Patent Description:
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.

<CIT> relates to an industrial truck comprising a chassis , which is supported by at least two front wheels and by at least one rear wheel on the ground , a mast for a load-carrying apparatus, which is arranged in an upright position thereon in a mast support region of the chassis, wherein the front wheels are rotatably arranged on wheel arms that protrude forwards from the mast support region of the chassis , and means for suppressing and reducing vibrations, wherein at least one of the wheel arms, preferably both wheel arms, is/are split into at least two wheel arm portions, which are mounted by means of a bearing arrangement so as to be able to perform movements relative to one another, wherein the means for suppressing or reducing vibrations are designed or operable to influence relative movements of the wheel arm portions, in order to ensure that any impacts owing to unevenness of the ground during travel can only be passed on to the chassis and the mast by means of the wheel arms in a reduced, and absorbed and damped mam1er, and that any mast vibrations are damped. This document discloses the preamble of claims <NUM> and <NUM>.

According a first aspect of embodiments of the present disclosure, there is provided a forklift support leg according to claims <NUM> and <NUM>.

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.

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.

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.

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.

<FIG> is a diagram showing a structure of a forklift support leg according to some embodiments of the present disclosure. As shown in <FIG>, a forklift support leg <NUM> includes a support leg body <NUM>, a hinging plate <NUM> and a driving wheel assembly <NUM>. The hinging plate <NUM> is connected to the driving wheel assembly <NUM> and hinged to the support leg body <NUM>. The hinging plate <NUM> 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 <NUM>.

By using the hinging plate <NUM> perpendicularly or obliquely disposed relative to the support direction of the driving wheel, the driving wheel assembly <NUM> is hinged to the support leg body <NUM>. In this case, on one hand, an integral structure formed by connecting the driving wheel assembly <NUM> and the support leg body <NUM> has a small thickness, helping adapt to low operation space; on the other hand, the driving wheel assembly <NUM> may float up and down relative to the support leg body <NUM> such that an effective driving force may be provided even when running on uneven ground, resulting in good ground adaptation. <FIG> is a schematic diagram showing the driving wheel assembly in <FIG> floats down in a case where there is a pit on the ground.

The support leg body <NUM> may be mounted onto a forklift. For example, an end of the support leg body <NUM> is mounted on a body of the forklift and another end of the support leg body <NUM> is connected with the driving wheel assembly <NUM> through the hinging plate <NUM>. The support leg body <NUM> 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 <NUM> may be made of metal materials such as steel, iron or aluminum alloy, for example, formed by welding metal sheets.

The hinging plate <NUM> may also be referred to as a hinging block or a hinging piece. The hinging plate <NUM> is used to connect the driving wheel assembly <NUM> and the support leg body <NUM>. The hinging plate <NUM> may be shaped like plate or bar and made of metal materials.

The driving wheel assembly <NUM> provides the driving force for the support leg body <NUM>. As shown in <FIG> and <FIG>, the driving wheel assembly <NUM> may include a vertically-disposed driving outer frame <NUM>. A driving module <NUM> (e.g., a driving motor and a speed reducer mechanism) is disposed in a cavity enclosed by the driving outer frame <NUM>, and a driving wheel <NUM> is connected to the driving module <NUM>.

As shown in <FIG>, an edge of a lower part of the driving wheel <NUM> protrudes out of the bottom of the driving outer frame <NUM>, to be in frictional contact with the ground. The hinging plate <NUM> is located outside the driving outer frame <NUM> and fixedly connected to the driving outer frame <NUM>. For example, the hinging plate <NUM> may be fixedly connected with the driving outer frame <NUM> by welding or bolting.

The driving module <NUM> may be fixedly disposed relative to the driving outer frame <NUM>. The driving module <NUM> and the driving outer frame <NUM> may float up and down together relative to the support leg body <NUM>.

In some embodiments, as shown in <FIG>, the driving module <NUM> may also be disposed floatably relative to the driving outer frame <NUM>. In this case, the driving outer frame <NUM> may float up and down relative to the support leg body while the driving module <NUM> may float up and down relative to the driving outer frame <NUM>, thus forming a two-stage floating mechanism. As a result, the driving wheel assembly <NUM> has good ground adaptation.

