EP4197959A1 - Forklift supporting leg, and automated guided forklift - Google Patents
Forklift supporting leg, and automated guided forklift Download PDFInfo
- Publication number
- EP4197959A1 EP4197959A1 EP21855541.5A EP21855541A EP4197959A1 EP 4197959 A1 EP4197959 A1 EP 4197959A1 EP 21855541 A EP21855541 A EP 21855541A EP 4197959 A1 EP4197959 A1 EP 4197959A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- support leg
- driving wheel
- hinging
- groove
- disposed
- 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.)
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 229910000640 Fe alloy Inorganic materials 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07559—Stabilizing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
Definitions
- the present disclosure relates to the field of automated guided transport technologies, and in particular to a forklift support leg and an automated guided forklift.
- unmanned vehicles appear.
- One of the unmanned vehicles is an automated guided forklift, which has become important transportation equipment in the fields such as intelligent warehousing, intelligent factory and logistics.
- a forklift support leg including a support leg body, a hinging plate and a driving wheel assembly.
- the hinging plate is connected with the driving wheel assembly and hinged to the support leg body.
- the hinging plate is perpendicularly disposed relative to a support direction of one or more driving wheels of the driving wheel assembly, or obliquely disposed relative to the support direction of the one or more driving wheels of the driving wheel assembly.
- the driving wheel assembly includes a vertically-disposed driving outer frame, a driving module disposed in a cavity enclosed by the driving outer frame, and the one or more driving wheels connected with the driving module, an edge of a lower part of the one or more driving wheels protrudes from a bottom of the driving outer frame; the hinging plate is located outside the driving outer frame and fixedly connected with the driving outer frame.
- an included acute angle between the hinging plate and the support direction of the one or more driving wheels of the driving wheel assembly is greater than or equal to 80 degrees and less than 90 degrees.
- a first through hole is disposed in the hinging plate
- a second through hole is disposed in the support leg body
- the first through hole corresponds to the second through hole
- a hinging shaft is inserted through the first through hole and the second through hole.
- a first groove with an opening facing downward is disposed on the support leg body; a second groove with an opening facing upward is disposed proximate to a hinging position on an upper surface of the hinging plate, and the second groove corresponds to the first groove; a spring is disposed in the second groove, a top end of the spring is abutted against a lower surface of the first groove, and a bottom end of the spring is abutted against an upper surface of the second groove; an abutting position where the bottom end of the spring is abutted against on the upper surface of the second groove is located at a side of the hinging shaft proximate to the driving wheel assembly; or, a torsional spring is disposed on the hinging shaft, an end of the torsional spring is abutted against the support leg body, and other end is abutted against the hinging plate from above the hinging plate; wherein an abutting position of the torsional spring on the hinging plate is located at a side of
- a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and the hinging plate is inserted into the third groove through the opening;
- a second groove with an opening facing upward is disposed proximate to a hinging position on an upper surface of the hinging plate, and the second groove corresponds to the third groove;
- a spring is disposed in the second groove, a top end of the spring is abutted against an upper surface of the third groove and a bottom end of the spring is abutted against an upper surface of the second groove; wherein an abutting position where the bottom end of the spring is abutted against on the upper surface of the second groove is located at a side of the hinging shaft proximate to the driving wheel assembly; or, a torsional spring is disposed on the hinging shaft, an end of the torsional spring is abutted against the support leg body, and other end is is
- a limiting structure for limiting a range that the hinging plate rotates relative to the support leg body is disposed on the forklift support leg.
- a first groove with an opening facing downward is disposed on the support leg body, and a first end of the hinging plate is inserted a predetermined length into the first groove on the support leg body and hinged on the support leg body by a hinging shaft;
- the limiting structure includes a first limiting structure for limiting a range that the hinging plate rotates upward relative to the support leg body, and/or, a second limiting structure for limiting a range that the hinging plate rotates downward relative to the support leg body;
- the first limiting structure includes the first groove;
- the second limiting structure includes a limiting groove opened at an end of the support leg body and a limiting column disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove.
- the hinging plate is hinged on a first end of the support leg body and the hinging position is proximate to a bottom of the support leg body.
- a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and a first end of the hinging plate is inserted a predetermined length into the third groove on the support leg body through the opening, and hinged on the support leg body by a hinging shaft; the limiting structure includes the third groove.
- a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and a first end of the hinging plate is inserted a predetermined length into the third groove on the support leg body through the opening, and hinged on the support leg body by a hinging shaft;
- the limiting structure includes a limiting groove opened at an end of the support leg body and a limiting column disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove.
- the driving wheel assembly is located outside the support leg body.
- an automated guided forklift including a chassis, one or more chassis driving wheel assemblies and/or one or more casters disposed at a bottom of the chassis and one or more forklift support legs connected at one or more positions of the chassis proximate to the bottom of the chassis, and the one or more forklift support legs extend transversely at an end of the chassis.
- the one or more forklift support legs are the forklift support leg described in any one of the above embodiments.
- one or more chassis driving wheel assemblies and one or more casters are disposed at the bottom of the chassis; wherein the one or more chassis driving wheel assemblies include a first chassis driving wheel assembly and the one or more casters include a first caster and a second caster; the first chassis driving wheel assembly, the first caster and the second caster are disposed in a spacing; wherein the first chassis driving wheel assembly is located between the first caster and the second caster, and the first caster and/or the second caster is rigidly connected with the bottom of the chassis.
- one or more chassis driving wheel assemblies and one or more casters are disposed at the bottom of the chassis; wherein the one or more chassis driving wheel assemblies are first chassis driving wheel assemblies, and the one or more casters are first casters; the first chassis driving wheel assembly and the first caster are disposed in a spacing, and the first caster is rigidly connected with the bottom of the chassis.
- one or more chassis driving wheel assemblies are disposed at the bottom of the chassis and include a first chassis driving wheel assembly and a second chassis driving wheel assembly, and the first chassis driving wheel assembly and the second chassis driving wheel assembly are disposed in a spacing.
- a chassis driving wheel assembly is disposed in a middle of the bottom of the chassis.
- the driving wheel assembly is hinged on the support leg body.
- an integral structure formed by connecting the driving wheel assembly and the support leg body has a small thickness, helping adapt to low operation space; on the other hand, the driving wheel assembly may float up and down relative to the support leg body such that an effective driving force may be provided even in a case where the ground is uneven, resulting in good ground adaptation.
- an automated guided forklift includes a chassis.
- a forklift support leg is connected at a position of the chassis proximate to the bottom of the chassis, and extends transversely at an end of the chassis.
- a driving wheel assembly is fixedly connected at an end of the forklift support leg.
- the driving wheel assembly since the driving wheel assembly is fixedly connected at an end of the forklift support leg, in a case where the ground is uneven, for example, in a case where the ground is pitted or upheaved, the driving wheel assembly may be suspended and thus unable to provide a driving force or sufficient driving force, bringing poor adaptation of the automated guided forklift to the ground.
- the forklift support leg includes a support leg body, a hinging plate and a driving wheel assembly.
- the driving wheel assembly is hinged to the support leg body through the hinging plate.
- the driving wheel assembly may float/move up and down relative to the support leg body.
- the forklift support leg may be applied to an automated guided forklift.
- FIG. 1a is a diagram showing a structure of a forklift support leg according to some embodiments of the present disclosure.
- a forklift support leg 1 includes a support leg body 2, a hinging plate 3 and a driving wheel assembly 4.
- the hinging plate 3 is connected to the driving wheel assembly 4 and hinged to the support leg body 2.
- the hinging plate 3 is perpendicularly or obliquely disposed relative to a support direction, i.e., a vertical direction at the time of the forklift support leg being on a horizontal plane, of a driving wheel of the driving wheel assembly 4.
- FIG. 1b is a schematic diagram showing the driving wheel assembly in FIG. 1a floats down in a case where there is a pit on the ground.
- the support leg body 2 may be mounted onto a forklift.
- an end of the support leg body 2 is mounted on a body of the forklift and another end of the support leg body 2 is connected with the driving wheel assembly 4 through the hinging plate 3.
- the support leg body 2 may be an elongated structure, for example, an elongated plate-like structure, an elongated column-like structure or an elongated groove-like structure.
- the support leg body 2 may be made of metal materials such as steel, iron or aluminum alloy, for example, formed by welding metal sheets.
- the hinging plate 3 may also be referred to as a hinging block or a hinging piece.
- the hinging plate 3 is used to connect the driving wheel assembly 4 and the support leg body 2.
- the hinging plate 3 may be shaped like plate or bar and made of metal materials.
- the driving wheel assembly 4 provides the driving force for the support leg body 2.
- the driving wheel assembly 4 may include a vertically-disposed driving outer frame 401.
- a driving module 402 e.g., a driving motor and a speed reducer mechanism
- a driving wheel 403 is connected to the driving module 402.
- the hinging plate 3 is located outside the driving outer frame 401 and fixedly connected to the driving outer frame 401.
- the hinging plate 3 may be fixedly connected with the driving outer frame 401 by welding or bolting.
- the driving module 402 may be fixedly disposed relative to the driving outer frame 401.
- the driving module 402 and the driving outer frame 401 may float up and down together relative to the support leg body 2.
- the driving module 402 may also be disposed floatably relative to the driving outer frame 401.
- the driving outer frame 401 may float up and down relative to the support leg body while the driving module 402 may float up and down relative to the driving outer frame 401, thus forming a two-stage floating mechanism.
- the driving wheel assembly 4 has good ground adaptation.
- the driving wheel assembly 4 may further include a circumferential limiting structure for the driving module 402.
