the middle, movably installed between 2 vertical rails, and reciprocally sliding along the vertical rails. It is preferable that a rectangular steel plate is used as the main body of the floating carriage 20, and a circular through hole is provided in the middle portion of the steel plate.

The turning part 21 is provided in the through hole. The turning portion 21 is preferably a roller bearing, that is, a roller bearing having a cylindrical rolling element. This can increase the strength of the roller bearing. The turning part 21 is preferably installed in the through hole in an interference fit manner, and can also be installed in the through hole in a screw fixing manner.

The traverse carriage 25 is fixedly connected to the turning portion 21 and swings with respect to the floating carriage 20 about the axis of the turning portion 21. The center of the main body portion of the traverse carriage 25 is provided with a circular through hole, and the through hole is preferably connected to the turning portion 21 by bolts uniformly arranged in the circumferential direction of the through hole. By this connection, the traverse carriage 25 swings in the left-right direction with respect to the floating carriage 20 about the turning portion 21, and as shown in fig. 3, the swing angle ranges in the left-right direction are preferably 0 ° to 15 °, respectively. The traversing carriage 25 is provided with 1 rail at the upper and lower ends of the main body portion, respectively, and the connection mode of the rail and the main body portion is preferably a welding mode, and for enhancing stability, a reinforcing rib is further provided at the welding position.

The fork assembly 4 includes a fork 27 and an automatic positioning device. The fork assembly 4 is connected with the traversing carriage 25 in a left-right sliding manner. So that the fork assembly 4 can slide reciprocally along the length of the track. An automatic positioning device is mounted on the pallet fork 27 for collecting and transmitting position and angle information of the pallet fork 27. The pallet fork assembly 4 is clamped with the upper and lower 2 tracks of the traversing carriage 25 through the second bearing 31, so that the pallet assembly can move left and right on the traversing carriage 25. The automatic positioning device in the technical scheme preferably adopts the inclination sensor 34 as a signal acquisition device of the left-right swing angle of the fork 27. As shown in fig. 13, the tilt sensor 34 is fixedly mounted on the rear end bracket of the fork 27 and connected to the control module by a cable. The inclination sensor 34 can sense the inclination angle of the fork truck, for example, when the fork truck is positioned on an uneven road surface and inclines left and right, the fork truck 27 and the inclination sensor 34 incline synchronously, and the inclination sensor 34 can transmit the sensed inclination angle to the control module through a cable.

And 2 floating lifting parts 19 are respectively arranged at the bottoms of the 2 vertical rails, and the telescopic ends of the floating lifting parts 19 are connected with a transverse sliding carriage 25. It should be noted that, the floating lifting portion 19 is preferably a foldback type servo electric cylinder, and includes a motor, a screw and a push rod, and the principle of the floating lifting portion 19 is that the screw is driven by the motor to rotate, and the screw drives the push rod to extend or retract. The connection of the 2 floating lifts 19 to the 2 vertical rails is preferably by means of flanges and bolts. The upper ends of the 2 floating lifting parts 19, namely the top ends of the push rods, are respectively connected with the left side and the right side of the traverse carriage 25, and the 2 motors are respectively connected with the control module through cables, and receive and execute the instructions of the control module to start, stop and change the rotation direction. When the push rods of the 2 floating lifting parts 19 extend together, the transverse sliding carriage 25 is driven to integrally rise; when the push rods of the 2 floating lifting parts 19 are retracted together, the transverse sliding carriage 25 is driven to wholly descend; when the push rods of the 2 floating lifting parts 19 extend out and retract back, the left and right ends of the traversing carriage 25 are driven to correspondingly ascend and descend, and the traversing carriage 25 swings leftwards or rightwards.

The control module is arranged in the forklift and controls the 2 floating lifting parts 19 to act according to the received scheduling instruction and the information transmitted by the automatic positioning equipment. It should be noted that, the control module may receive the command of the yard dispatching in a wireless communication manner, and is connected to the automatic positioning device and the 2 floating lifting portions 19 through cables, respectively. When the forklift fork takes the pallet, two fork heads of the fork 27 are required to be aligned with two fork holes at the bottom of the pallet to extend into the bottom of the pallet, the control module receives the inclination angle data transmitted by the inclination angle sensor 34 and judges that the inclination of the fork 27 occurs, if the inclination of the fork 27 is judged, the control module sends an action command to the 2 floating lifting parts 19, and the 2 floating lifting parts 19 reversely act under the control of the command, namely one rise and the other decline, so that the transverse sliding carriage 25 and the fork assembly 4 swing leftwards or rightwards, and the left and right leveling of the fork 27 is realized.