In order to limit a relative position between the driving module <NUM> and an inner wall of the driving outer frame <NUM>, and thus maintain a stable positional relationship between the driving module <NUM> and the inner wall of the driving outer frame <NUM> so as to enable the driving module <NUM> to be always in a central position inside the driving outer frame <NUM>, the driving wheel assembly <NUM> may further include a circumferential limiting structure for the driving module <NUM>. As shown in <FIG>, the circumferential limiting structure may include a first pin <NUM> and a second pin <NUM> disposed at both ends of the driving module <NUM>. The first pin <NUM> and the second pin <NUM> are disposed symmetrically relative to the driving module <NUM>. A first side plate <NUM> is sleeved on the first pin <NUM>, and a second side plate <NUM> is sleeved on the second pin <NUM>. The first side plate <NUM> is sleeved on the first pin <NUM> via a middle through hole, and the second side plate <NUM> is sleeved on the second pin <NUM> via a middle through hole. A first bearing <NUM> and a second bearing <NUM> are symmetrically disposed relative to the first pin <NUM> at both ends of the first side plate <NUM>, and a third bearing <NUM> and a fourth bearing <NUM> are symmetrically disposed relative to the second pin <NUM> at both ends of the second side plate <NUM>. The first bearing <NUM>, the second bearing <NUM>, the third bearing <NUM> and the fourth bearing <NUM> are rollably connected on the inner wall of the driving outer frame <NUM>.

As shown in <FIG> and <FIG>, in a case where the driving wheel assembly <NUM> travels, the first bearing <NUM>, the second bearing <NUM>, the third bearing <NUM> and the fourth bearing <NUM> are rollably connected on the inner wall of the driving outer frame <NUM> respectively, and the first side plate <NUM> and the second side plate <NUM> are consistently maintained in a horizontal state. Thus, circumferential limiting effect may be applied to the driving module <NUM>, such that the driving module <NUM> may be stabilized in the central position inside the driving outer frame <NUM>.

As shown in <FIG>, in order to prevent the driving module <NUM> and the driving wheel <NUM> from entirely slipping out from the bottom of the driving outer frame <NUM>, a limiting step <NUM> is disposed on the inner wall of the driving outer frame <NUM>. After the first side plate <NUM> is sleeved on the first pin <NUM>, a fifth bearing <NUM> may also be disposed on the first pin <NUM>; and after the second side plate <NUM> is sleeved on the second pin <NUM>, a sixth bearing <NUM> may also be disposed on the second pin <NUM>. The fifth bearing <NUM> and the sixth bearing <NUM> are located over the limiting step <NUM>. With the fifth bearing <NUM>, the sixth bearing <NUM> and the limiting step <NUM>, the driving module <NUM> and the driving wheel <NUM> may be prevented from entirely slipping out from the bottom of the driving outer frame <NUM>. Furthermore, the first to sixth bearings <NUM> to <NUM> may be replaced with rollers or rolling balls.

As shown in <FIG>, in order to prevent foreign matters from falling into the driving outer frame <NUM> from the top of the driving outer frame <NUM> so as to avoid affecting normal operation of the driving wheel assembly <NUM>, a cover <NUM> may be disposed on the top of the driving outer frame <NUM>. The cover <NUM> may be fixed on the top of the driving outer frame <NUM> by screws or welding. Upper edges of the fifth bearing <NUM> and the sixth bearing <NUM> are higher than upper surfaces of the driving module <NUM>, the first side plate <NUM> and the second side plate <NUM>, such that the upper edges of the fifth bearing <NUM> and the sixth bearing <NUM> may be in contact with a lower surface of the cover <NUM> and roll on the lower surface of the cover <NUM>, so as to prevent the driving module <NUM> from rubbing or colliding with the lower surface of the cover <NUM>.

There may be one or two driving wheels <NUM> connected with the driving module <NUM>. As shown in <FIG>, 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 <NUM>.

In addition to providing the driving force for the support leg body <NUM>, the driving wheel assembly <NUM> may also provide a steering drive for the support leg body <NUM>. In an example, the driving module <NUM> of the driving wheel assembly <NUM> may include a differential driving module <NUM>, such that a steering drive may be provided for the support leg body <NUM> by use of a differential drive provided by the differential driving module <NUM> to the paralleled driving wheels 403a and 403b.

As mentioned above, the hinging plate <NUM> may be perpendicularly disposed relative to the support direction (i.e., the vertical direction) of the driving wheels <NUM> of the driving wheel assembly <NUM>, or obliquely disposed relative to the support direction of the driving wheels <NUM> of the driving wheel assembly <NUM>, for example, upwardly or downwardly obliquely disposed.