- the circumferential limiting structure may include a first pin 404 and a second pin 405 disposed at both ends of the driving module 402. The first pin 404 and the second pin 405 are disposed symmetrically relative to the driving module 402.
- a first side plate 406 is sleeved on the first pin 404, and a second side plate 407 is sleeved on the second pin 405.
- the first side plate 406 is sleeved on the first pin 404 via a middle through hole
- the second side plate 407 is sleeved on the second pin 405 via a middle through hole.
- a first bearing 408 and a second bearing 409 are symmetrically disposed relative to the first pin 404 at both ends of the first side plate 406, and a third bearing 410 and a fourth bearing 411 are symmetrically disposed relative to the second pin 405 at both ends of the second side plate 407.
- the first bearing 408, the second bearing 409, the third bearing 410 and the fourth bearing 411 are rollably connected on the inner wall of the driving outer frame 401.
- the first bearing 408, the second bearing 409, the third bearing 410 and the fourth bearing 411 are rollably connected on the inner wall of the driving outer frame 401 respectively, and the first side plate 406 and the second side plate 407 are consistently maintained in a horizontal state.
- circumferential limiting effect may be applied to the driving module 402, such that the driving module 402 may be stabilized in the central position inside the driving outer frame 401.
- a limiting step 412 is disposed on the inner wall of the driving outer frame 401.
- a fifth bearing 413 may also be disposed on the first pin 404; and after the second side plate 407 is sleeved on the second pin 405, a sixth bearing 414 may also be disposed on the second pin 405.
- the fifth bearing 413 and the sixth bearing 414 are located over the limiting step 412.
- the driving module 402 and the driving wheel 403 may be prevented from entirely slipping out from the bottom of the driving outer frame 401.
- the first to sixth bearings 408 to 414 may be replaced with rollers or rolling balls.
- a cover 415 may be disposed on the top of the driving outer frame 401.
- the cover 415 may be fixed on the top of the driving outer frame 401 by screws or welding.
- Upper edges of the fifth bearing 413 and the sixth bearing 414 are higher than upper surfaces of the driving module 402, the first side plate 406 and the second side plate 407, such that the upper edges of the fifth bearing 413 and the sixth bearing 414 may be in contact with a lower surface of the cover 415 and roll on the lower surface of the cover 415, so as to prevent the driving module 402 from rubbing or colliding with the lower surface of the cover 415.
- driving wheels 403 may be connected with the driving module 402. As shown in FIGS. 2b to 2d , there are two driving wheels, i.e., a driving wheel 403a and a driving wheel 403b. The two driving wheels are disposed in parallel at both sides of the driving module 402.
- the driving wheel assembly 4 may also provide a steering drive for the support leg body 2.
- the driving module 402 of the driving wheel assembly 4 may include a differential driving module 402, such that a steering drive may be provided for the support leg body 2 by use of a differential drive provided by the differential driving module 402 to the paralleled driving wheels 403a and 403b.
- the hinging plate 3 may be perpendicularly disposed relative to the support direction (i.e., the vertical direction) of the driving wheels 403 of the driving wheel assembly 4, or obliquely disposed relative to the support direction of the driving wheels 403 of the driving wheel assembly 4, for example, upwardly or downwardly obliquely disposed.
- an included acute angle a between the hinging plate 3 and the support direction of the driving wheels 403 is greater than or equal to 80 degrees and less than 90 degrees, for example, greater than 82 degrees and less than 88 degrees, or greater than 85 degrees and less than 90 degrees, or, greater than 86 degrees and less than 90 degrees.
- the acute angle a is 80 degrees, and in another example, the acute angle a is 85 degrees, and in still another example, the acute angle is 88 degrees.
- FIG. 3 is a schematic diagram showing the hinging plate is downwardly obliquely disposed relative to the support direction of the driving wheels.
- the hinging plate 3 may be hinged to the support leg body 2 by a hinging chain or a hinging shaft. As shown in FIG. 1a , hinging is performed by a hinging shaft. A first through hole is opened on the hinging plate 3, a second through hole corresponding to the first through hole is opened on the support leg body 2, and the hinging shaft 5 is inserted through the first through hole and the second through hole.
- a downward pre-pressure may be applied to the driving wheel assembly 4.
- a spring may be disposed at a hinging position between the hinging plate 3 and the support leg body 2 or near the hinging position. A downward pre-pressure is applied to the hinging plate 3 through the spring and then transferred to the driving wheel assembly 4 through the hinging plate 3.
- FIG. 4a is a schematic diagram showing a structure of the hinging plate in FIG. 1a .
- a hinging shaft, a spring and a limiting column are also shown in FIG. 4a .
- a first groove 21 with an opening facing downward may be disposed on the support leg body 2, and a second groove 31 with an opening facing upward may be disposed proximate to the hinging position on an upper surface of the hinging plate 3, where the second groove 31 corresponds to the first groove 21.
- a spring 6 may be disposed in the second groove such that a top end of the spring 6 is abutted against a lower surface (concave surface) of the first groove, and a bottom end of the spring 6 is abutted against an upper surface (concave surface) of the second groove.
- An abutting position which the bottom end of the spring 6 is abutted against on the upper surface of the second groove is located at a side of the hinging shaft 5 proximate to the driving wheel assembly 4.
- a torsional spring (in FIG. 4b ) may be disposed on the hinging shaft 5.
- a downward pre-pressure is applied to the hinging plate 3 through the torsional spring and then transferred to the driving wheel assembly 4 through the hinging plate 3.
- the torsional spring is disposed on the hinging shaft in such a way that an end of the torsional spring is abutted against the support leg body 2 and another end of the torsional spring is abutted against the hinging plate 3 from above the hinging plate 3.
- An abutting position of the torsional spring on the hinging plate 3 is located at a side of the hinging shaft 5 proximate to the driving wheel assembly 4.
- the hinging plate 3 is hinged onto the support leg body 2 and may rotate up and down relative to the support leg body 2. In a case where the support leg body 2 bears a large load, the hinging plate 3 may be caused to rotate upward too much relative to the support leg body 2 and the hinging position between the support leg body 2 and the hinging plate 3 contacts the ground, thus disabling the support effect of the driving wheel assembly 4.
- a first limiting structure for limiting a range that the hinging plate 3 rotates upward may be disposed on the forklift support leg 1.
- the first groove 21 with an opening facing downward on the support leg body 2 may be used directly as the first limiting structure, thereby simplifying the limiting structure.
- An end of the hinging plate 3 i.e., the hinging end
- a predetermined length e.g., 2 cm to 10 cm
- the predetermined length is a distance between an inserting position where the hinging shaft 5 is inserted into the support leg body 2 and the end of the support leg body 2.
- the hinging plate 3 may also rotate downward around the hinging shaft 5. If the hinging plate 3 rotates downward too much, the driving wheel assembly 4 may be easily tipped over. In order to avoid this occurrence, a second limiting structure for limiting a range that the hinging plate 3 rotates downward may be disposed on the forklift support leg 1.
- the second limiting structure may include a limiting column 32 disposed on a side portion of the hinging plate 3.
- a limiting groove 22 is opened at an end of the support leg body 2 and the limiting column 32 is located in the limiting groove 22.
- the limiting column 32 is abutted against the bottom of the limiting groove 22 so as to limit the hinging plate 3 from further rotating downward. It is understood that the second limiting structure may also prevent excessively upward rotation.
- a groove is disposed on the hinging plate as shown in FIG. 1a , and in some embodiments, no groove may be disposed on the hinging plate.
- the hinging plate 3 may be hinged at a first end of the support leg body 2 (an end close to the hinging plate), and the hinging position is proximate to the bottom of the support leg body 2 such that the driving wheel assembly 4 may have a large floating range.
- the driving wheel assembly 4 may be located below the support leg body 2. As shown in FIG. 1a , after the driving wheel assembly 4 is hinged to the support leg body 2 through the hinging plate 3, the driving wheel assembly 4 may be located outside the support leg body 2, that is, the driving wheel assembly 4 and the support leg body 2 may be disposed in parallel in a horizontal direction. In this way, the entire height of the forklift support leg 1 may be effectively reduced, such that the entire height (thickness) of the forklift support leg 1 is small and suitable for a low operation space.
- a downward pre-pressure may be applied to the driving wheel assembly 4.
- a spring may be disposed at or proximate to a hinging position between the hinging plate 3 and the support leg body 2. A downward pre-pressure is applied to the hinging plate 3 through the spring and then transferred to the driving wheel assembly 4 through the hinging plate 3.
- FIG. 4a is a schematic diagram showing a structure of the hinging plate in FIG. 1a .
- a hinging shaft, a spring and a limiting column are also shown in FIG. 4a .
- a first groove 21 with an opening facing toward the driving wheel assembly 4 may be disposed on the support leg body 2, and the first groove 21 does not penetrate through the upper surface or lower surface of the support leg body 2.
- the hinging plate 3 is inserted into the first groove 21 through the opening.
- a second groove 31 with an opening facing upward is disposed proximate to the hinging position on the upper surface of the hinging plate 3, and the second groove 31 corresponds to the first groove 21.
- a spring 6 is disposed in the second groove 31 such that a top end of the spring 6 is abutted against the upper surface of the first groove 21, and a bottom end of the spring 6 is abutted against the upper surface (concave surface) of the second groove.
- the abutting position that the bottom end of the spring 6 is abutted against on the upper surface of the second groove is located at a side of the hinging shaft 5 proximate to the driving wheel assembly 4.
- a torsional spring (in FIG. 4b ) may be disposed on the hinging shaft 5.