In practice, the fork assembly 4 is mounted on the traversing carriage 25 by mounting the swivel 21 between the throughbore of the floating carriage 20 mounted on the upper frame 15 and the traversing carriage 25. When the turning part 21 rotates, the traversing carriage 25 is driven to drive the fork assembly 4 to rotate, so that the fork 27 can swing left and right relative to the whole forklift. On the basis of the design, 2 floating lifting parts 19, movable pulleys 23 and a transmission chain 22 are arranged, so that the fork 27 swings relative to the whole forklift in the left-right direction under the electric drive. And by the design of the automatic positioning equipment and the control module, the fork 27 is automatically leveled in the left-right direction according to the road surface condition.

In one embodiment, as shown in fig. 2, the floating carriage 20 has 4 vertices that are respectively snap-fit into 2 of said vertical tracks by means of first bearings 24. It should be noted that, in order to ensure that the floating carriage 20 can slide smoothly between 2 tracks, it is preferable to install 1 first bearing 24 at each of 4 vertices of the steel plate, the inner ring of each first bearing 24 is fixedly connected with the vertex of the steel plate, and the outer ring of the first bearing 24 is clamped in 2 vertical tracks to convert sliding friction into rolling friction, so that not only smooth reciprocating movement of the floating carriage 20 on 2 vertical tracks can be realized, but also friction force can be reduced.

In one embodiment, as shown in fig. 2, the upper ends of the 2 floating lifting parts 19 are respectively provided with movable pulleys 23; each of the movable pulleys 23 supports 1 drive chain 22; one end of each transmission chain 22 is fixedly connected with the upper frame 15, and the other end is fixedly connected with the traversing carriage 25. One end of the 2 transmission chains 22 is fixedly mounted on the left and right sides of the upper frame 15 by bolts, and the other end is fixedly connected with the left and right sides of the main body of the traverse carriage 25 by bolts. When 2 floating electric cylinders rise or fall together, 2 transmission chains 22 are driven to operate, so that the transverse sliding carriage 25 rises or falls. The 2 floating electric cylinders are raised and lowered one by one, and the traversing carriage 25 can swing left or right with respect to the floating carriage 20 around the turning portion 21.

In specific implementation, the technical scheme converts sliding friction into rolling friction of the movable pulley 23, so that power loss is reduced; and the principle of the movable pulley is utilized, the transverse sliding carriage 25 is connected with the upper frame 15 through a chain for transmission, when the upper end of the floating lifting part 19 moves a certain distance, the moving distance of the transverse sliding carriage 25 and the fork assembly 4 can be multiplied under the driving of the movable pulley 23 and the transmission chain 22, so that a larger lifting distance can be realized.

In one embodiment, as shown in fig. 10 and 11, the device further comprises a lower frame 11 and a middle frame 13, and the lower frame 11 and the middle frame 13 and the upper frame 15 are all in sliding connection. The upper end of the lower frame 11 is hinged with the forklift body, and the lower end is provided with a swing driving part 18; both ends of the swing driving part 18 are hinged with the lower end of the lower frame 11 and the lower end of the forklift body. The lower frame 11, the middle frame 13, and the upper frame 15 together constitute the frame assembly 3. The lower frame 11 is composed of 2H-shaped rails and cross bars, the number of the cross bars is preferably not less than 2, and two ends of the lower frame are fixedly connected with the 2H-shaped rails respectively, preferably in a welding mode. The lower frame 11 has 2 hinges at its upper end connected to the vehicle body by hinges, and a swing drive unit 18 at its lower end. One end of the swing driving part 18 is connected with the lower end of the lower frame 11 through a hinge, the other end of the swing driving part 18 is connected with the vehicle body through a hinge, and the extension and retraction of the telescopic end of the swing driving part 18 can realize the swing of the lower frame 11 around an upper hinge point.