In a case where the hinging plate <NUM> is disposed obliquely relative to the support direction of the driving wheels <NUM>, an included acute angle a between the hinging plate <NUM> and the support direction of the driving wheels <NUM> is greater than or equal to <NUM> degrees and less than <NUM> degrees, for example, greater than <NUM> degrees and less than <NUM> degrees, or greater than <NUM> degrees and less than <NUM> degrees, or, greater than <NUM> degrees and less than <NUM> degrees. In an example, the acute angle a is <NUM> degrees, and in another example, the acute angle a is <NUM> degrees, and in still another example, the acute angle is <NUM> degrees.

In a case where a length of the hinging plate <NUM> is given and the hinging positions of the hinging plate <NUM> on the support leg body <NUM> are same, downwardly obliquely configuration of the hinging plate <NUM> relative to the support direction of the driving wheels <NUM> enables the driving wheel assembly <NUM> to have a great range to float up and down and thus has strong ground adaptation. <FIG> is a schematic diagram showing the hinging plate is downwardly obliquely disposed relative to the support direction of the driving wheels.

The hinging plate <NUM> may be hinged to the support leg body <NUM> by a hinging chain or a hinging shaft. As shown in <FIG>, hinging is performed by a hinging shaft. A first through hole is opened on the hinging plate <NUM>, a second through hole corresponding to the first through hole is opened on the support leg body <NUM>, and the hinging shaft <NUM> is inserted through the first through hole and the second through hole.

In some embodiments, in order to enable the driving wheels <NUM> to be in close contact with the ground and increase a friction between the driving wheels <NUM> and the ground so as to increase the driving force, a downward pre-pressure may be applied to the driving wheel assembly <NUM>.

In an example, a spring may be disposed at a hinging position between the hinging plate <NUM> and the support leg body <NUM> or near the hinging position. A downward pre-pressure is applied to the hinging plate <NUM> through the spring and then transferred to the driving wheel assembly <NUM> through the hinging plate <NUM>.

<FIG> is a schematic diagram showing a structure of the hinging plate in <FIG>. For clearly illustrating the positional relationship between parts, a hinging shaft, a spring and a limiting column are also shown in <FIG>.

As shown in <FIG> and <FIG>, a first groove <NUM> with an opening facing downward may be disposed on the support leg body <NUM>, and a second groove <NUM> with an opening facing upward may be disposed proximate to the hinging position on an upper surface of the hinging plate <NUM>, where the second groove <NUM> corresponds to the first groove <NUM>. A spring <NUM> may be disposed in the second groove such that a top end of the spring <NUM> is abutted against a lower surface (concave surface) of the first groove, and a bottom end of the spring <NUM> is abutted against an upper surface (concave surface) of the second groove. An abutting position which the bottom end of the spring <NUM> is abutted against on the upper surface of the second groove is located at a side of the hinging shaft <NUM> proximate to the driving wheel assembly <NUM>.

In another example, a torsional spring (in <FIG>) may be disposed on the hinging shaft <NUM>. A downward pre-pressure is applied to the hinging plate <NUM> through the torsional spring and then transferred to the driving wheel assembly <NUM> through the hinging plate <NUM>. 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 <NUM> and another end of the torsional spring is abutted against the hinging plate <NUM> from above the hinging plate <NUM>. An abutting position of the torsional spring on the hinging plate <NUM> is located at a side of the hinging shaft <NUM> proximate to the driving wheel assembly <NUM>.

In some embodiments, the hinging plate <NUM> is hinged onto the support leg body <NUM> and may rotate up and down relative to the support leg body <NUM>. In a case where the support leg body <NUM> bears a large load, the hinging plate <NUM> may be caused to rotate upward too much relative to the support leg body <NUM> and the hinging position between the support leg body <NUM> and the hinging plate <NUM> contacts the ground, thus disabling the support effect of the driving wheel assembly <NUM>. In order to avoid occurrence of this circumstance, a first limiting structure for limiting a range that the hinging plate <NUM> rotates upward may be disposed on the forklift support leg <NUM>.

By referring to <FIG>, the first groove <NUM> with an opening facing downward on the support leg body <NUM> may be used directly as the first limiting structure, thereby simplifying the limiting structure. An end of the hinging plate <NUM> (i.e., the hinging end) is inserted into the first groove <NUM> on the support leg body <NUM> by a predetermined length (e.g., <NUM> to <NUM>), and then hinged to the support leg body <NUM> through the hinging shaft <NUM>. In other words, the predetermined length is a distance between an inserting position where the hinging shaft <NUM> is inserted into the support leg body <NUM> and the end of the support leg body <NUM>. In this case, when the hinging plate <NUM> rotates upward around the hinging shaft <NUM> by an angle relative to the support leg body <NUM>, the upper surface of the hinging plate <NUM> is abutted against the lower surface (concave surface) of the first groove <NUM>, so as to limit the hinging plate <NUM> from further rotating upward.