- a downward pre-pressure is applied to the hinging plate 3 through the torsional spring and then transferred to the driving wheel assembly 4 through the hinging plate 3.
- the torsional spring is disposed on the hinging shaft 5 in such a way that an end of the torsional spring is abutted against the support leg body 2 and another end of the torsional spring is abutted against the hinging plate 3 from above the hinging plate 3.
- An abutting position of the torsional spring on the hinging plate 3 is located at a side of the hinging shaft 5 proximate to the driving wheel assembly 4.
- the hinging plate 3 is hinged onto the support leg body 2 and may rotate up and down relative to the support leg body 2. In a case where the support leg body 2 bears a large load, the hinging plate 3 may be caused to rotate upward too much relative to the support leg body 2 and the hinging position between the support leg body 2 and the hinging plate 3 contacts the ground, thus disabling the support effect of the driving wheel assembly 4. Besides, if the hinging plate 3 rotates downward too much, the driving wheel assembly 4 may be easily tipped over. In order to avoid this occurrence, a first limiting structure for limiting a range that the hinging plate 3 rotates upward and downward may be disposed on the forklift support leg 1.
- a first groove 21 with an opening facing toward the driving wheel assembly 4 may be disposed on the support leg body 2, and the first groove does not penetrate through the upper surface or lower surface of the support leg body 2.
- the first groove on the support leg body may be used directly as the first liming structure, so as to simplify the limiting structure.
- a first end of the hinging plate 3 i.e., hinging end
- a predetermined length e.g., 2-10 cm
- the predetermined length is a distance between an inserting position where the hinging shaft 5 is inserted into the support leg body 2 and the end of the support leg body 2.
- the upper surface of the hinging plate 3 is abutted against the upper surface of the first groove 21, so as to limit the hinging plate 3 from further rotating upward.
- the hinging plate 3 rotates downward around the hinging shaft 5 by an angle relative to the support leg body 2
- the lower surface of the hinging plate 3 is abutted against the lower surface of the first groove 21, so as to limit the hinging plate 3 from further rotating downward.
- a groove is disposed on the hinging plate as shown in FIG. 5a and in some embodiments, no groove may be disposed on the hinging plate.
- a second limiting structure may be disposed on the forklift support leg 1.
- the second limiting structure may include a limiting column 32 disposed on a side portion of the hinging plate 3.
- a limiting groove 22 is opened at an end of the support leg body 2 and the limiting column 32 is located in the limiting groove 22.
- the limiting column 32 is abutted against the top of the limiting groove 22 so as to limit the hinging plate 3 from further rotating upward.
- FIG. 6 is a schematic diagram showing a side structure of an automated guided forklift on the ground according to some embodiments of the present disclosure.
- FIG. 7 is a schematic diagram showing a stereoscopic structure of the automated guided forklift in FIG. 6 .
- the automated guided forklift includes a chassis 7.
- a chassis driving wheel assembly and a caster are disposed at the bottom of the chassis.
- a forklift support leg 1 is connected at a position of the chassis 7 proximate to the bottom of the chassis 7.
- the forklift support leg 1 extends transversely at an end of the chassis 7.
- the chassis driving wheel assembly includes a first chassis driving wheel assembly 8, and the caster includes a first caster 9 and a second caster 10.
- the first chassis driving wheel assembly 8, the first caster 9 and the second caster 10 are disposed in a spacing.
- the first chassis driving wheel assembly 8 is disposed between the first caster 9 and the second caster 10.
- the first caster 9 and the second caster 10 are rigidly connected to the bottom of the chassis to provide stable support for the chassis.
- the forklift support leg 1 may be the forklift support leg as described in any one of the above embodiments.
- the driving wheel assembly is hinged to the support leg body.
- an integral structure formed by connecting the driving wheel assembly and the support leg body has a small thickness, helping adapt to low operation space; on the other hand, the driving wheel assembly may float up and down relative to the support leg body such that an effective driving force may still be provided even in a case where the ground is uneven, resulting in good ground adaptation.
- the chassis 7 may be a vertically-disposed frame type structure or box type structure.
- a main control unit may be disposed on the chassis 7 to control the chassis driving wheel assembly and the driving wheel assembly.
- each forklift support leg 1 may be connected in parallel on the chassis 7.
- Each forklift support leg 1 has the same structure as the forklift support leg described in any one of the above embodiments as well as the same beneficial effects, and thus will not be repeated herein.
- one or more forks 11 and one or more lift driving mechanisms are disposed on the chassis 7.
- the forks may be used to insert under a load and then lift it, and may perform lifting actions with the drive of the lift driving mechanism.
- the forks 11 and the forklift support legs 1 may be located at a same side of the chassis 7.
- the forks 11 are disposed above the forklift support legs 1.
- a first chassis driving wheel assembly 8, a first caster 9 and a second caster 10 are disposed in a spacing at the bottom of the chassis 7.
- the first chassis driving wheel assembly 8 is located between the first caster 9 and the second caster 10.
- the first caster 9 and the second caster 10 both are rigidly connected to the bottom of the chassis 7, so as to provide strong support for the chassis 7, thus preventing the chassis 7 from tilting due to uneven force.
- the chassis driving wheel assembly may be used to provide a travel drive to the chassis.
- the chassis driving wheel assembly may not only provide a travel drive for the chassis 7 but also a steering drive for the chassis 7.
- the chassis driving wheel assembly may also be referred to as steering wheel assembly.
- FIG. 8 is a schematic diagram showing a stereoscopic structure of a chassis driving wheel assembly according to some embodiments of the present disclosure.
- the chassis driving wheel assembly for example, the first chassis driving wheel assembly 8
- the chassis driving wheel assembly may include a travel motor reducer box assembly 81 and a travel wheel 82 mounted on the travel motor reducer box assembly 81.
- a mounting plate 83 for mounting the travel motor reducer box assembly 81 to the chassis 7 is disposed on the travel motor reducer box assembly 81.
- a gear ring 84 is sleeved on a periphery of the travel motor reducer box assembly 81 to engage with a steer driving gear 85.
- the steer driving gear 85 is mounted on a steer driving motor assembly 86.
- the travel motor reducer box assembly 81 may drive the travel wheel 82 to travel
- the steer driving motor assembly 86 may drive the steer driving gear 85 to rotate the gear ring 84 which then drives the travel motor reducer box assembly 81 and the travel wheel 82 to steer.
- one or more springs 87 may be disposed between the travel motor reducer box assembly 81 and the mounting plate 83.
- a guide groove 88 for guiding the travel motor reducer box assembly 81 to float up and down may be disposed on the mounting plate 83.
- a guide block 89 may be disposed on the travel motor reducer box assembly 81 and located in the guide groove 88. The guide block may slide up and down along the guide groove 88.
- the chassis driving wheel assembly and the driving wheel assembly 4 on the forklift support leg 1 may be interchangeable.
- FIG. 9 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure.
- the structure of the automated guided forklift in FIG. 9 is basically same as the structure of the automated guided forklift in FIG. 7 except that, the second caster 10 is omitted at the bottom of the chassis 7, and the first chassis driving wheel assembly 8 is mounted at the mounting position of the second caster 10, that is, the first chassis driving wheel assembly 8 and the first caster 9 are disposed in parallel at both sides of the bottom of the chassis 7, where the first caster 9 is rigidly connected to the bottom of the chassis 7 to provide strong support for the chassis 7.
- only one chassis driving wheel assembly and one caster may be disposed at the bottom of the chassis 7.
- the number of the casters may be reduced, helping reduce the costs.
- FIG. 10 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure.
- the structure of the automated guided forklift in FIG. 10 is basically same as the structure of the automated guided forklift in FIG. 7 , except that, the first caster 9 and the second caster 10 are omitted at the bottom of the chassis 7, and the first chassis driving wheel assembly 8 and the second chassis driving wheel assembly 12 are mounted respectively at the mounting positions of the first caster 9 and the second caster 10, that is, two chassis driving wheels are disposed in parallel at both sides of the bottom of the chassis 7.
- the structure of the second chassis driving wheel assembly is the same as the structure of the first chassis driving wheel assembly.
- two chassis driving wheel assemblies are disposed in parallel at the bottom of the chassis 7 to produce good travel drive capability and flexible steering capability.
- FIG. 11 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure.
- the structure of the automated guided forklift in FIG. 11 is basically same as the structure of the automated guided forklift in FIG. 7 , except that, the first caster 9 and the second caster 10 are omitted at the bottom of the chassis 7, that is, the chassis driving wheel is disposed in the middle of the bottom of the chassis 7.
- the chassis driving wheel assembly and the driving wheel assembly may be controlled at the same time to achieve the movement of the automated guided forklift.
- the wheels in chassis driving wheel assembly and the driving wheel assembly may be controlled to be in a same direction to achieve translation of the entire vehicle in any direction.
- the wheels of chassis driving wheel assembly and the driving wheel assembly may be controlled to be perpendicular to a rotational center at the same time, so as to achieve spinning of the entire vehicle around the center, thus achieving the practical application effect of omni-directional movement.
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Abstract
Description
- The present disclosure relates to the field of automated guided transport technologies, and in particular to a forklift support leg and an automated guided forklift.
- As the fast-developing technologies such as artificial intelligence and computer are successfully applied to conventional transport vehicles, unmanned vehicles appear. One of the unmanned vehicles is an automated guided forklift, which has become important transportation equipment in the fields such as intelligent warehousing, intelligent factory and logistics.