The middle frame 13 is composed of 2H-shaped rails and at least 2 cross bars, and the two ends of the cross bars are fixedly connected with the 2H-shaped rails respectively, preferably in a welding mode. The middle frame 13 is respectively clamped on the 2H-shaped rails of the lower frame 11 through the rollers 14 mounted on the 2H-shaped rails. The upper frames 15 are respectively clamped on the 2H-shaped rails of the middle frame 13 by the rollers 14 mounted on the 2H-shaped rails. The middle frame 13 and the lower frame 11 and the upper frame 15 and the middle frame 13 can slide up and down reciprocally. The lower frame 11, the middle frame 13 and the upper frame 15 together form a three-stage telescopic frame structure.

As shown in fig. 11, the left and right sides of the bottom of the lower frame 11 are fixedly provided with lifting electric cylinders 12, preferably in a bolt fixed connection manner, and each lifting electric cylinder 12 is connected with a control module through a cable. The upper end of the lifting electric cylinder 12 is fixedly connected with the middle frame 13, preferably in a bolt fixed connection manner, for lifting the middle frame 13. 2 lifting movable pulleys 16 are movably arranged on a cross bar at the upper end of the middle frame 13, and the lifting movable pulleys 16 can rotate around the axis of the lifting movable pulleys. Each lifting movable pulley 16 supports 1 lifting chain 17 respectively, one end of each lifting chain 17 is fixedly connected with the cross bar of the lower frame 11 through bolts, and the other end is fixedly connected with the cross bar of the upper frame 15 through bolts. When the fork 27 needs to be lifted, the control module sends an action command to the lifting electric cylinder 12, the lifting electric cylinder 12 stretches out and pushes the middle frame 13 to lift, the middle frame 13 drives the lifting movable pulley 16 to lift simultaneously, the lifting movable pulley 16 drives the lifting chain 17 to operate, the other end of the lifting chain 17 drives the upper frame 15 to lift, and the upper frame 15 is connected with the fork 27 through the floating carriage 20 and the traversing carriage 25, so that the lifting of the fork 27 can be realized; when the fork 27 needs to be lowered, the control module sends an action command to the lifting electric cylinder 12, the lifting electric cylinder 12 is retracted and drives the middle frame 13 to be lowered, the middle frame 13 drives the lifting movable pulley 16 to be lowered, the lifting movable pulley 16 drives the lifting chain 17 to operate, and then the upper frame 15 is driven to be lowered and the fork 27 is driven to move downwards.

In particular, due to the adoption of the three-stage telescopic structure of the frame assembly 3, the lifting height of the fork 27 can be increased without increasing the minimum height of the forklift, and the power consumption of the forklift is reduced and the lifting height of the upper frame 15 is doubled by the structure of the lifting movable pulley 16 and the lifting chain 17.

In one embodiment, as shown in fig. 12, traversing carriage 25 comprises 2 first C-shaped tracks and 2 traversing racks 26. The 2 first C-shaped rails are correspondingly fixed at the upper end and the lower end of the traversing carriage 25. The 2 traversing racks 26 are correspondingly fixed outside the 2 first C-shaped tracks. The rails provided at the upper and lower ends of the traverse carriage 25 are preferably C-shaped rails, that is, the rails have a C-shaped cross-section, and the side with the grooves of the rails at the upper end faces upward, and the side with the grooves of the rails at the lower end faces downward. And 1 traversing rack 26 is fixed on the opposite surfaces of the 2 track grooves in a welding mode.

In one embodiment, as shown in fig. 12 and 13, the fork assembly 4 further includes a three-way swivel mount 30, a swivel shaft 29, and a fork mount 28. The three-way rotating frame 30 is slidably mounted on 2 first C-shaped rails through second bearings 31 and can move left and right, preferably using 2 upper and lower sets of 2 bearings each, which can increase strength. The fork mounting bracket 28 has upper and lower ends laterally disposed with respective second C-shaped rails. The fork mounting bracket 28 is movably connected with the three-way rotating bracket 30 through a rotating shaft 29 and rotates around the rotating shaft 29. The forks 27 are in sliding engagement with the second C-shaped rail by means of third bearings 49.

It should be noted that, the fork mounting rack 28 is composed of 2C-shaped rails and a vertical rod, and two ends of the vertical rod are respectively and fixedly connected with 2 second C-shaped rails, preferably by adopting a welding mode.

The 2 second C-shaped rails of the fork mounting rack 28 are respectively disposed at the upper and lower ends of the fork mounting rack 28, and the grooved sides are disposed opposite to each other.