In addition to rotating upward around the hinging shaft, the hinging plate <NUM> may also rotate downward around the hinging shaft <NUM>. If the hinging plate <NUM> rotates downward too much, the driving wheel assembly <NUM> may be easily tipped over. In order to avoid this occurrence, a second limiting structure for limiting a range that the hinging plate <NUM> rotates downward may be disposed on the forklift support leg <NUM>.

As shown in <FIG>, the second limiting structure may include a limiting column <NUM> disposed on a side portion of the hinging plate <NUM>. A limiting groove <NUM> is opened at an end of the support leg body <NUM> and the limiting column <NUM> is located in the limiting groove <NUM>. Thus, in a case where the hinging plate <NUM> rotates downward by a given angle around the hinging shaft <NUM> relative to the support leg body <NUM>, the limiting column <NUM> is abutted against the bottom of the limiting groove <NUM> so as to limit the hinging plate <NUM> 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>, and in some embodiments, no groove may be disposed on the hinging plate.

As shown in <FIG>, the hinging plate <NUM> may be hinged at a first end of the support leg body <NUM> (an end close to the hinging plate), and the hinging position is proximate to the bottom of the support leg body <NUM> such that the driving wheel assembly <NUM> may have a large floating range.

After the driving wheel assembly <NUM> is hinged to the support leg body <NUM> through the hinging plate <NUM>, the driving wheel assembly <NUM> may be located below the support leg body <NUM>. As shown in <FIG>, after the driving wheel assembly <NUM> is hinged to the support leg body <NUM> through the hinging plate <NUM>, the driving wheel assembly <NUM> may be located outside the support leg body <NUM>, that is, the driving wheel assembly <NUM> and the support leg body <NUM> may be disposed in parallel in a horizontal direction. In this way, the entire height of the forklift support leg <NUM> may be effectively reduced, such that the entire height (thickness) of the forklift support leg <NUM> is small and suitable for a low operation space.

In some embodiments, in order to enable the driving wheels <NUM> to be in close contact with the ground and increase the friction between the driving wheels <NUM> and the ground, so as to increase the driving force, a downward pre-pressure may be applied to the driving wheel assembly <NUM>.

In some embodiments, a spring may be disposed at or proximate to a hinging position between the hinging plate <NUM> and the support leg body <NUM>. A downward pre-pressure is applied to the hinging plate <NUM> through the spring and then transferred to the driving wheel assembly <NUM> through the hinging plate <NUM>.

As shown in <FIG> and <FIG>, a first groove <NUM> with an opening facing toward the driving wheel assembly <NUM> may be disposed on the support leg body <NUM>, and the first groove <NUM> does not penetrate through the upper surface or lower surface of the support leg body <NUM>. The hinging plate <NUM> is inserted into the first groove <NUM> through the opening. A second groove <NUM> with an opening facing upward is disposed proximate to the hinging position on the upper surface of the hinging plate <NUM>, and the second groove <NUM> corresponds to the first groove <NUM>. A spring <NUM> is disposed in the second groove <NUM> such that a top end of the spring <NUM> is abutted against the upper surface of the first groove <NUM>, and a bottom end of the spring <NUM> is abutted against the upper surface (concave surface) of the second groove. The abutting position that the bottom end of the spring <NUM> is abutted against on the upper surface of the second groove is located at a side of the hinging shaft <NUM> proximate to the driving wheel assembly <NUM>.

In another example, a torsional spring (in <FIG>) may be disposed on the hinging shaft <NUM>. A downward pre-pressure is applied to the hinging plate <NUM> through the torsional spring and then transferred to the driving wheel assembly <NUM> through the hinging plate <NUM>. The torsional spring is disposed on the hinging shaft <NUM> in such a way that an end of the torsional spring is abutted against the support leg body <NUM> and another end of the torsional spring is abutted against the hinging plate <NUM> from above the hinging plate <NUM>. An abutting position of the torsional spring on the hinging plate <NUM> is located at a side of the hinging shaft <NUM> proximate to the driving wheel assembly <NUM>.

