CN108046172A - Fork truck robot - Google Patents
Fork truck robot Download PDFInfo
- Publication number
- CN108046172A CN108046172A CN201711260273.XA CN201711260273A CN108046172A CN 108046172 A CN108046172 A CN 108046172A CN 201711260273 A CN201711260273 A CN 201711260273A CN 108046172 A CN108046172 A CN 108046172A
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- China
- Prior art keywords
- cargo
- fork truck
- anticollision
- truck robot
- sensor
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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
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/08—Masts; Guides; Chains
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of fork truck robot, including vehicle frame, pallet fork, elevating mechanism, height sensor, laser radar, power set and control device；The pallet fork is connected with the elevating mechanism, for picking and placeing cargo；The elevating mechanism is flexibly connected with the vehicle frame, for the pallet fork to be driven to move up and down；The height sensor is connected with the pallet fork, for detecting the adjustable height of the pallet fork；The laser radar is arranged at the top of the frame, for providing navigation information；The power set are connected with the elevating mechanism, for the elevating mechanism to be driven to move；The control device is electrically connected with the height sensor and the laser radar, for controlling the fork truck robot motion and picking and placeing cargo.The fork truck robot of the present invention and high with navigation accuracy, accurate positioning picks and places cargo in place, it is not easy to the advantages of collision and damage goods.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of fork truck robots.
Background technology
With the development of market economy, for an enterprise, production efficiency and production cost are enterprise's life power
Symbol in traditional industry, due to the excessive risk in specific post or highly difficult in production operation, has directly influenced production effect
Rate, while production cost is also increasing.The particularly special occasion of working environment, manual work is inconvenient or dangerous, leads to
It is often that operation is carried out by robot, manual work is replaced by robot, has liberated productivity, mitigates dependence of the enterprise to recruitment
Property, production cost is reduced, production efficiency is improved well and realizes industrial automation.
Since robot is born, machine man-based development is throughout machinery, electronics, metallurgy, traffic, aerospace, national defence etc.
Field.The level of intelligence of robot is continuously improved in recent years, and rapidly changed people’s lives mode.People are continuous
It inquires into, transform, during the knowledge of natural environment, the machine that manufacture can substitute people's work is always the dream of the mankind.Existing machine
People navigates to it by GPS positioning system, so that robot is moved towards predetermined direction, and passes through control centre and controls institute
Robot is stated to carrying out loading or unloading behind target location.However, GPS positioning system is easily influenced be subject to environment, the machine
Device people is easily bumped against on barrier, and error is larger when picking and placeing cargo, it is not easy in place.
The content of the invention
Present invention solves the technical problem that it is relatively accurate and pick and place the fork truck robot of cargo in place to be to provide a kind of positioning.
In order to solve the above technical problems, the present invention provides a kind of fork truck robot, including vehicle frame, pallet fork, elevating mechanism,
Height sensor, laser radar, power set and control device；The pallet fork is connected with the elevating mechanism, for picking and placeing goods
Object；The elevating mechanism is flexibly connected with the vehicle frame, for the pallet fork to be driven to move up and down；The height sensor and institute
It states pallet fork to be connected, for detecting the adjustable height of the pallet fork；The laser radar is arranged at the top of the frame, for providing
Navigation information；The power set are connected with the elevating mechanism, for the elevating mechanism to be driven to move；The control device
It is electrically connected with the height sensor and the laser radar, for controlling the fork truck robot motion and picking and placeing cargo.
Preferably, the fork truck robot further includes the first cargo sensors and the second cargo sensors, first goods
Object sensor is arranged at the first preset height position of the vehicle frame, is in front of first cargo sensors for detecting
It is no to have cargo；Second cargo sensors are arranged at the second preset height position of the vehicle frame, for detecting described
Whether the front of two cargo sensors has cargo.
Preferably, the fork truck robot is further included close to switch；The pallet fork is movable including shelf and with the shelf
The trigger member of connection, the shelf are formed with cargo accommodation space；The trigger member is extended in the accommodation space, for
Whether the cargo that the accommodation space is detected close to switch cooperation is placed into predeterminated position.
Preferably, the height sensor includes drawstring encoder, and the drawstring encoder is fixed on the vehicle frame, and
It is connected with the pallet fork.
Preferably, the fork truck robot further includes anticollision device, collision-prevention device, and the anticollision device, collision-prevention device includes the first anticollision component and the
Two anticollision components, the first anticollision component for sense barrier and when the first anticollision component away from the barrier away from
From for pre-determined distance when, send the first pre-warning signal；The second anticollision component is used to bump against institute when the second anticollision component
When stating barrier, the second pre-warning signal is sent.