The fork 27 is composed of 2L-shaped brackets, and is engaged with the second C-shaped rail of the fork mounting bracket 28 through 2 sets of 2 third bearings 49 provided at the upper and lower ends of the fork 27, and is movable on the rail.

The upper and lower ends of the three-way rotating frame 30 are respectively provided with traversing gears, and the 2 traversing gears are respectively meshed with the upper and lower traversing racks 26 of the traversing carriage 25.

The three-way rotating frame 30 is internally provided with a traversing motor, the traversing motor can drive 2 traversing gears to move on the traversing rack 26, the traversing motor is connected with the control module through a cable and executes an action command sent by the control module, thereby realizing the control of the left-right movement of the fork assembly 4 relative to the traversing carriage 25.

The three-way rotating frame 30 is further provided with a rotating motor and an electromagnetic brake inside at one end far away from the traversing carriage 25. The rotating shaft 29 of the fork mounting frame 28 is fixedly provided with a rotating gear which is meshed with an output shaft gear of the rotating motor, and the fork mounting frame 28 is driven by the rotating motor to rotate around the rotating shaft 29.

The electromagnetic brake is mounted on the shaft 29 and can lock the fork mount 28 at any angle. The rotary motor and the electromagnetic brake are respectively connected with the control module through cables and respectively execute action instructions sent by the control module, so that the rotation and locking control of the fork mounting frame 28 is realized.

A moving nut, a terminal screw and a terminal motor are installed between the fork 27 and the fork mounting bracket 28. The end screw is transversely arranged on the fork mounting frame 28 and is fixedly connected with the fork mounting frame 28 through bolts. The movable nut is fixed on the fork 27 main body through a bolt, the tail end motor is fixedly connected with the fork mounting frame 28, an output shaft of the tail end motor is meshed with the tail end screw rod, and the tail end motor rotates to drive the tail end screw rod to rotate and drive the tail end nut and the fork to move left and right together. The tail end motor is connected with the control module through a cable and executes an action instruction sent by the control module to realize left and right movement control of the fork 27 on the fork mounting frame 28.

In specific implementation, the position and the posture of the fork 27 can be automatically adjusted through an adjusting mechanism between the traversing carriage 25 and the three-way rotating frame 30, between the three-way rotating frame 30 and the fork mounting frame 28, and between the fork mounting frame 28 and the fork 27.

In one embodiment, as shown in fig. 1, 4 and 5, the walking device further comprises a walking mechanism 1, a frame 5 and a walking driving part 7; the travelling mechanism 1 adopts a crawler type structure and is fixedly arranged at the left side and the right side of the frame 5; the traveling driving part 7 is fixedly installed at the rear end of the frame 5 and provides driving force for the traveling mechanism 1. It should be noted that each set of running mechanism 1 includes a crawler belt 6, a thrust wheel, a carrier sprocket, a guide wheel, and a driving wheel 8. The rear end of the travelling mechanism is provided with a driving wheel 8 with an external gear ring, the driving wheel 8 is connected with an output shaft of the travelling driving part 7 through a spline structure, and the external gear ring is meshed with the crawler belts 6 on two sides. The two sets of the walking driving parts 7 are connected with the control module through cables, and the control module sends out instructions to the 2 walking driving parts 7 when the forklift needs to be started to control the actions of the 2 walking driving parts 7. When the 2 walking driving parts 7 start to rotate, the output shafts drive the driving wheels 8 on two sides to rotate through the spline structure, and the driving wheels 8 drive the crawler belt 6 to run through the outer gear ring, so that the forklift is driven to run. The crawler belt 6 is made of rubber material.

In the concrete implementation, the rubber crawler can be used for running in the field or indoors without damaging the ground, and the rubber crawler can be conveniently replaced by a metal crawler if the rubber crawler meets a hard and uneven road surface in the field. And the forklift driven by the crawler can be well adapted to the field uneven road surface, thereby meeting the requirements of field operation and running.

In one embodiment, as shown in fig. 6 and 7, the vehicle further comprises a vehicle body frame 2, wherein the vehicle body frame 2 is fixedly connected with the upper end of the vehicle frame 5; the vehicle body frame 2 is internally provided with a battery box 10, a seat, an electric control cabinet 9, a console, a wireless communication module and an automatic navigation device; the control module and the wireless communication module are arranged in the electric control cabinet 9.

The battery box 10 provides a power source for the forklift, and the battery box 10 has a relatively large mass and is preferably arranged at the rear of the forklift body for balancing the mass distribution of the forklift.