In some embodiments, the hinging plate <NUM> is hinged onto the support leg body <NUM> and may rotate up and down relative to the support leg body <NUM>. In a case where the support leg body <NUM> bears a large load, the hinging plate <NUM> may be caused to rotate upward too much relative to the support leg body <NUM> and the hinging position between the support leg body <NUM> and the hinging plate <NUM> contacts the ground, thus disabling the support effect of the driving wheel assembly <NUM>. Besides, if the hinging plate <NUM> rotates downward too much, the driving wheel assembly <NUM> may be easily tipped over. In order to avoid this occurrence, a first limiting structure for limiting a range that the hinging plate <NUM> rotates upward and downward may be disposed on the forklift support leg <NUM>.

As shown in <FIG>, a first groove <NUM> with an opening facing toward the driving wheel assembly <NUM> may be disposed on the support leg body <NUM>, and the first groove does not penetrate through the upper surface or lower surface of the support leg body <NUM>. 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 <NUM> (i.e., hinging end) is inserted through the opening into the first groove <NUM> on the support leg body <NUM> by a predetermined length (e.g., <NUM>-<NUM>), and then hinged to the support leg body <NUM> through the hinging shaft <NUM>. In other words, the predetermined length is a distance between an inserting position where the hinging shaft <NUM> is inserted into the support leg body <NUM> and the end of the support leg body <NUM>. In a case where the hinging plate <NUM> rotates upward around the hinging shaft <NUM> by an angle relative to the support leg body <NUM>, the upper surface of the hinging plate <NUM> is abutted against the upper surface of the first groove <NUM>, so as to limit the hinging plate <NUM> from further rotating upward. In a case where the hinging plate <NUM> rotates downward around the hinging shaft <NUM> by an angle relative to the support leg body <NUM>, the lower surface of the hinging plate <NUM> is abutted against the lower surface of the first groove <NUM>, so as to limit the hinging plate <NUM> from further rotating downward. It is to be noted that, a groove is disposed on the hinging plate as shown in <FIG> 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 <NUM>. As shown in <FIG>, the second limiting structure may include a limiting column <NUM> disposed on a side portion of the hinging plate <NUM>. A limiting groove <NUM> is opened at an end of the support leg body <NUM> and the limiting column <NUM> is located in the limiting groove <NUM>. Thus, in a case where the hinging plate <NUM> rotates downward by a given angle around the hinging shaft <NUM> relative to the support leg body <NUM>, the limiting column <NUM> is abutted against the bottom of the limiting groove <NUM> so as to limit the hinging plate <NUM> from further rotating downward. In a case where the hinging plate <NUM> rotates upward by a given angle around the hinging shaft <NUM> relative to the support leg body <NUM>, the limiting column <NUM> is abutted against the top of the limiting groove <NUM> so as to limit the hinging plate <NUM> from further rotating upward.

<FIG> 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> is a schematic diagram showing a stereoscopic structure of the automated guided forklift in <FIG>. As shown in <FIG>, the automated guided forklift includes a chassis <NUM>. A chassis driving wheel assembly and a caster are disposed at the bottom of the chassis. A forklift support leg <NUM> is connected at a position of the chassis <NUM> proximate to the bottom of the chassis <NUM>. The forklift support leg <NUM> extends transversely at an end of the chassis <NUM>. The chassis driving wheel assembly includes a first chassis driving wheel assembly <NUM>, and the caster includes a first caster <NUM> and a second caster <NUM>. The first chassis driving wheel assembly <NUM>, the first caster <NUM> and the second caster <NUM> are disposed in a spacing. The first chassis driving wheel assembly <NUM> is disposed between the first caster <NUM> and the second caster <NUM>. The first caster <NUM> and the second caster <NUM> are rigidly connected to the bottom of the chassis to provide stable support for the chassis. The forklift support leg <NUM> 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 <NUM> may be a vertically-disposed frame type structure or box type structure. A main control unit may be disposed on the chassis <NUM> 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 <NUM> may be connected in parallel on the chassis <NUM>. Each forklift support leg <NUM> 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>, one or more forks <NUM> and one or more lift driving mechanisms (not shown) are disposed on the chassis <NUM>. 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 two forks <NUM> arranged in parallel. The forks <NUM> and the forklift support legs <NUM> may be located at a same side of the chassis <NUM>. The forks <NUM> are disposed above the forklift support legs <NUM>.