Preferably, the first anticollision component includes the first obstacle sensor and the second obstacle sensor, and described the
One obstacle sensor is used to sense the barrier of first direction, and second obstacle sensor is used to sense second direction
Barrier.
Preferably, the first anticollision component further includes the first mounting bracket and the first protective cover, and first barrier passes
Sensor and second obstacle sensor are arranged on first mounting bracket, and first protective cover is sheathed on described first
On mounting bracket, first protective cover is provided with first obstacle sensor and second obstacle sensor one by one
Corresponding sensing window.
Preferably, the second anticollision component includes the 3rd obstacle sensor, sensing baffle and elastic component, the elasticity
Part is connected with the sensing baffle, so that the sensing baffle can reset after being acted on by external force；The 3rd barrier sensing
Device is oppositely arranged with the sensing baffle, for when the sensing baffle position changes, sending the second pre-warning signal.
Preferably, the second anticollision component further includes fixed column, and the fixed column is fixed on the sensing baffle, institute
It states and screw thread is provided on the outer circumferential surface of fixed column；The elastic component is spring, and institute's spring is set in the outer circumferential surface of the fixed column
On, and be connected with the screw thread close-fitting of the fixed column.
Preferably, the fork truck robot further includes connecting plate and slot cover plate, the first end of the connecting plate with it is described
First anticollision component is connected, and the second end of the connecting plate is connected with the sensing baffle；The first anticollision component with it is described
Second anticollision parts space pre-determined distance is set；The connecting plate is provided with wire casing, and one end of the wire casing extends to the company
The junction of fishplate bar and the first anticollision component, the other end of the wire casing extend to the connecting plate and second anticollision
The junction of component；The slot cover plate is covered on the wire casing, and the slot cover plate is backwards to the surface of the wire casing and institute
State the flush of connecting plate；The first anticollision component, which is connected with, is used for transmission signal to the conducting wire of the control device, institute
Conducting wire is stated to be pierced by from the wire casing.
In conclusion the fork truck robot of the present invention includes vehicle frame, pallet fork, elevating mechanism, height sensor, laser
Radar, power set and control device；The pallet fork is connected with the elevating mechanism, for picking and placeing cargo；The elevating mechanism
It is flexibly connected with the vehicle frame, for the pallet fork to be driven to move up and down；The height sensor is connected with the pallet fork, is used for
Detect the adjustable height of the pallet fork；The laser radar is arranged at the top of the frame, for providing navigation information；It is described dynamic
Power apparatus is connected with the elevating mechanism, for the elevating mechanism to be driven to move；The control device and the highly sensing
Device and laser radar electrical connection, for controlling the fork truck robot motion and picking and placeing cargo.Due to passing through laser radar
It navigates, thus navigation accuracy is high, accurate positioning is held when can avoid being navigated by GPS positioning system in the prior art
The problem of being vulnerable to the influence of environment.In addition, directly it is connected by the height sensor with the pallet fork, to detect the goods
The adjustable height of fork, thus pick and place cargo in place, it is not easy to collision and damage goods.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the preferred embodiment of fork truck robot of the present invention.
Fig. 2 is the structure diagram of the part-structure of the preferred embodiment of fork truck robot of the present invention.
Fig. 3 is the exploded view of fork truck robot part structure of the present invention.
Fig. 4 is the dimensional structure diagram of the preferred embodiment of the anticollision device, collision-prevention device of fork truck robot of the present invention.
Fig. 5 is the decomposition texture schematic diagram of the preferred embodiment of the anticollision device, collision-prevention device of fork truck robot of the present invention.
Fig. 6 is the structure diagram of the part-structure of the preferred embodiment of the anticollision device, collision-prevention device of fork truck robot of the present invention.
Fig. 7 is the decomposition texture schematic diagram of the part-structure of the second anticollision component of fork truck robot of the present invention.
Fig. 8 is the structure diagram of the first mounting bracket of fork truck robot of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within protection scope of the present invention.