A seat is arranged inside the body frame 2 for providing body support for an operator when the forklift is manually operated.

The electric control cabinet 9 is provided with a wireless communication module and a control module, the wireless communication module receives a cargo yard scheduling instruction in a wireless mode and transmits the instruction to the control module through a cable, and the control module is used for realizing automatic control of the forklift according to the received instruction, navigation data information and data information transmitted by the automatic positioning equipment.

As shown in fig. 8, the control console is disposed on the left side inside the body frame 2 for manual control of the operation and travel of the forklift, and includes a left crawler control handle 48, a right crawler control handle 42, a display screen 41, a speed regulation knob 46, a scram button 43, a fork control shift lever group 44, a fork control button group 47, and a power-on knob 45, wherein the left and right crawler control handles control the operation in the forward and backward directions of the left and right crawlers, respectively; the display screen 41 may display current position information and driving condition information of the forklift; the speed regulation knob 46 is used for controlling the running speed of the forklift; the emergency stop button 43 is used for emergency stop in case of emergency; the fork control deflector rod group 44 and the fork control button group 47 are used for respectively controlling the positioning of the forks; the power-on knob 45 is used for controlling the power on and off of the forklift.

In the implementation, the design of the control console can realize manual operation of the forklift to drive and operate, and the manual function of the forklift is increased.

In one embodiment, the automatic navigation device is connected with the control module through a cable and is used for transmitting navigation data information to realize indoor and outdoor automatic navigation positioning of the forklift. The automatic navigation device comprises a laser scanner component, a satellite navigation system and an inertial navigation system, wherein the laser scanner component is used for indoor navigation of the forklift, and the satellite navigation system and the inertial navigation system are used for outdoor navigation positioning of the forklift. The automatic navigation device transmits the acquired navigation data information to the control module, and the control module controls the running action of the forklift through calculation processing according to the received scheduling instruction and the received navigation data information, so that the indoor and outdoor autonomous navigation functions are realized.

As shown in fig. 9, the laser scanner assembly is located on the top of the body frame 2, and includes a laser scanner 38, a laser scanner bracket 37, and a linear motor 36. The laser scanner bracket 37 is fixedly connected with the vehicle body frame 2, the linear motor 36 is fixedly arranged at the lower part of the laser scanner bracket 37, and the laser scanner 38 is fixedly connected with the output end of the linear motor 36. The laser scanner 38 is driven by the linear motor 36 to be raised above the body frame 2 in the forklift operating state and lowered below the body frame 2 in the forklift transporting state to reduce the overall vehicle height. The linear motor 36 is connected to the control module by a cable, and executes an action command issued by the control module.

The satellite navigation system can obtain the geographic position information of the forklift through communication with satellites, after the information is transmitted to the control module, the control module makes judgment according to the position information and sends action instructions to the 2 walking driving parts 7 of the forklift according to the judgment result, so that automatic navigation running of the forklift is realized.

The inertial navigation system is used for measuring acceleration of the forklift and automatically performing integral operation to obtain instantaneous speed and instantaneous position data of the forklift, transmitting the data information to the control module, judging by the control module according to the data information, and sending action instructions to the 2 walking driving parts 7 of the forklift according to a judging result so as to realize automatic navigation running of the forklift. The navigation mode does not depend on external information, radiates energy to the outside, is not easy to interfere, and is an autonomous navigation system suitable for application in an environment without satellite signals.

In the implementation, the automatic navigation device can realize indoor and outdoor navigation of the forklift, and particularly, the satellite navigation system and the inertial navigation system are arranged to realize the automatic navigation function of the forklift in the field.

In one embodiment, as shown in FIG. 13, the automatic positioning device includes a wire encoder, an inclination sensor 34, a laser rangefinder 32, a 3D vision camera 35, and a distance sensor 33. A wire code is mounted between the lower frame 11 and the traversing carriage 25 for measuring the amount of change in height of the fork assembly 4. The tilt sensor 34 is installed at the rear end of the fork 27 for measuring the rotation angle of the fork 27 in the left and right directions. A laser range finder 32 is mounted at the front end of the fork 27 for detecting the relative position of the front end of the fork 27 to the pallet. A 3D vision camera 35 is mounted over the rear end of the pallet fork 27 for identifying the relative positions of the pallet fork 27 and the pallet fork aperture. A distance sensor 33 is mounted at a bottom intermediate position of the rear end of the pallet fork 27 for sensing the pallet stacking position. The automatic positioning device is connected with the control module through a cable and transmits data information to the control module. As shown in fig. 14, the wire encoder includes a main body 39 and a pull ring 40, wherein the main body 39 is fixedly installed at the bottom of the lower frame 11, the pull ring 40 is fixedly installed at the lateral end surface of the traverse carriage 25 and connected with the main body 39 by a wire rope