- According a first aspect of embodiments of the present disclosure, there is provided a forklift support leg, including a support leg body, a hinging plate and a driving wheel assembly. The hinging plate is connected with the driving wheel assembly and hinged to the support leg body. The hinging plate is perpendicularly disposed relative to a support direction of one or more driving wheels of the driving wheel assembly, or obliquely disposed relative to the support direction of the one or more driving wheels of the driving wheel assembly.
- In some embodiments of the present disclosure, the driving wheel assembly includes a vertically-disposed driving outer frame, a driving module disposed in a cavity enclosed by the driving outer frame, and the one or more driving wheels connected with the driving module, an edge of a lower part of the one or more driving wheels protrudes from a bottom of the driving outer frame; the hinging plate is located outside the driving outer frame and fixedly connected with the driving outer frame.
- In some embodiments of the present disclosure, when the hinging plate is obliquely disposed relative to the support direction of the one or more driving wheels of the driving wheel assembly, an included acute angle between the hinging plate and the support direction of the one or more driving wheels of the driving wheel assembly is greater than or equal to 80 degrees and less than 90 degrees.
- In some embodiments of the present disclosure, a first through hole is disposed in the hinging plate, a second through hole is disposed in the support leg body, the first through hole corresponds to the second through hole, and a hinging shaft is inserted through the first through hole and the second through hole.
- In some embodiments of the present disclosure, a first groove with an opening facing downward is disposed on the support leg body; a second groove with an opening facing upward is disposed proximate to a hinging position on an upper surface of the hinging plate, and the second groove corresponds to the first groove; a spring is disposed in the second groove, a top end of the spring is abutted against a lower surface of the first groove, and a bottom end of the spring is abutted against an upper surface of the second groove; an abutting position where the bottom end of the spring is abutted against on the upper surface of the second groove is located at a side of the hinging shaft proximate to the driving wheel assembly; or, a torsional spring is disposed on the hinging shaft, an end of the torsional spring is abutted against the support leg body, and other end is abutted against the hinging plate from above the hinging plate; wherein an abutting position of the torsional spring on the hinging plate is located at a side of the hinging shaft proximate to the driving wheel assembly.
- In some embodiments of the present disclosure, a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and the hinging plate is inserted into the third groove through the opening; a second groove with an opening facing upward is disposed proximate to a hinging position on an upper surface of the hinging plate, and the second groove corresponds to the third groove; a spring is disposed in the second groove, a top end of the spring is abutted against an upper surface of the third groove and a bottom end of the spring is abutted against an upper surface of the second groove; wherein an abutting position where the bottom end of the spring is abutted against on the upper surface of the second groove is located at a side of the hinging shaft proximate to the driving wheel assembly; or, a torsional spring is disposed on the hinging shaft, an end of the torsional spring is abutted against the support leg body, and other end is abutted against the hinging plate from above the hinging plate; wherein an abutting position of the torsional spring on the hinging plate is located at a side of the hinging shaft proximate to the driving wheel assembly.
- In some embodiments of the present disclosure, a limiting structure for limiting a range that the hinging plate rotates relative to the support leg body is disposed on the forklift support leg.
- In some embodiments of the present disclosure, a first groove with an opening facing downward is disposed on the support leg body, and a first end of the hinging plate is inserted a predetermined length into the first groove on the support leg body and hinged on the support leg body by a hinging shaft; the limiting structure includes a first limiting structure for limiting a range that the hinging plate rotates upward relative to the support leg body, and/or, a second limiting structure for limiting a range that the hinging plate rotates downward relative to the support leg body; the first limiting structure includes the first groove; the second limiting structure includes a limiting groove opened at an end of the support leg body and a limiting column disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove.
- In some embodiments of the present disclosure, the hinging plate is hinged on a first end of the support leg body and the hinging position is proximate to a bottom of the support leg body.
- In some embodiments of the present disclosure, a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and a first end of the hinging plate is inserted a predetermined length into the third groove on the support leg body through the opening, and hinged on the support leg body by a hinging shaft; the limiting structure includes the third groove.
- In some embodiments of the present disclosure, a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and a first end of the hinging plate is inserted a predetermined length into the third groove on the support leg body through the opening, and hinged on the support leg body by a hinging shaft; the limiting structure includes a limiting groove opened at an end of the support leg body and a limiting column disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove.
- In some embodiments of the present disclosure, the driving wheel assembly is located outside the support leg body.
- According to a second aspect of embodiments of the present disclosure, there is provided an automated guided forklift, including a chassis, one or more chassis driving wheel assemblies and/or one or more casters disposed at a bottom of the chassis and one or more forklift support legs connected at one or more positions of the chassis proximate to the bottom of the chassis, and the one or more forklift support legs extend transversely at an end of the chassis. The one or more forklift support legs are the forklift support leg described in any one of the above embodiments.
- In some embodiments of the present disclosure, one or more chassis driving wheel assemblies and one or more casters are disposed at the bottom of the chassis; wherein the one or more chassis driving wheel assemblies include a first chassis driving wheel assembly and the one or more casters include a first caster and a second caster; the first chassis driving wheel assembly, the first caster and the second caster are disposed in a spacing; wherein the first chassis driving wheel assembly is located between the first caster and the second caster, and the first caster and/or the second caster is rigidly connected with the bottom of the chassis.
- In some embodiments of the present disclosure, one or more chassis driving wheel assemblies and one or more casters are disposed at the bottom of the chassis; wherein the one or more chassis driving wheel assemblies are first chassis driving wheel assemblies, and the one or more casters are first casters; the first chassis driving wheel assembly and the first caster are disposed in a spacing, and the first caster is rigidly connected with the bottom of the chassis.
- In some embodiments of the present disclosure, one or more chassis driving wheel assemblies are disposed at the bottom of the chassis and include a first chassis driving wheel assembly and a second chassis driving wheel assembly, and the first chassis driving wheel assembly and the second chassis driving wheel assembly are disposed in a spacing.
- In some embodiments of the present disclosure, a chassis driving wheel assembly is disposed in a middle of the bottom of the chassis.
- In some embodiments of the forklift support leg and the automated guided forklift in the present disclosure, by perpendicularly or obliquely disposing the hinging plate relative to the support direction of the driving wheels, the driving wheel assembly is hinged on the support leg body. On one hand, an integral structure formed by connecting the driving wheel assembly and the support leg body has a small thickness, helping adapt to low operation space; on the other hand, the driving wheel assembly may float up and down relative to the support leg body such that an effective driving force may be provided even in a case where the ground is uneven, resulting in good ground adaptation.
- In order to more clearly describe the technical solutions in the embodiments of the present disclosure or in the prior arts, drawings required for descriptions of the embodiments or prior arts will be briefly introduced. However, the drawings described hereunder are only some embodiments, and other drawings may also be obtained by a person skilled in the art based on these drawings without making creative work.
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FIG. 1a a schematic diagram showing a structure of a forklift support leg according to some embodiments of the present disclosure. -
FIG. 1b is a schematic diagram showing a driving wheel assembly of the forklift support leg shown inFIG. 1a moves downwards when in a hole on the ground. -
FIG. 2a is a schematic diagram showing a stereoscopic structure of the driving wheel assembly of the forklift support leg shown inFIG. 1a . -
FIG. 2b is a schematic diagram showing a stereoscopic exploded structure of the driving wheel assembly of the forklift support leg inFIG. 1a . -
FIG. 2c is a top view showing the driving wheel assembly without a cover in the forklift support leg inFIG. 1a . -
FIG. 2d is a schematic diagram showing a driving module is limited in the driving wheel assembly of the forklift support leg inFIG. 1a . -
FIG. 3 is a schematic diagram showing a hinging plate is downwardly obliquely disposed relative to a support direction of driving wheels. -
FIG. 4a is a schematic diagram showing a structure of the hinging plate of the forklift support leg inFIG. 1a , where a spring is disposed. -
FIG. 4b is a schematic diagram showing a structure of the hinging plate of the forklift support leg inFIG. 1a , where a torsional spring is disposed. -
FIG. 5a is a schematic diagram showing a structure of a forklift support leg according to some embodiments of the present disclosure. -
FIG. 5b is a schematic diagram showing the driving wheel assembly of the forklift support leg inFIG. 5a moves downwards when in a hole on the ground. -
FIG. 6 is a schematic diagram showing a side structure of an automated guided forklift placed on the ground according to some embodiments of the present disclosure. -
FIG. 7 is a schematic diagram showing a stereoscopic structure of the automated guided forklift shown inFIG. 6 . -
FIG. 8 is a schematic diagram showing a stereoscopic structure of a chassis driving wheel assembly according to some embodiments of the present disclosure. -
FIG. 9 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. -
FIG. 10 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. -
FIG. 11 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. - The embodiments of the present disclosure will be detailed in combination with accompanying drawings. It will be understood that the embodiments described herein are only some embodiments rather than all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present disclosure without requiring creative work shall all fall within the scope of protection of the present disclosure.
- In the related arts, an automated guided forklift includes a chassis. A forklift support leg is connected at a position of the chassis proximate to the bottom of the chassis, and extends transversely at an end of the chassis. A driving wheel assembly is fixedly connected at an end of the forklift support leg.
- In such an automated guided forklift, since the driving wheel assembly is fixedly connected at an end of the forklift support leg, in a case where the ground is uneven, for example, in a case where the ground is pitted or upheaved, the driving wheel assembly may be suspended and thus unable to provide a driving force or sufficient driving force, bringing poor adaptation of the automated guided forklift to the ground.