It please refers to Fig.1 to Fig. 8, the present invention provides a kind of fork truck robot, including anticollision device, collision-prevention device 10, vehicle frame 20, wheel
30th, pallet fork 40, elevating mechanism 50, height sensor 60, laser radar 70, power set 80 and control device 90.The anticollision
Device 10 is fixed on the end of described 40 one end of pallet fork, including the first anticollision component 1 and the second anticollision component 2, described
One anticollision component 1 is used to sense barrier and when 1 distance away from the barrier of the first anticollision component is pre-determined distance,
Send the first pre-warning signal；The second anticollision component 2, which is arranged at 1 one side of the first anticollision component and deviates described first, to be prevented
The sensing direction of component 1 is hit, the second anticollision component 2 is used for when the second anticollision component 2 bumps against the barrier, hair
Go out the second pre-warning signal.It is understood that the first anticollision component 1 and the second anticollision component 2 can be fixed together,
Pre-determined distance can be spaced, as long as the second anticollision component 2 is not located at the sensing direction of the first anticollision component 1.
Preferably, the first anticollision component 1 includes the first obstacle sensor 11 and the second obstacle sensor 12, institute
The first obstacle sensor 11 is stated for sensing the barrier of first direction, second obstacle sensor 12 is for sensing the
The barrier in two directions.The barrier of different directions is sensed by 11 and second obstacle sensor 12 of the first obstacle sensor
Hinder object, thus can preferably avoid collision barrier.In practice, first obstacle sensor 11 is commonly used in
Sense the barrier in front, second obstacle sensor 12 improves commonly used in sensing the barrier in upper direction
Security.
Preferably, the first anticollision component 1 further includes the first mounting bracket 13 and the first protective cover 14, first obstacle
Object sensor 11 and second obstacle sensor 12 are arranged on first mounting bracket 13,14 sets of first protective cover
On first mounting bracket 13, first protective cover 14 is provided with and first obstacle sensor 11 and described
Two obstacle sensors 12 sensing window 141 correspondingly, thus, the first anticollision component 1 can not only be carried out compared with
Good protection, and avoid interfering with each other.In the present embodiment, first obstacle sensor 11 and second barrier
Sensor 12 is photoelectric sensor.It is understood that first obstacle sensor 11 and second barrier sensing
Device 12 or ultrasonic sensor, therefore, first obstacle sensor 11 and second obstacle sensor 12
Type be not especially limited herein.
Specifically, in the present embodiment, first mounting bracket 13 is an integral molding structure, including the first side wall 131,
Second sidewall 132, the 3rd side wall 133, the first fixation wall 134, the second fixation wall 135, the first connection wall 136 and the second connection wall
137, the opposite both ends in 131 position of the first side wall are connected respectively with the second sidewall 132 and the 3rd side wall 133,
The second sidewall 132 is respectively positioned on the same side of the first side wall 131, the second sidewall 132 with the 3rd side wall 133
Distinguish the first side wall 131 with the 3rd side wall 133 and form first angle and second angle, first fixation wall 134
Positioned at the same side of the second sidewall 132 and the 3rd side wall 133 and with the second sidewall 132 and the 3rd side wall
133 be connected, second fixation wall 135 be located at the same side of the second sidewall 132 and the 3rd side wall 133 and with it is described
First fixation wall 134 is vertically connected.First obstacle sensor 11 is fixed in first fixation wall 134, and described
Two obstacle sensors 12 are fixed on the side of second fixation wall 135, and second fixation wall 135 is located at described first
Between obstacle sensor 11 and second obstacle sensor 12.First connection wall 136 and the second sidewall 132
It is connected, second connection wall 137 is connected with the 3rd side wall 133, first connection wall 136 and second connection wall
137 are respectively positioned between the second sidewall 132 and the 3rd side wall 133.
Since the first angle and second angle are acute angle, thus when the second sidewall 132 and the 3rd side
When wall 133 is hit backwards to the end of the first side wall 131, the second sidewall 132 and the 3rd side wall 133 are simultaneously
Stress, and be easy to bend to 131 direction of the first side wall, thus preferably avoid because of first obstacle sensor 11 and
When second obstacle sensor 12 is by external force collision, the problem of being easily damaged.Further, since the second barrier sensing
Device 12 is fixed on the side of second fixation wall 135, and second fixation wall 135 is located at first obstacle sensor
It between 11 and second obstacle sensor 12, thus is not only convenient for manufacturing, and first barrier is avoided to pass
Sensor 11 is interfered with each other with second obstacle sensor 12.Since first mounting bracket 13 is an integral molding structure, because
And structure is more firm.