As shown in <FIG>, a first chassis driving wheel assembly <NUM>, a first caster <NUM> and a second caster <NUM> are disposed in a spacing at the bottom of the chassis <NUM>. The first chassis driving wheel assembly <NUM> is located between the first caster <NUM> and the second caster <NUM>. The first caster <NUM> and the second caster <NUM> both are rigidly connected to the bottom of the chassis <NUM>, so as to provide strong support for the chassis <NUM>, thus preventing the chassis <NUM> 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 <NUM> but also a steering drive for the chassis <NUM>. In this case, the chassis driving wheel assembly may also be referred to as steering wheel assembly.

<FIG> is a schematic diagram showing a stereoscopic structure of a chassis driving wheel assembly according to some embodiments of the present disclosure. As shown in <FIG>, the chassis driving wheel assembly, for example, the first chassis driving wheel assembly <NUM>, may include a travel motor reducer box assembly <NUM> and a travel wheel <NUM> mounted on the travel motor reducer box assembly <NUM>. A mounting plate <NUM> for mounting the travel motor reducer box assembly <NUM> to the chassis <NUM> is disposed on the travel motor reducer box assembly <NUM>. A gear ring <NUM> is sleeved on a periphery of the travel motor reducer box assembly <NUM> to engage with a steer driving gear <NUM>. The steer driving gear <NUM> is mounted on a steer driving motor assembly <NUM>. The travel motor reducer box assembly <NUM> may drive the travel wheel <NUM> to travel, and the steer driving motor assembly <NUM> may drive the steer driving gear <NUM> to rotate the gear ring <NUM> which then drives the travel motor reducer box assembly <NUM> and the travel wheel <NUM> to steer.

As shown in <FIG>, in order to enable the travel wheel <NUM> to float up and down relative to the chassis <NUM>, one or more springs <NUM> may be disposed between the travel motor reducer box assembly <NUM> and the mounting plate <NUM>. A guide groove <NUM> for guiding the travel motor reducer box assembly <NUM> to float up and down may be disposed on the mounting plate <NUM>. Further, a guide block <NUM> may be disposed on the travel motor reducer box assembly <NUM> and located in the guide groove <NUM>. The guide block may slide up and down along the guide groove <NUM>.

The chassis driving wheel assembly and the driving wheel assembly <NUM> on the forklift support leg <NUM> may be interchangeable.

<FIG> is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. As shown in <FIG>, the structure of the automated guided forklift in <FIG> is basically same as the structure of the automated guided forklift in <FIG> except that, the second caster <NUM> is omitted at the bottom of the chassis <NUM>, and the first chassis driving wheel assembly <NUM> is mounted at the mounting position of the second caster <NUM>, that is, the first chassis driving wheel assembly <NUM> and the first caster <NUM> are disposed in parallel at both sides of the bottom of the chassis <NUM>, where the first caster <NUM> is rigidly connected to the bottom of the chassis <NUM> to provide strong support for the chassis <NUM>.

In some embodiments, only one chassis driving wheel assembly and one caster may be disposed at the bottom of the chassis <NUM>. Thus, with the travel and steering requirements satisfied, the number of the casters may be reduced, helping reduce the costs.

<FIG> is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. As shown in <FIG>, the structure of the automated guided forklift in <FIG> is basically same as the structure of the automated guided forklift in <FIG>, except that, the first caster <NUM> and the second caster <NUM> are omitted at the bottom of the chassis <NUM>, and the first chassis driving wheel assembly <NUM> and the second chassis driving wheel assembly <NUM> are mounted respectively at the mounting positions of the first caster <NUM> and the second caster <NUM>, that is, two chassis driving wheels are disposed in parallel at both sides of the bottom of the chassis <NUM>.

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 <NUM> to produce good travel drive capability and flexible steering capability.

<FIG> is a schematic diagram showing a structure of an automated guided forklift according to some embodiments of the present disclosure. As shown in <FIG>, the structure of the automated guided forklift in <FIG> is basically same as the structure of the automated guided forklift in <FIG>, except that, the first caster <NUM> and the second caster <NUM> are omitted at the bottom of the chassis <NUM>, that is, the chassis driving wheel is disposed in the middle of the bottom of the chassis <NUM>.

In some embodiments, by using the main control unit of the chassis <NUM>, 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.

Claim 1:
A forklift support leg (<NUM>), comprising:
a support leg body (<NUM>),
a driving wheel assembly (<NUM>), and
a hinging plate (<NUM>), 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 (<NUM>) 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,
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;
characterized in that
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 a first groove (<NUM>), the first groove (<NUM>) 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 second limiting structure comprises a limiting groove (<NUM>) opened at an end of the support leg body and a limiting column (<NUM>) disposed on a side portion of the hinging plate, and the limiting column is located in the limiting groove.