- Some embodiments of the present disclosure provide a forklift support leg and an automated guided forklift having the forklift support leg. The forklift support leg includes a support leg body, a hinging plate and a driving wheel assembly. The driving wheel assembly is hinged to the support leg body through the hinging plate. The driving wheel assembly may float/move up and down relative to the support leg body. In a case where the ground is uneven, for example, in case where the ground is pitted, a driving wheel of the driving wheel assembly can be in contact with the ground to generate a driving force, thus having a robust ground adaptation. In this way, the problem of inability to provide a driving force or sufficient driving force due to suspension of the driving wheel assembly may be avoided. In some embodiments, the forklift support leg may be applied to an automated guided forklift.
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FIG. 1a is a diagram showing a structure of a forklift support leg according to some embodiments of the present disclosure. As shown inFIG. 1a , aforklift support leg 1 includes asupport leg body 2, ahinging plate 3 and a driving wheel assembly 4. Thehinging plate 3 is connected to the driving wheel assembly 4 and hinged to thesupport leg body 2. Thehinging plate 3 is perpendicularly or obliquely disposed relative to a support direction, i.e., a vertical direction at the time of the forklift support leg being on a horizontal plane, of a driving wheel of the driving wheel assembly 4. - By using the
hinging plate 3 perpendicularly or obliquely disposed relative to the support direction of the driving wheel, the driving wheel assembly 4 is hinged to thesupport leg body 2. In this case, on one hand, an integral structure formed by connecting the driving wheel assembly 4 and thesupport leg body 2 has a small thickness, helping adapt to low operation space; on the other hand, the driving wheel assembly 4 may float up and down relative to thesupport leg body 2 such that an effective driving force may be provided even when running on uneven ground, resulting in good ground adaptation.FIG. 1b is a schematic diagram showing the driving wheel assembly inFIG. 1a floats down in a case where there is a pit on the ground. - The
support leg body 2 may be mounted onto a forklift. For example, an end of thesupport leg body 2 is mounted on a body of the forklift and another end of thesupport leg body 2 is connected with the driving wheel assembly 4 through thehinging plate 3. Thesupport leg body 2 may be an elongated structure, for example, an elongated plate-like structure, an elongated column-like structure or an elongated groove-like structure. Thesupport leg body 2 may be made of metal materials such as steel, iron or aluminum alloy, for example, formed by welding metal sheets. - The
hinging plate 3 may also be referred to as a hinging block or a hinging piece. Thehinging plate 3 is used to connect the driving wheel assembly 4 and thesupport leg body 2. Thehinging plate 3 may be shaped like plate or bar and made of metal materials. - The driving wheel assembly 4 provides the driving force for the
support leg body 2. As shown inFIGS. 2a and2b , the driving wheel assembly 4 may include a vertically-disposed drivingouter frame 401. A driving module 402 (e.g., a driving motor and a speed reducer mechanism) is disposed in a cavity enclosed by the drivingouter frame 401, and adriving wheel 403 is connected to thedriving module 402. - As shown in
FIG. 1a , an edge of a lower part of thedriving wheel 403 protrudes out of the bottom of the drivingouter frame 401, to be in frictional contact with the ground. Thehinging plate 3 is located outside the drivingouter frame 401 and fixedly connected to the drivingouter frame 401. For example, thehinging plate 3 may be fixedly connected with the drivingouter frame 401 by welding or bolting. - The
driving module 402 may be fixedly disposed relative to the drivingouter frame 401. Thedriving module 402 and the drivingouter frame 401 may float up and down together relative to thesupport leg body 2. - In some embodiments, as shown in
FIG. 2b , thedriving module 402 may also be disposed floatably relative to the drivingouter frame 401. In this case, the drivingouter frame 401 may float up and down relative to the support leg body while thedriving module 402 may float up and down relative to the drivingouter frame 401, thus forming a two-stage floating mechanism. As a result, the driving wheel assembly 4 has good ground adaptation. - In order to limit a relative position between the driving
module 402 and an inner wall of the drivingouter frame 401, and thus maintain a stable positional relationship between the drivingmodule 402 and the inner wall of the drivingouter frame 401 so as to enable thedriving module 402 to be always in a central position inside the drivingouter frame 401, the driving wheel assembly 4 may further include a circumferential limiting structure for thedriving module 402. As shown inFIG. 2b , the circumferential limiting structure may include afirst pin 404 and asecond pin 405 disposed at both ends of thedriving module 402. Thefirst pin 404 and thesecond pin 405 are disposed symmetrically relative to thedriving module 402. Afirst side plate 406 is sleeved on thefirst pin 404, and asecond side plate 407 is sleeved on thesecond pin 405. Thefirst side plate 406 is sleeved on thefirst pin 404 via a middle through hole, and thesecond side plate 407 is sleeved on thesecond pin 405 via a middle through hole. Afirst bearing 408 and asecond bearing 409 are symmetrically disposed relative to thefirst pin 404 at both ends of thefirst side plate 406, and a third bearing 410 and afourth bearing 411 are symmetrically disposed relative to thesecond pin 405 at both ends of thesecond side plate 407. Thefirst bearing 408, thesecond bearing 409, the third bearing 410 and thefourth bearing 411 are rollably connected on the inner wall of the drivingouter frame 401. - As shown in
FIGS. 2c and2d , in a case where the driving wheel assembly 4 travels, thefirst bearing 408, thesecond bearing 409, the third bearing 410 and thefourth bearing 411 are rollably connected on the inner wall of the drivingouter frame 401 respectively, and thefirst side plate 406 and thesecond side plate 407 are consistently maintained in a horizontal state. Thus, circumferential limiting effect may be applied to thedriving module 402, such that thedriving module 402 may be stabilized in the central position inside the drivingouter frame 401. - As shown in
FIGS. 2b and 2c , in order to prevent thedriving module 402 and thedriving wheel 403 from entirely slipping out from the bottom of the drivingouter frame 401, a limitingstep 412 is disposed on the inner wall of the drivingouter frame 401. After thefirst side plate 406 is sleeved on thefirst pin 404, afifth bearing 413 may also be disposed on thefirst pin 404; and after thesecond side plate 407 is sleeved on thesecond pin 405, asixth bearing 414 may also be disposed on thesecond pin 405. Thefifth bearing 413 and thesixth bearing 414 are located over the limitingstep 412. With thefifth bearing 413, thesixth bearing 414 and the limitingstep 412, thedriving module 402 and thedriving wheel 403 may be prevented from entirely slipping out from the bottom of the drivingouter frame 401. Furthermore, the first tosixth bearings 408 to 414 may be replaced with rollers or rolling balls. - As shown in
FIG. 2b , in order to prevent foreign matters from falling into the drivingouter frame 401 from the top of the drivingouter frame 401 so as to avoid affecting normal operation of the driving wheel assembly 4, acover 415 may be disposed on the top of the drivingouter frame 401. Thecover 415 may be fixed on the top of the drivingouter frame 401 by screws or welding. Upper edges of thefifth bearing 413 and thesixth bearing 414 are higher than upper surfaces of thedriving module 402, thefirst side plate 406 and thesecond side plate 407, such that the upper edges of thefifth bearing 413 and thesixth bearing 414 may be in contact with a lower surface of thecover 415 and roll on the lower surface of thecover 415, so as to prevent thedriving module 402 from rubbing or colliding with the lower surface of thecover 415. - There may be one or two driving
wheels 403 connected with thedriving module 402. As shown inFIGS. 2b to 2d , there are two driving wheels, i.e., adriving wheel 403a and adriving wheel 403b. The two driving wheels are disposed in parallel at both sides of thedriving module 402. - In addition to providing the driving force for the
support leg body 2, the driving wheel assembly 4 may also provide a steering drive for thesupport leg body 2. In an example, thedriving module 402 of the driving wheel assembly 4 may include adifferential driving module 402, such that a steering drive may be provided for thesupport leg body 2 by use of a differential drive provided by thedifferential driving module 402 to the paralleleddriving wheels - As mentioned above, the
hinging plate 3 may be perpendicularly disposed relative to the support direction (i.e., the vertical direction) of the drivingwheels 403 of the driving wheel assembly 4, or obliquely disposed relative to the support direction of the drivingwheels 403 of the driving wheel assembly 4, for example, upwardly or downwardly obliquely disposed. - In a case where the
hinging plate 3 is disposed obliquely relative to the support direction of the drivingwheels 403, an included acute angle a between the hingingplate 3 and the support direction of the drivingwheels 403 is greater than or equal to 80 degrees and less than 90 degrees, for example, greater than 82 degrees and less than 88 degrees, or greater than 85 degrees and less than 90 degrees, or, greater than 86 degrees and less than 90 degrees. In an example, the acute angle a is 80 degrees, and in another example, the acute angle a is 85 degrees, and in still another example, the acute angle is 88 degrees. - In a case where a length of the
hinging plate 3 is given and the hinging positions of thehinging plate 3 on thesupport leg body 2 are same, downwardly obliquely configuration of thehinging plate 3 relative to the support direction of the drivingwheels 403 enables the driving wheel assembly 4 to have a great range to float up and down and thus has strong ground adaptation.FIG. 3 is a schematic diagram showing the hinging plate is downwardly obliquely disposed relative to the support direction of the driving wheels. - The
hinging plate 3 may be hinged to thesupport leg body 2 by a hinging chain or a hinging shaft. As shown inFIG. 1a , hinging is performed by a hinging shaft. A first through hole is opened on thehinging plate 3, a second through hole corresponding to the first through hole is opened on thesupport leg body 2, and the hingingshaft 5 is inserted through the first through hole and the second through hole. - In some embodiments, in order to enable the driving
wheels 403 to be in close contact with the ground and increase a friction between the drivingwheels 403 and the ground so as to increase the driving force, a downward pre-pressure may be applied to the driving wheel assembly 4. - In an example, a spring may be disposed at a hinging position between the hinging
plate 3 and thesupport leg body 2 or near the hinging position. A downward pre-pressure is applied to thehinging plate 3 through the spring and then transferred to the driving wheel assembly 4 through thehinging plate 3. -
FIG. 4a is a schematic diagram showing a structure of the hinging plate inFIG. 1a . For clearly illustrating the positional relationship between parts, a hinging shaft, a spring and a limiting column are also shown inFIG. 4a . - As shown in
FIGS. 1a and4a , afirst groove 21 with an opening facing downward may be disposed on thesupport leg body 2, and asecond groove 31 with an opening facing upward may be disposed proximate to the hinging position on an upper surface of thehinging plate 3, where thesecond groove 31 corresponds to thefirst groove 21. A spring 6 may be disposed in the second groove such that a top end of the spring 6 is abutted against a lower surface (concave surface) of the first groove, and a bottom end of the spring 6 is abutted against an upper surface (concave surface) of the second groove. An abutting position which the bottom end of the spring 6 is abutted against on the upper surface of the second groove is located at a side of the hingingshaft 5 proximate to the driving wheel assembly 4. - In another example, a torsional spring (in