Preferably, the second anticollision component 2 includes the 3rd obstacle sensor 21, senses baffle 22, elastic component 23, consolidates
Fixed pole 25 and fixed block 26, the elastic component 23 are connected with the sensing baffle 22, so that the sensing baffle 22 is by outer masterpiece
It can be resetted after, the elastic component can be flexible silicon rubber column gel column or shrapnel etc..3rd obstacle sensor 21 and institute
It states sensing baffle 22 to be oppositely arranged, for when 22 position of the sensing baffle changes, sending the second pre-warning signal.At this
In embodiment, the elastic component 23 is spring, and one end of the elastic component 23 is connected with the sensing baffle 22, the elastic component
23 other end is arranged with the fixed link 24 to be connected, and the fixed link 25 is connected with the fixed block 26, the 3rd obstacle
Object sensor 21 is fixed on the fixed block 26.In order to more accurately detect, it is highly preferred that the 3rd obstacle sensor
21 quantity is two, and two the 3rd obstacle sensors 21 are separately fixed at opposite two in 26 position of fixed block
Side, and it is corresponding with the end positions of the sensing baffle 22 respectively.
In one embodiment, one end of the elastic component 23 is connected with the sensing baffle 22, the elastic component 23
The other end is connected with the 3rd obstacle sensor 21.3rd obstacle sensor 21 can be the switches such as inductive switch
Component.The second anticollision component 2 can also be that mechanical switch can also be electronic switch.In the present embodiment, the described 3rd
Obstacle sensor 21 include Hall sensor, it is described sensing baffle 22 include magnetic part, the magnetic part can be iron plate or
Other plate of magnetic material of person etc..When the position of the magnetic part changes, the Hall sensor just sends the second early warning
Signal.
Preferably, the second anticollision component 2 further includes fixed column 24, and the fixed column 24 is fixed on the sensing baffle
On 22, screw thread is provided on the outer circumferential surface of the fixed column 24；Institute's spring is set on the outer circumferential surface of the fixed column 24, and with
The screw thread close-fitting connection of the fixed column 24, the fixed link 25 are also equipped with screw thread with the outer circumferential surface that the spring is connected.By
In being provided with screw thread on the outer circumferential surface of the fixed column 24, thus the helicoid in the spring and the threaded connection, thus
It is not only convenient for manufacturing, and connects more stable and reliable.
Preferably, the anticollision device, collision-prevention device further includes connecting plate 3, the first end of the connecting plate 3 and the first anticollision portion
Part 1 is connected, and the second end of the connecting plate 3 is connected with the sensing baffle 22, first connection wall 136 and second company
Wall 137 is connect with the connecting plate 3 to be connected.When the connecting plate 3 is hit, then the connecting plate 3 of stating triggers the sense
Baffle 22 is answered, so that 22 position of the sensing baffle changes, so that the Hall sensor sends the second pre-warning signal.
The first anticollision component 1 is spaced the first pre-determined distance with the second anticollision component 2 and sets.It is understood that in one kind
In embodiment, the first anticollision component 1 can also be directly anchored on the second anticollision component 2, and connection structure is herein
It is not specifically limited.
In the present embodiment, the anticollision device, collision-prevention device further includes slot cover plate 4, and the connecting plate 3 is provided with wire casing 31, described
One end of wire casing 31 extends to the junction of the connecting plate 3 and the first anticollision component 1, and the other end of the wire casing 31 prolongs
Extend the junction of the connecting plate 3 and the second anticollision component 2；The slot cover plate 4 is covered on the wire casing 31, institute
Slot cover plate 4 is stated backwards to the surface of the wire casing 31 and the flush of the connecting plate 3；The first anticollision component 1 connects
The conducting wire (not shown) of transmission signal is useful for, the conducting wire is pierced by from the wire casing 31, thus, connect overall structure
It is more solid and reliable and simple and compact for structure.
During work, when the anticollision device, collision-prevention device 10 finds to have barrier in front preset distance, the anticollision device, collision-prevention device 10
The first anticollision component 1 sends the first pre-warning signal to the control device 90, so as to which the fork truck robot be controlled to stop
Movement.If the first anticollision component 1 breaks down, when the second anticollision component 2 bumps against the barrier, is sent
Two pre-warning signals give the control device 90, so as to control the robot stop motion, thus can protect robot well.
By the cooperation of the first anticollision component 1 and the second anticollision component 2, so as to which reliability is preferable, significantly reduces and hit
To the probability of barrier, and structure is simpler, convenient for manufacturing and using.Make the robot with the anticollision device, collision-prevention device 10 whole simultaneously
Body is simple in structure, and reliability is high, convenient for safeguarding.