In specific implementation, the automatic positioning device can sense the position and angle data of the fork 27 relative to the goods shelf and the fork holes of the tray, and transmit the data to the control module, and the control module judges according to the data and sends action instructions to the traversing motor, the rotating motor and the tail end motor, so that the position and angle adjustment of the fork 27 can be automatically controlled.

The running and operation process of the crawler-type unmanned cross-country stacking forklift is as follows:

when the forklift runs and works on a flat road surface, taking forklift forking goods shelf trays as an example, the scheduling system sends a remote goods taking instruction to the forklift, and the wireless communication module of the forklift receives the instruction and transmits the instruction to the control module. The automatic navigation device also transmits navigation positioning information to the control module, which is provided by the laser scanner 38 if indoors and by the satellite navigation system and the inertial navigation system if outdoors. The control module calculates and plans a forklift travel route according to the scheduling instruction and the navigation positioning information, and sends action instructions to the 2 traveling driving parts 7, and the forklift starts to travel along the planned route. At this time, the laser scanner 38 is lowered to a height lower than the top end of the vehicle body frame 2 under the instruction of the control module, so that the whole vehicle height can be lowered, and the vehicle is convenient to pass. When the forklift runs to the target shelf position, the control module sends action instructions to the lifting electric cylinder 12, the traversing motor, the rotating motor and the tail end motor according to position signals acquired by the automatic positioning equipment, and the fork 27 is adjusted to a position opposite to the shelf tray. The automatic positioning device re-collects the accurate position information of the fork holes of the pallet and transmits the information to the control module, and the control module sends fine adjustment instructions to the traversing motor, the rotating motor and the tail end motor according to the information so as to align the heads of the pallet forks 27 to the fork holes. The control module sends a command of forking the tray to the forklift, the forklift executes the command to forking the tray, and after the forking operation is completed, the control module controls the forklift to send the tray to a designated position according to the scheduling command and the navigation positioning information, so that the operation is completed.

When the forklift runs and works on a rugged road, if the forklift is on an uneven road, the height of the caterpillar tracks 6 on the left side and the right side is inconsistent, so that the situation that the two fork heads of the fork 27 are uneven and cannot be aligned with the fork openings of the tray can be caused. At this time, the inclination sensor 34 senses the inclination angle of the fork 27 and transmits an angle value to the control module, and the control module sends an action command to the 2 floating lifting portions 19 of the slewing bearing assembly according to the angle value: when the fork 27 is high at left and low at right, the control module sends left-falling and right-rising action instructions to the 2 floating electric cylinders respectively; when the fork 27 is high on the right and low on the left, the control module sends a right descending and left ascending action command to the 2 floating electric cylinders respectively; this achieves an automatic leveling function for the forks 27.

The control module can also send out the action instructions of lifting and lowering to the 2 floating electric cylinders according to the information transmitted by the automatic positioning equipment, so that the 2 fork heads of the fork 27 can be subjected to fine adjustment of lifting and lowering simultaneously, and more accurate positioning is realized.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. A crawler-type unmanned off-road stacking forklift, comprising:

the upper frame (15) comprises a cross rod and 2 vertical tracks, and two ends of the cross rod are fixedly connected with the 2 vertical tracks respectively;

the floating sliding frame (20) is a part with a through hole at the middle position, is movably arranged between 2 vertical rails and slides back and forth along the vertical rails;

a turning part (21) arranged in the through hole;

a traverse carriage (25) fixedly connected to the turning part (21) and swinging relative to the floating carriage (20) about the axis of the turning part (21);

a fork assembly (4) comprising a fork (27) and an automatic positioning device; the fork assembly (4) is connected with the transverse sliding carriage (25) in a left-right sliding manner; the automatic positioning equipment is arranged on the fork (27) and is used for collecting and transmitting position and angle information of the fork (27);

the 2 floating lifting parts (19) are respectively arranged at the bottoms of the 2 vertical rails, and the telescopic ends of the floating lifting parts (19) are connected with the transverse sliding carriage (25);

the control module is arranged in the forklift and used for controlling the actions of 2 floating lifting parts (19) according to the received scheduling instruction and the information transmitted by the automatic positioning equipment.