FIG. 4b ) may be disposed on the hingingshaft 5. A downward pre-pressure is applied to thehinging plate 3 through the torsional spring and then transferred to the driving wheel assembly 4 through thehinging plate 3. The torsional spring is disposed on the hinging shaft in such a way that an end of the torsional spring is abutted against thesupport leg body 2 and another end of the torsional spring is abutted against the hingingplate 3 from above thehinging plate 3. An abutting position of the torsional spring on thehinging plate 3 is located at a side of the hingingshaft 5 proximate to the driving wheel assembly 4. - In some embodiments, the
hinging plate 3 is hinged onto thesupport leg body 2 and may rotate up and down relative to thesupport leg body 2. In a case where thesupport leg body 2 bears a large load, thehinging plate 3 may be caused to rotate upward too much relative to thesupport leg body 2 and the hinging position between thesupport leg body 2 and thehinging plate 3 contacts the ground, thus disabling the support effect of the driving wheel assembly 4. In order to avoid occurrence of this circumstance, a first limiting structure for limiting a range that thehinging plate 3 rotates upward may be disposed on theforklift support leg 1. - By referring to
FIG. 1a , thefirst groove 21 with an opening facing downward on thesupport leg body 2 may be used directly as the first limiting structure, thereby simplifying the limiting structure. An end of the hinging plate 3 (i.e., the hinging end) is inserted into thefirst groove 21 on thesupport leg body 2 by a predetermined length (e.g., 2 cm to 10 cm), and then hinged to thesupport leg body 2 through the hingingshaft 5. In other words, the predetermined length is a distance between an inserting position where the hingingshaft 5 is inserted into thesupport leg body 2 and the end of thesupport leg body 2. In this case, when thehinging plate 3 rotates upward around the hingingshaft 5 by an angle relative to thesupport leg body 2, the upper surface of thehinging plate 3 is abutted against the lower surface (concave surface) of thefirst groove 21, so as to limit thehinging plate 3 from further rotating upward. - In addition to rotating upward around the hinging shaft, the
hinging plate 3 may also rotate downward around the hingingshaft 5. If thehinging plate 3 rotates downward too much, the driving wheel assembly 4 may be easily tipped over. In order to avoid this occurrence, a second limiting structure for limiting a range that thehinging plate 3 rotates downward may be disposed on theforklift support leg 1. - As shown in
FIG. 1a , the second limiting structure may include a limitingcolumn 32 disposed on a side portion of thehinging plate 3. A limitinggroove 22 is opened at an end of thesupport leg body 2 and the limitingcolumn 32 is located in the limitinggroove 22. Thus, in a case where thehinging plate 3 rotates downward by a given angle around the hingingshaft 5 relative to thesupport leg body 2, the limitingcolumn 32 is abutted against the bottom of the limitinggroove 22 so as to limit thehinging plate 3 from further rotating downward. It is understood that the second limiting structure may also prevent excessively upward rotation. - It will be understood that, a groove is disposed on the hinging plate as shown in
FIG. 1a , and in some embodiments, no groove may be disposed on the hinging plate. - As shown in
FIG. 1a , thehinging plate 3 may be hinged at a first end of the support leg body 2 (an end close to the hinging plate), and the hinging position is proximate to the bottom of thesupport leg body 2 such that the driving wheel assembly 4 may have a large floating range. - After the driving wheel assembly 4 is hinged to the
support leg body 2 through thehinging plate 3, the driving wheel assembly 4 may be located below thesupport leg body 2. As shown inFIG. 1a , after the driving wheel assembly 4 is hinged to thesupport leg body 2 through thehinging plate 3, the driving wheel assembly 4 may be located outside thesupport leg body 2, that is, the driving wheel assembly 4 and thesupport leg body 2 may be disposed in parallel in a horizontal direction. In this way, the entire height of theforklift support leg 1 may be effectively reduced, such that the entire height (thickness) of theforklift support leg 1 is small and suitable for a low operation space. - In some embodiments, in order to enable the driving
wheels 403 to be in close contact with the ground and increase the friction between the drivingwheels 403 and the ground, so as to increase the driving force, a downward pre-pressure may be applied to the driving wheel assembly 4. - In some embodiments, a spring may be disposed at or proximate to a hinging position between the hinging
plate 3 and thesupport leg body 2. A downward pre-pressure is applied to thehinging plate 3 through the spring and then transferred to the driving wheel assembly 4 through thehinging plate 3. -
FIG. 4a is a schematic diagram showing a structure of the hinging plate inFIG. 1a . For clearly illustrating the positional relationship between parts, a hinging shaft, a spring and a limiting column are also shown inFIG. 4a . - As shown in
FIGS. 5a and4a , afirst groove 21 with an opening facing toward the driving wheel assembly 4 may be disposed on thesupport leg body 2, and thefirst groove 21 does not penetrate through the upper surface or lower surface of thesupport leg body 2. Thehinging plate 3 is inserted into thefirst groove 21 through the opening. Asecond groove 31 with an opening facing upward is disposed proximate to the hinging position on the upper surface of thehinging plate 3, and thesecond groove 31 corresponds to thefirst groove 21. A spring 6 is disposed in thesecond groove 31 such that a top end of the spring 6 is abutted against the upper surface of thefirst groove 21, and a bottom end of the spring 6 is abutted against the upper surface (concave surface) of the second groove. The abutting position that the bottom end of the spring 6 is abutted against on the upper surface of the second groove is located at a side of the hingingshaft 5 proximate to the driving wheel assembly 4. - In another example, a torsional spring (in
FIG. 4b ) may be disposed on the hingingshaft 5. A downward pre-pressure is applied to thehinging plate 3 through the torsional spring and then transferred to the driving wheel assembly 4 through thehinging plate 3. The torsional spring is disposed on the hingingshaft 5 in such a way that an end of the torsional spring is abutted against thesupport leg body 2 and another end of the torsional spring is abutted against the hingingplate 3 from above thehinging plate 3. An abutting position of the torsional spring on thehinging plate 3 is located at a side of the hingingshaft 5 proximate to the driving wheel assembly 4. - In some embodiments, the
hinging plate 3 is hinged onto thesupport leg body 2 and may rotate up and down relative to thesupport leg body 2. In a case where thesupport leg body 2 bears a large load, thehinging plate 3 may be caused to rotate upward too much relative to thesupport leg body 2 and the hinging position between thesupport leg body 2 and thehinging plate 3 contacts the ground, thus disabling the support effect of the driving wheel assembly 4. Besides, if thehinging plate 3 rotates downward too much, the driving wheel assembly 4 may be easily tipped over. In order to avoid this occurrence, a first limiting structure for limiting a range that thehinging plate 3 rotates upward and downward may be disposed on theforklift support leg 1. - As shown in
FIGS. 5a , afirst groove 21 with an opening facing toward the driving wheel assembly 4 may be disposed on thesupport leg body 2, and the first groove does not penetrate through the upper surface or lower surface of thesupport leg body 2. The first groove on the support leg body may be used directly as the first liming structure, so as to simplify the limiting structure. A first end of the hinging plate 3 (i.e., hinging end) is inserted through the opening into thefirst groove 21 on thesupport leg body 2 by a predetermined length (e.g., 2-10 cm), and then hinged to thesupport leg body 2 through the hingingshaft 5. In other words, the predetermined length is a distance between an inserting position where the hingingshaft 5 is inserted into thesupport leg body 2 and the end of thesupport leg body 2. In a case where thehinging plate 3 rotates upward around the hingingshaft 5 by an angle relative to thesupport leg body 2, the upper surface of thehinging plate 3 is abutted against the upper surface of thefirst groove 21, so as to limit thehinging plate 3 from further rotating upward. In a case where thehinging plate 3 rotates downward around the hingingshaft 5 by an angle relative to thesupport leg body 2, the lower surface of thehinging plate 3 is abutted against the lower surface of thefirst groove 21, so as to limit thehinging plate 3 from further rotating downward. It is to be noted that, a groove is disposed on the hinging plate as shown inFIG. 5a and in some embodiments, no groove may be disposed on the hinging plate. - Additionally or optionally, in some embodiments, a second limiting structure may be disposed on the
forklift support leg 1. As shown inFIGS. 5a and 5b , the second limiting structure may include a limitingcolumn 32 disposed on a side portion of thehinging plate 3. A limitinggroove 22 is opened at an end of thesupport leg body 2 and the limitingcolumn 32 is located in the limitinggroove 22. Thus, in a case where thehinging plate 3 rotates downward by a given angle around the hingingshaft 5 relative to thesupport leg body 2, the limitingcolumn 32 is abutted against the bottom of the limitinggroove 22 so as to limit thehinging plate 3 from further rotating downward. In a case where thehinging plate 3 rotates upward by a given angle around the hingingshaft 5 relative to thesupport leg body 2, the limitingcolumn 32 is abutted against the top of the limitinggroove 22 so as to limit thehinging plate 3 from further rotating upward. -
FIG. 6 is a schematic diagram showing a side structure of an automated guided forklift on the ground according to some embodiments of the present disclosure.FIG. 7 is a schematic diagram showing a stereoscopic structure of the automated guided forklift inFIG. 6 . As shown inFIGS. 6 and 7 , the automated guided forklift includes achassis 7. A chassis driving wheel assembly and a caster are disposed at the bottom of the chassis. Aforklift support leg 1 is connected at a position of thechassis 7 proximate to the bottom of thechassis 7. Theforklift support leg 1 extends transversely at an end of thechassis 7. The chassis driving wheel assembly includes a first chassisdriving wheel assembly 8, and the caster includes afirst caster 9 and asecond caster 10. The first chassisdriving wheel assembly 8, thefirst caster 9 and thesecond caster 10 are disposed in a spacing. The first chassisdriving wheel assembly 8 is disposed between thefirst caster 9 and thesecond caster 10. Thefirst caster 9 and thesecond caster 10 are rigidly connected to the bottom of the chassis to provide stable support for the chassis. Theforklift support leg 1 may be the forklift support leg as described in any one of the above embodiments. - In some embodiments, by perpendicularly or obliquely disposing the hinging plate relative to the support direction of the driving wheels, the driving wheel assembly is hinged to the support leg body. Thus, on one hand, an integral structure formed by connecting the driving wheel assembly and the support leg body has a small thickness, helping adapt to low operation space; on the other hand, the driving wheel assembly may float up and down relative to the support leg body such that an effective driving force may still be provided even in a case where the ground is uneven, resulting in good ground adaptation.