The wheel 30 includes several, several described wheels 30 are located at the bottom of the vehicle frame 20 and the pallet fork 40
Portion, and be flexibly connected respectively with the vehicle frame 20 and the pallet fork 40.The pallet fork 40 is connected with the elevating mechanism 50, is used for
Pick and place cargo.The object it is understood that as long as the pallet fork 40 can freight, shape and structure do not limit specifically herein
It is fixed.
Preferably, the fork truck robot is further included close to switch 91.The pallet fork 40 include shelf 41 and with the goods
The trigger member 42 that frame 41 is flexibly connected, the shelf 41 are formed with cargo accommodation space 43.It is described to be fixed on institute close to switch 91
State the one side of the cargo accommodation space 43 backwards of shelf 41.The trigger member 42 extends to the cargo accommodation space 43
It is interior, for whether being placed into predeterminated position with the cargo that the cargo accommodation space 43 is detected close to 91 cooperation of switch.
In the present embodiment, when the cargo of the cargo accommodation space 43 is placed into predeterminated position, then the cargo presses the triggering
Part 42 makes the trigger member 42 press the nearly switch 91, so that the nearly switch 91 sends trigger signal to the control
Device 90, the control device 90 according to the trigger signal so as to can determine whether that cargo has been in place, the fork truck robot
The cargo can be transported.Therefore, cargo can be avoided to place not in place, so that cargo asking of easily collapsing or collided
Topic, improves security.In the present embodiment, the switch 91 that approaches is mechanical switch, it is to be understood that described approach is opened
91 or optoelectronic switch etc. are closed, as long as whether in place to cooperate to detect cargo with the trigger member 42,
Type is not especially limited herein.
The elevating mechanism 50 is connected with the power set 80, and is flexibly connected with the vehicle frame 20, for driving
Pallet fork 40 is stated to move up and down.The elevating mechanism 50 includes belt pulley 51 and belt 52, the belt pulley 51 and the vehicle frame 20
Flexible connection, the belt 52 are set on the belt pulley 51 and are connected with the pallet fork 40 and the power set 80, with
By the power set 80 pallet fork 40 is driven to move up and down.It is understood that the power set 80 can also be
Cylinder.The height sensor 60 is connected with the pallet fork 40, for detecting the adjustable height of the pallet fork 40, so as to more smart
Really pick and place material.In the present embodiment, the height sensor 60 includes drawstring encoder, and the drawstring encoder is fixed on institute
It states on vehicle frame 20, and is connected with the pallet fork 40.That is, the main body of the drawstring encoder is fixed on the vehicle frame 20
On, the bracing wire of the drawstring encoder is connected with the pallet fork 40, relatively accurately to measure the height of 40 raising and lowering of pallet fork.
The laser radar 70 is arranged at 20 top of vehicle frame, for providing navigation information.It is described in practice
The workshop of fork truck robot is provided with the mark for navigation, and the laser radar 70 is by reading the mark, with right
The fork truck robot navigates.The control device 90 and the height sensor 60, the laser radar 70 and described
Power set 80 are electrically connected, for controlling the fork truck robot motion and picking and placeing cargo.
Preferably, the fork truck robot further includes the first cargo sensors 92 and the second cargo sensors 93, and described
One cargo sensors 92 are arranged at the first preset height position of the vehicle frame 20, for detecting first cargo sensors
Whether 92 front has cargo.Second cargo sensors 93 are arranged at the second preset height position of the vehicle frame 20,
Whether the front for detecting second cargo sensors 93 has cargo.First cargo sensors 92 are higher than described second
Cargo sensors 93,92 and second cargo sensors 93 of the first cargo sensors are electrically connected with the control device 90.
Thus, when transporting goods, if first cargo sensors 92 detect front and have cargo, detection signal is sent to institute
Control device 90 is stated, the control device 90 controls the pallet fork 40 to rise to what is detected with first cargo sensors 92
Then the position that the height of cargo matches first is taken off the cargo.Thus it can avoid first taking and the second cargo sensors
During the cargo that 93 height match, the cargo to match with the height of first cargo sensors 92 is bumped against.