2. Crawler-type off-road stacker truck according to claim 1, wherein said floating carriage (20) has 4 vertices respectively snapped into 2 of said vertical tracks by means of first bearings (24).

3. The crawler-type unmanned off-road stacking forklift as claimed in claim 1, wherein movable pulleys (23) are respectively mounted at the upper ends of the 2 floating lifting parts (19); each movable pulley (23) supports 1 transmission chain (22); one end of each transmission chain (22) is fixedly connected with the upper frame (15), and the other end is fixedly connected with the transverse sliding carriage (25).

4. The crawler-type unmanned off-road stacking forklift as defined in claim 1, further comprising a lower frame (11) and a middle frame (13), wherein the lower frame (11) and the middle frame (13) are in sliding connection with each other and the middle frame (13) and the upper frame (15); the upper end of the lower frame (11) is hinged with the forklift body, and the lower end of the lower frame is provided with a swing driving part (18); the two ends of the swing driving part (18) are hinged with the lower end of the lower frame (11) and the lower end of the forklift body.

5. The crawler-type off-road stacker forklift of claim 1, wherein said traversing carriage (25) comprises 2 first C-shaped tracks and 2 traversing racks (26); the 2 first C-shaped tracks are correspondingly and fixedly arranged at the upper end and the lower end of the transverse sliding carriage (25); the 2 traversing racks (26) are correspondingly and fixedly arranged on the outer sides of the 2 first C-shaped tracks.

6. The crawler-type off-road stacker forklift of claim 5 wherein said fork assembly (4) further comprises a three-way swivel mount (30), a swivel shaft (29) and a fork mount (28); the three-way rotating frame (30) is slidably mounted on 2 first C-shaped tracks through a second bearing (31); the upper end and the lower end of the fork mounting frame (28) are respectively transversely provided with a second C-shaped track; the fork mounting rack (28) is movably connected with the three-way rotating rack (30) through a rotating shaft (29) and rotates around the rotating shaft (29); the fork (27) is in sliding fit with the second C-shaped track via a third bearing (49).

7. The crawler-type off-road stacker forklift truck as claimed in claim 1, characterized in that it comprises a travelling mechanism (1), a frame (5) and a travelling drive (7); the travelling mechanism (1) adopts a crawler-type structure and is fixedly arranged at the left side and the right side of the frame (5); the walking driving part (7) is fixedly arranged at the rear end of the frame (5) and provides driving force for the walking mechanism (1).

8. The crawler-type off-road stacker forklift truck according to claim 7, characterized in that it comprises a body frame (2), said body frame (2) being fixedly connected to the upper end of said frame (5); the vehicle body frame (2) is internally provided with a battery box (10), a seat, an electric control cabinet (9), a control console, a wireless communication module and an automatic navigation device; the control module and the wireless communication module are arranged in the electric control cabinet (9).

9. The crawler-type unmanned off-road stacking forklift according to claim 8, wherein the automatic navigation device is connected with the control module through a cable and is used for transmitting navigation data information to realize indoor and outdoor automatic navigation positioning of the forklift.

10. The crawler-type off-road stacker forklift of claim 4, wherein said automatic positioning equipment comprises a wire-pulling encoder, an inclination sensor (34), a laser rangefinder (32), a 3D vision camera (35) and a distance sensor (33); the stay wire code is arranged between the lower frame (11) and the transverse sliding carriage (25) and is used for measuring the height change value of the fork assembly (4); the inclination sensor (34) is arranged at the rear end of the fork (27) and is used for measuring the rotation angle of the fork (27) in the left and right directions; the laser range finder (32) is arranged at the front end of the fork (27) and is used for detecting the relative position between the front end of the fork (27) and the goods shelf; the 3D vision camera (35) is arranged above the rear end of the pallet fork (27) and is used for identifying the relative positions of the pallet fork (27) and the pallet fork holes; the distance sensor (33) is arranged at the middle position of the bottom of the rear end of the pallet fork (27) and is used for sensing the stacking position of the pallet; the automatic positioning device is connected with the control module through a cable and transmits data information to the control module.