- The
chassis 7 may be a vertically-disposed frame type structure or box type structure. A main control unit may be disposed on thechassis 7 to control the chassis driving wheel assembly and the driving wheel assembly. - In order to enable the automated guide forklift to operate stably, two
forklift support legs 1 may be connected in parallel on thechassis 7. Eachforklift support leg 1 has the same structure as the forklift support leg described in any one of the above embodiments as well as the same beneficial effects, and thus will not be repeated herein. - As shown in
FIG. 6 , one ormore forks 11 and one or more lift driving mechanisms (not shown) are disposed on thechassis 7. The forks may be used to insert under a load and then lift it, and may perform lifting actions with the drive of the lift driving mechanism. There may be twoforks 11 arranged in parallel. Theforks 11 and theforklift support legs 1 may be located at a same side of thechassis 7. Theforks 11 are disposed above theforklift support legs 1. - As shown in
FIG. 7 , a first chassisdriving wheel assembly 8, afirst caster 9 and asecond caster 10 are disposed in a spacing at the bottom of thechassis 7. The first chassisdriving wheel assembly 8 is located between thefirst caster 9 and thesecond caster 10. Thefirst caster 9 and thesecond caster 10 both are rigidly connected to the bottom of thechassis 7, so as to provide strong support for thechassis 7, thus preventing thechassis 7 from tilting due to uneven force. - The chassis driving wheel assembly may be used to provide a travel drive to the chassis. In an example, the chassis driving wheel assembly may not only provide a travel drive for the
chassis 7 but also a steering drive for thechassis 7. In this case, the chassis driving wheel assembly may also be referred to as steering wheel assembly. -
FIG. 8 is a schematic diagram showing a stereoscopic structure of a chassis driving wheel assembly according to some embodiments of the present disclosure. As shown inFIG. 8 , the chassis driving wheel assembly, for example, the first chassisdriving wheel assembly 8, may include a travel motorreducer box assembly 81 and atravel wheel 82 mounted on the travel motorreducer box assembly 81. A mountingplate 83 for mounting the travel motorreducer box assembly 81 to thechassis 7 is disposed on the travel motorreducer box assembly 81. Agear ring 84 is sleeved on a periphery of the travel motorreducer box assembly 81 to engage with a steer driving gear 85. The steer driving gear 85 is mounted on a steer drivingmotor assembly 86. The travel motorreducer box assembly 81 may drive thetravel wheel 82 to travel, and the steer drivingmotor assembly 86 may drive the steer driving gear 85 to rotate thegear ring 84 which then drives the travel motorreducer box assembly 81 and thetravel wheel 82 to steer. - As shown in
FIG. 8 , in order to enable thetravel wheel 82 to float up and down relative to thechassis 7, one ormore springs 87 may be disposed between the travel motorreducer box assembly 81 and the mountingplate 83. Aguide groove 88 for guiding the travel motorreducer box assembly 81 to float up and down may be disposed on the mountingplate 83. Further, aguide block 89 may be disposed on the travel motorreducer box assembly 81 and located in theguide groove 88. The guide block may slide up and down along theguide groove 88. - The chassis driving wheel assembly and the driving wheel assembly 4 on the
forklift support leg 1 may be interchangeable. -
FIG. 9 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. As shown inFIG. 9 , the structure of the automated guided forklift inFIG. 9 is basically same as the structure of the automated guided forklift inFIG. 7 except that, thesecond caster 10 is omitted at the bottom of thechassis 7, and the first chassisdriving wheel assembly 8 is mounted at the mounting position of thesecond caster 10, that is, the first chassisdriving wheel assembly 8 and thefirst caster 9 are disposed in parallel at both sides of the bottom of thechassis 7, where thefirst caster 9 is rigidly connected to the bottom of thechassis 7 to provide strong support for thechassis 7. - In some embodiments, only one chassis driving wheel assembly and one caster may be disposed at the bottom of the
chassis 7. Thus, with the travel and steering requirements satisfied, the number of the casters may be reduced, helping reduce the costs. -
FIG. 10 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. As shown inFIG. 10 , the structure of the automated guided forklift inFIG. 10 is basically same as the structure of the automated guided forklift inFIG. 7 , except that, thefirst caster 9 and thesecond caster 10 are omitted at the bottom of thechassis 7, and the first chassisdriving wheel assembly 8 and the second chassisdriving wheel assembly 12 are mounted respectively at the mounting positions of thefirst caster 9 and thesecond caster 10, that is, two chassis driving wheels are disposed in parallel at both sides of the bottom of thechassis 7. - The structure of the second chassis driving wheel assembly is the same as the structure of the first chassis driving wheel assembly. In some embodiments, two chassis driving wheel assemblies are disposed in parallel at the bottom of the
chassis 7 to produce good travel drive capability and flexible steering capability. -
FIG. 11 is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. As shown inFIG. 11 , the structure of the automated guided forklift inFIG. 11 is basically same as the structure of the automated guided forklift inFIG. 7 , except that, thefirst caster 9 and thesecond caster 10 are omitted at the bottom of thechassis 7, that is, the chassis driving wheel is disposed in the middle of the bottom of thechassis 7. - In some embodiments, by using the main control unit of the
chassis 7, the chassis driving wheel assembly and the driving wheel assembly may be controlled at the same time to achieve the movement of the automated guided forklift. For example, the wheels in chassis driving wheel assembly and the driving wheel assembly may be controlled to be in a same direction to achieve translation of the entire vehicle in any direction. For another example, the wheels of chassis driving wheel assembly and the driving wheel assembly may be controlled to be perpendicular to a rotational center at the same time, so as to achieve spinning of the entire vehicle around the center, thus achieving the practical application effect of omni-directional movement. - It will be noted that the relational terms such as "first" and "second" used herein are merely intended to distinguish one entity or operation from another entity or operation rather than to require or imply any such actual relation or order existing between these entities or operations. Also, the term "including", "containing" or any variation thereof is intended to encompass non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements but also other elements not listed explicitly or those elements inherent to such a process, method, article or device. Without more limitations, an element defined by the statement "including a..." shall not be precluded to include additional same elements present in a process, method, article or device including the elements.
- Different embodiments in the present disclosure are described in a related manner. Each embodiment focuses on the differences from other embodiments with those same or similar parts among the embodiments referred to each other.
- The above descriptions are merely specific examples of the present disclosure to which the scope of protection of the present disclosure is not limited. Any changes or substitutions that easily occur to a person skilled in the art in the technical scope of the present disclosure should fall in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure is indicated as in appended claims.
Claims (15)
- A forklift support leg, comprising:a support leg body,a driving wheel assembly, anda hinging plate, connected with the driving wheel assembly and hinged to the support leg body;wherein the hinging plate is perpendicularly disposed relative to a support direction of one or more driving wheels of the driving wheel assembly, or obliquely disposed relative to the support direction of the one or more driving wheels of the driving wheel assembly.
- The forklift support leg according to claim 1, wherein the driving wheel assembly comprises a vertically-disposed driving outer frame, a driving module disposed in a cavity enclosed by the driving outer frame, and the one or more driving wheels connected with the driving module,an edge of a lower part of the one or more driving wheels protrudes from a bottom of the driving outer frame;the hinging plate is located outside the driving outer frame and fixedly connected with the driving outer frame.
- The forklift support leg according to claim 1 or 2, wherein, when the hinging plate is obliquely disposed relative to the support direction of the one or more driving wheels of the driving wheel assembly, an included acute angle between the hinging plate and the support direction of the one or more driving wheels of the driving wheel assembly is greater than or equal to 80 degrees and less than 90 degrees.