In conclusion the fork truck robot of the present invention includes vehicle frame 20, pallet fork 30, elevating mechanism 50, highly sensing
Device 60, laser radar 70, power set 80 and control device 90；The pallet fork 30 is connected with the elevating mechanism 50, for taking
Goods putting object；The elevating mechanism 50 is flexibly connected with the vehicle frame 20, for the pallet fork 30 to be driven to move up and down；The height
Sensor 60 is connected with the pallet fork 30, for detecting the adjustable height of the pallet fork 30；The laser radar 70 is arranged at institute
20 top of vehicle frame is stated, for providing navigation information；The power set 80 are connected with the elevating mechanism 50, described for driving
Elevating mechanism 50 moves；The control device 90 is electrically connected with the height sensor 60 and the laser radar 70, for controlling
It makes the fork truck robot motion and picks and places cargo.Due to being navigated by laser radar 70, thus navigation accuracy is high, positioning
Accurately, easily influenced when can avoid the problem that being navigated by GPS positioning system in the prior art be subject to environment.In addition,
Directly it is connected by the height sensor 60 with the pallet fork 30, to detect the adjustable height of the pallet fork 30, thus is picked and placeed
Cargo is in place, it is not easy to collision and damage goods.
Fork truck robot provided by the present invention is described in detail above, specific case used herein is to this
The principle and embodiment of invention is set forth, the explanation of above example is only intended to help understand the present invention method and
Its core concept；Meanwhile for those of ordinary skill in the art, thought according to the invention in specific embodiment and is answered
With there will be changes in scope, in conclusion this specification content is only embodiments of the present invention, not thereby limit
The scope of the claims of the present invention, every equivalent structure or equivalent flow shift made using description of the invention and accompanying drawing content,
Other related technical areas are directly or indirectly used in, are included within the scope of the present invention.Should not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of fork truck robot, it is characterised in that：Including vehicle frame, pallet fork, elevating mechanism, height sensor, laser radar, dynamic
Power apparatus and control device；The pallet fork is connected with the elevating mechanism, for picking and placeing cargo；The elevating mechanism and the vehicle
Frame is flexibly connected, for the pallet fork to be driven to move up and down；The height sensor is connected with the pallet fork, described for detecting
The adjustable height of pallet fork；The laser radar is arranged at the top of the frame, for providing navigation information；The power set with
The elevating mechanism is connected, for the elevating mechanism to be driven to move；The control device and the height sensor and described
Laser radar is electrically connected, for controlling the fork truck robot motion and picking and placeing cargo.
2. fork truck robot according to claim 1, it is characterised in that：The fork truck robot further includes the first cargo biography
Sensor and the second cargo sensors, first cargo sensors are arranged at the first preset height position of the vehicle frame, are used
Whether there is cargo in the front for detecting first cargo sensors；Second cargo sensors are arranged at the of the vehicle frame
At two preset height positions, whether the front for detecting second cargo sensors has cargo.
3. fork truck robot according to claim 1 or 2, it is characterised in that：The fork truck robot further includes close open
It closes；The pallet fork includes shelf and the trigger member being flexibly connected with the shelf, the shelf are formed with cargo accommodation space；Institute
It states trigger member to extend in the accommodation space, for whether detecting the cargo of the accommodation space with the close switch cooperation
It is placed into predeterminated position.
4. fork truck robot according to claim 1 or 2, it is characterised in that：The height sensor is encoded including drawstring
Device, the drawstring encoder is fixed on the vehicle frame, and is connected with the pallet fork.
5. fork truck robot according to claim 1 or 2, it is characterised in that：The fork truck robot further includes anticollision dress
It puts, the anticollision device, collision-prevention device includes the first anticollision component and the second anticollision component, and the first anticollision component is used to sense barrier
And when the distance of the first anticollision component away from the barrier is pre-determined distance, send the first pre-warning signal；Described second
Anticollision component is used for when the second anticollision component bumps against the barrier, sends the second pre-warning signal.
6. fork truck robot according to claim 5, it is characterised in that：The first anticollision component includes the first barrier
Sensor and the second obstacle sensor, first obstacle sensor are used to sensing the barrier of first direction, and described the
Two obstacle sensors are used to sense the barrier of second direction.
7. fork truck robot according to claim 6, it is characterised in that：The first anticollision component further includes the first installation
Frame and the first protective cover, first obstacle sensor and second obstacle sensor are arranged at first mounting bracket
On, first protective cover is sheathed on first mounting bracket, and first protective cover is provided with and first barrier
Sensor and second obstacle sensor sense window correspondingly.
8. fork truck robot according to claim 5, it is characterised in that：The second anticollision component includes the 3rd barrier
Sensor, sensing baffle and elastic component, the elastic component are connected with the sensing baffle, so that the sensing baffle is by outer masterpiece
It can be resetted after；3rd obstacle sensor is oppositely arranged with the sensing baffle, for working as the sensing baffle position
It puts when changing, sends the second pre-warning signal.
9. fork truck robot according to claim 8, it is characterised in that：The second anticollision component further includes fixed column,
The fixed column is fixed on the sensing baffle, and screw thread is provided on the outer circumferential surface of the fixed column；The elastic component is bullet
Spring, institute's spring are set on the outer circumferential surface of the fixed column, and are connected with the screw thread close-fitting of the fixed column.
10. fork truck robot according to claim 5, it is characterised in that：The fork truck robot further include connecting plate and
Slot cover plate, the first end of the connecting plate are connected with the first anticollision component, the second end of the connecting plate and the sense
Baffle is answered to be connected；The first anticollision component is set with the second anticollision parts space pre-determined distance；The connecting plate is set
Have a wire casing, one end of the wire casing extends to the junction of the connecting plate and the first anticollision component, the wire casing it is another
One end extends to the junction of the connecting plate and the second anticollision component；The slot cover plate is covered on the wire casing,
The slot cover plate is backwards to the surface of the wire casing and the flush of the connecting plate；The first anticollision component connection is useful
In transmission signal to the conducting wire of the control device, the conducting wire is pierced by from the wire casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260273.XA CN108046172A (en) | 2017-12-04 | 2017-12-04 | Fork truck robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260273.XA CN108046172A (en) | 2017-12-04 | 2017-12-04 | Fork truck robot |
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| CN108466978A (en) * | 2018-06-08 | 2018-08-31 | 佛山市光华智能设备有限公司 | With the carrier-and-stacker into quality testing brake |
| CN108483353A (en) * | 2018-06-08 | 2018-09-04 | 佛山市光华智能设备有限公司 | Carrier-and-stacker with anti-barrier function |
| CN108793015A (en) * | 2018-06-08 | 2018-11-13 | 佛山市光华智能设备有限公司 | Full-automatic unmanned carrier-and-stacker |
| CN109437064A (en) * | 2018-12-18 | 2019-03-08 | 云南昆船智能装备有限公司 | A kind of lifting side V shape AGV |
| CN109867120A (en) * | 2019-03-05 | 2019-06-11 | 苏州富强科技有限公司 | Storing unit for charging tray loading and unloading |
| CN109911819A (en) * | 2019-03-22 | 2019-06-21 | 杭州昱透实业有限公司 | A kind of balance weight type AGV forklift |
| CN110589505A (en) * | 2019-09-18 | 2019-12-20 | 北京海益同展信息科技有限公司 | Delivered object in-place detection device and method, robot, delivery equipment and controller |
| CN110727268A (en) * | 2018-06-29 | 2020-01-24 | 三菱重工业株式会社 | Forklift device, forklift control method, and recording medium |
| CN110775889A (en) * | 2019-12-03 | 2020-02-11 | 广州市吉特智能科技有限公司 | Depth and stroke detection control switch for forklift pallet fork of unmanned forklift |
| CN111003658A (en) * | 2018-10-04 | 2020-04-14 | 丰田自动车株式会社 | Conveying device |
| CN111483949A (en) * | 2020-03-16 | 2020-08-04 | 浙江大华机器人技术有限公司 | Stacking vehicle AGV and height positioning method, device and equipment for pallet fork of stacking vehicle AGV |
| CN111891985A (en) * | 2020-07-10 | 2020-11-06 | 德清嘉达机械制造有限公司 | Full-automatic high lift carrier |
| CN112147997A (en) * | 2019-06-28 | 2020-12-29 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112591677A (en) * | 2020-12-11 | 2021-04-02 | 广州飞锐机器人科技有限公司 | AGV fork truck loading control method, device, system, equipment and medium |
| CN112661061A (en) * | 2019-10-16 | 2021-04-16 | 北京极智嘉科技有限公司 | Intelligent forklift and control method thereof |
| CN113072009A (en) * | 2021-03-26 | 2021-07-06 | 创新工场(北京)企业管理股份有限公司 | Automatic forklift robot docking method and automatic forklift robot |
| CN114415684A (en) * | 2022-01-19 | 2022-04-29 | 深圳市今天国际物流技术股份有限公司 | Corrugated paper packaging carton conveying method and system based on AGV trolley positioning |