- The forklift support leg according to any one of claims 1 to 3, wherein a first through hole is disposed in the hinging plate, a second through hole is disposed in the support leg body, the first through hole corresponds to the second through hole, and a hinging shaft is inserted through the first through hole and the second through hole.
- The forklift support leg according to claim 4, wherein a first groove with an opening facing downward is disposed on the support leg body; a second groove with an opening facing upward is disposed proximate to a hinging position on an upper surface of the hinging plate, and the second groove corresponds to the first groove;wherein a spring is disposed in the second groove, a top end of the spring is abutted against a lower surface of the first groove, and a bottom end of the spring is abutted against an upper surface of the second groove; an abutting position where the bottom end of the spring is abutted against on the upper surface of the second groove is located at a side of the hinging shaft proximate to the driving wheel assembly;
or,a torsional spring is disposed on the hinging shaft, an end of the torsional spring is abutted against the support leg body, and other end is abutted against the hinging plate from above the hinging plate; wherein an abutting position of the torsional spring on the hinging plate is located at a side of the hinging shaft proximate to the driving wheel assembly. - The forklift support leg according to claim 4, wherein a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and the hinging plate is inserted into the third groove through the opening; a second groove with an opening facing upward is disposed proximate to a hinging position on an upper surface of the hinging plate, and the second groove corresponds to the third groove;wherein a spring is disposed in the second groove, a top end of the spring is abutted against an upper surface of the third groove and a bottom end of the spring is abutted against an upper surface of the second groove; wherein an abutting position where the bottom end of the spring is abutted against on the upper surface of the second groove is located at a side of the hinging shaft proximate to the driving wheel assembly;
or,a torsional spring is disposed on the hinging shaft, an end of the torsional spring is abutted against the support leg body, and other end is abutted against the hinging plate from above the hinging plate; wherein an abutting position of the torsional spring on the hinging plate is located at a side of the hinging shaft proximate to the driving wheel assembly. - The forklift support leg according to any one of claims 1 to 3, wherein a limiting structure for limiting a range that the hinging plate rotates relative to the support leg body is disposed on the forklift support leg.
- The forklift support leg according to claim 7, wherein a first groove with an opening facing downward is disposed on the support leg body, and a first end of the hinging plate is inserted a predetermined length into the first groove on the support leg body and hinged on the support leg body by a hinging shaft;the limiting structure comprises a first limiting structure for limiting a range that the hinging plate rotates upward relative to the support leg body, and/or, a second limiting structure for limiting a range that the hinging plate rotates downward relative to the support leg body;wherein the first limiting structure comprises the first groove;the second limiting structure comprises a limiting groove opened at an end of the support leg body and a limiting column disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove.
- The forklift support leg according to any one of claims 1 to 7, wherein the hinging plate is hinged on a first end of the support leg body and the hinging position is proximate to a bottom of the support leg body.
- The forklift support leg according to claim 7, wherein a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and a first end of the hinging plate is inserted a predetermined length into the third groove on the support leg body through the opening, and hinged on the support leg body by a hinging shaft; the limiting structure comprises the third groove.
- The forklift support leg according to claim 7, wherein a third groove with an opening facing toward the driving wheel assembly is disposed on the support leg body, the third groove does not penetrate through a lower surface and an upper surface of the support leg body, and a first end of the hinging plate is inserted a predetermined length into the third groove on the support leg body through the opening, and hinged on the support leg body by a hinging shaft;
the limiting structure comprises a limiting groove opened at an end of the support leg body and a limiting column disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove. - The forklift support leg according to any one of claims 1 to 11, wherein the driving wheel assembly is located outside the support leg body.
- An automated guided forklift, comprising a chassis, one or more chassis driving wheel assemblies and/or one or more casters disposed at a bottom of the chassis and one or more forklift support legs connected at one or more positions of the chassis proximate to the bottom of the chassis, and the one or more forklift support legs extend transversely at an end of the chassis;
wherein the one or more forklift support legs are the forklift support leg according to any one of claims 1 to 12. - The automated guided forklift according to claim 13, wherein one or more chassis driving wheel assemblies and one or more casters are disposed at the bottom of the chassis; wherein the one or more chassis driving wheel assemblies comprise a first chassis driving wheel assembly and the one or more casters comprise a first caster and a second caster; the first chassis driving wheel assembly, the first caster and the second caster are disposed in a spacing; wherein the first chassis driving wheel assembly is located between the first caster and the second caster, and the first caster and/or the second caster is rigidly connected with the bottom of the chassis; or,
one or more chassis driving wheel assemblies and one or more casters are disposed at the bottom of the chassis; wherein the one or more chassis driving wheel assemblies are first chassis driving wheel assemblies, and the one or more casters are first casters; the first chassis driving wheel assembly and the first caster are disposed in a spacing, and the first caster is rigidly connected with the bottom of the chassis. - The automated guided forklift according to claim 13, wherein one or more chassis driving wheel assemblies are disposed at the bottom of the chassis and comprise a first chassis driving wheel assembly and a second chassis driving wheel assembly, and the first chassis driving wheel assembly and the second chassis driving wheel assembly are disposed in a spacing; or,
a chassis driving wheel assembly is disposed in a middle of the bottom of the chassis.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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EP24195810.7A EP4442635A2 (en) | 2020-08-14 | 2021-08-10 | Forklift supporting leg and automated guided forklift |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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CN202010822883.XA CN111792580A (en) | 2020-08-14 | 2020-08-14 | Fork truck landing leg and automated guided fork truck |
PCT/CN2021/111884 WO2022033489A1 (en) | 2020-08-14 | 2021-08-10 | Forklift supporting leg, and automated guided forklift |
Related Child Applications (1)
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EP24195810.7A Division EP4442635A2 (en) | 2020-08-14 | 2021-08-10 | Forklift supporting leg and automated guided forklift |
Publications (2)
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EP4197959A1 true EP4197959A1 (en) | 2023-06-21 |
EP4197959A4 EP4197959A4 (en) | 2024-02-21 |
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EP21855541.5A Pending EP4197959A4 (en) | 2020-08-14 | 2021-08-10 | Forklift supporting leg, and automated guided forklift |
EP24195810.7A Pending EP4442635A2 (en) | 2020-08-14 | 2021-08-10 | Forklift supporting leg and automated guided forklift |
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EP24195810.7A Pending EP4442635A2 (en) | 2020-08-14 | 2021-08-10 | Forklift supporting leg and automated guided forklift |
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EP (2) | EP4197959A4 (en) |
CN (1) | CN111792580A (en) |
WO (1) | WO2022033489A1 (en) |
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CN111792580A (en) * | 2020-08-14 | 2020-10-20 | 杭州海康机器人技术有限公司 | Fork truck landing leg and automated guided fork truck |
CN115325108A (en) * | 2022-08-09 | 2022-11-11 | 重庆大学 | Double-wheel type driving module and wheel type transportation robot |
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DE3710757A1 (en) * | 1987-03-31 | 1988-10-20 | Genkinger Hermann Gmbh | Pallet truck |
DE19613386A1 (en) * | 1996-04-03 | 1997-10-09 | Fiat Om Carrelli Elevatori | Industrial truck, which can be operated either manually or automatically |
CN201670692U (en) * | 2010-05-11 | 2010-12-15 | 安徽德摩叉车有限公司 | Forklift lifting push frame assembly |
CN103058097B (en) * | 2011-10-22 | 2013-12-18 | 苏州先锋物流装备科技有限公司 | Forklift capable of moving smoothly |
US10315900B2 (en) * | 2014-04-01 | 2019-06-11 | The Raymond Corporation | Caster wheel with constant force mechanism |
CN105621318A (en) * | 2016-02-01 | 2016-06-01 | 宁波豪迈机械有限公司 | Electric carrier |
CN105752886B (en) * | 2016-02-05 | 2020-12-04 | 广东嘉腾机器人自动化有限公司 | Forklift driven gear train capable of adapting to ground |
CN105584956A (en) * | 2016-03-07 | 2016-05-18 | 浙江诺力机械股份有限公司 | Small-turning-radius electric tray truck structure |
CN205527560U (en) * | 2016-04-12 | 2016-08-31 | 浙江中力机械有限公司 | Electric pallet truck that bearing wheel rises to rise step by step |
DE102016211390A1 (en) * | 2016-06-24 | 2017-12-28 | Jungheinrich Aktiengesellschaft | Industrial truck with means for suppressing or reducing vibrations |
CN208561596U (en) * | 2018-08-17 | 2019-03-01 | 安博机械河北有限公司 | A kind of tunable carrier |
CN210176388U (en) * | 2019-06-06 | 2020-03-24 | 杭州海康机器人技术有限公司 | Automatic guide fork truck |
CN110668358B (en) * | 2019-10-12 | 2020-10-02 | 燕山大学 | Forklift-shaped light mine car tire mounting vehicle |
CN111792580A (en) * | 2020-08-14 | 2020-10-20 | 杭州海康机器人技术有限公司 | Fork truck landing leg and automated guided fork truck |
-
2020
- 2020-08-14 CN CN202010822883.XA patent/CN111792580A/en active Pending
-
2021
- 2021-08-10 WO PCT/CN2021/111884 patent/WO2022033489A1/en unknown
- 2021-08-10 EP EP21855541.5A patent/EP4197959A4/en active Pending
- 2021-08-10 EP EP24195810.7A patent/EP4442635A2/en active Pending
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WO2022033489A1 (en) | 2022-02-17 |
CN111792580A (en) | 2020-10-20 |
EP4197959A4 (en) | 2024-02-21 |
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