| EP3988496A4 (en) * | 2019-09-10 | 2023-07-19 | Lingdong Technology (Beijing) Co. Ltd | Automated guided forklift |
| EP4239430A1 (en) | 2019-10-09 | 2023-09-06 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
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Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108483353A (en) * | 2018-06-08 | 2018-09-04 | 佛山市光华智能设备有限公司 | Carrier-and-stacker with anti-barrier function |
| CN108793015A (en) * | 2018-06-08 | 2018-11-13 | 佛山市光华智能设备有限公司 | Full-automatic unmanned carrier-and-stacker |
| CN108466978A (en) * | 2018-06-08 | 2018-08-31 | 佛山市光华智能设备有限公司 | With the carrier-and-stacker into quality testing brake |
| CN108466978B (en) * | 2018-06-08 | 2024-02-20 | 佛山市光华智能设备有限公司 | Piling car with feeding detection function |
| CN108793015B (en) * | 2018-06-08 | 2024-02-20 | 佛山市光华智能设备有限公司 | Full-automatic unmanned piling car |
| CN110727268A (en) * | 2018-06-29 | 2020-01-24 | 三菱重工业株式会社 | Forklift device, forklift control method, and recording medium |
| CN110727268B (en) * | 2018-06-29 | 2022-08-16 | 三菱重工业株式会社 | Forklift device, forklift control method, and recording medium |
| CN111003658A (en) * | 2018-10-04 | 2020-04-14 | 丰田自动车株式会社 | Conveying device |
| CN111003658B (en) * | 2018-10-04 | 2021-08-27 | 丰田自动车株式会社 | Conveying device |
| CN109437064A (en) * | 2018-12-18 | 2019-03-08 | 云南昆船智能装备有限公司 | A kind of lifting side V shape AGV |
| CN109867120A (en) * | 2019-03-05 | 2019-06-11 | 苏州富强科技有限公司 | Storing unit for charging tray loading and unloading |
| CN109911819A (en) * | 2019-03-22 | 2019-06-21 | 杭州昱透实业有限公司 | A kind of balance weight type AGV forklift |
| CN112147997A (en) * | 2019-06-28 | 2020-12-29 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| EP3988496A4 (en) * | 2019-09-10 | 2023-07-19 | Lingdong Technology (Beijing) Co. Ltd | Automated guided forklift |
| WO2021052264A1 (en) * | 2019-09-18 | 2021-03-25 | 北京海益同展信息科技有限公司 | Apparatus and method for distribution article placement detection, robot, distribution device, and controller |
| CN110589505B (en) * | 2019-09-18 | 2020-12-22 | 北京海益同展信息科技有限公司 | Delivered object in-place detection device and method, robot, delivery equipment and controller |
| CN110589505A (en) * | 2019-09-18 | 2019-12-20 | 北京海益同展信息科技有限公司 | Delivered object in-place detection device and method, robot, delivery equipment and controller |
| EP4239430A1 (en) | 2019-10-09 | 2023-09-06 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
| EP4249421A2 (en) | 2019-10-09 | 2023-09-27 | MetraLabs GmbH Neue Technologien und Systeme | Autonomous industrial truck |
| CN112661061B (en) * | 2019-10-16 | 2022-05-10 | 北京极智嘉科技股份有限公司 | Intelligent forklift and control method thereof |
| CN112661061A (en) * | 2019-10-16 | 2021-04-16 | 北京极智嘉科技有限公司 | Intelligent forklift and control method thereof |
| CN110775889A (en) * | 2019-12-03 | 2020-02-11 | 广州市吉特智能科技有限公司 | Depth and stroke detection control switch for forklift pallet fork of unmanned forklift |
| CN111483949A (en) * | 2020-03-16 | 2020-08-04 | 浙江大华机器人技术有限公司 | Stacking vehicle AGV and height positioning method, device and equipment for pallet fork of stacking vehicle AGV |
| CN111891985A (en) * | 2020-07-10 | 2020-11-06 | 德清嘉达机械制造有限公司 | Full-automatic high lift carrier |
| CN112591677B (en) * | 2020-12-11 | 2022-03-29 | 广州飞锐机器人科技有限公司 | AGV fork truck loading control method, device, system, equipment and medium |
| CN112591677A (en) * | 2020-12-11 | 2021-04-02 | 广州飞锐机器人科技有限公司 | AGV fork truck loading control method, device, system, equipment and medium |
| CN113072009A (en) * | 2021-03-26 | 2021-07-06 | 创新工场(北京)企业管理股份有限公司 | Automatic forklift robot docking method and automatic forklift robot |
| CN114415684A (en) * | 2022-01-19 | 2022-04-29 | 深圳市今天国际物流技术股份有限公司 | Corrugated paper packaging carton conveying method and system based on AGV trolley positioning |
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