CN112141956B - Positioning system and method of laser navigation forklift - Google Patents
Positioning system and method of laser navigation forklift Download PDFInfo
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- CN112141956B CN112141956B CN202010972788.8A CN202010972788A CN112141956B CN 112141956 B CN112141956 B CN 112141956B CN 202010972788 A CN202010972788 A CN 202010972788A CN 112141956 B CN112141956 B CN 112141956B
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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
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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
- B66F9/07559—Stabilizing means
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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
- B66F9/07568—Steering arrangements
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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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
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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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
- B66F9/145—Rotation of fork around vertical axis
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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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
- B66F9/149—Whole unit including fork support rotates
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a positioning system of a laser navigation forklift, which comprises a fixed fork support and a laser navigation system, wherein the fixed fork support comprises a longitudinal support and a transverse support arranged at the bottom of the longitudinal support through an angle servo mechanism, the angle servo mechanism receives target corner positioning data of a forklift main body acquired by the laser navigation system and drives the transverse support to rotate circumferentially, a guide wheel is arranged on the transverse support, the angle servo mechanism is connected with the guide wheel through an angle deflector, and the angle deflector is used for driving the guide wheel and the transverse support to rotate in an asynchronous corner positioning mode matched with the target corner positioning data. The invention utilizes the forklift bracket to obtain the steering positioning of the forklift main body, and the angle deflector drives the guide wheel to generate adaptive angle rotation in the process, thereby continuously guiding and correcting the steering positioning of the forklift main body, and ensuring that the forklift main body is more stable and smooth in the process of turning.
Description
Technical Field
The invention relates to the technical field of laser navigation forklifts, in particular to a positioning system and a positioning method of a laser navigation forklift.
Background
The forklift is an industrial carrying vehicle, is various wheel type carrying vehicles for carrying out loading, unloading, stacking and short-distance transportation operation on finished pallet goods, is widely applied to various national economic departments such as stations, jar mouths, airports, factories, warehouses and the like, and is efficient equipment for mechanized loading, unloading, stacking and short-distance transportation. Along with the development of society, the service environment of fork truck is also complicated day by day, in order to adapt to the diversified demand of fork truck function, has also correspondingly produced higher requirement to fork truck design and manufacturing.
The existing laser navigation forklift is distinguished in transferring weight, and comprises a forklift main body with a variable-pitch fork support and a fixed fork support, and a forklift main body only with the variable-pitch fork support, wherein the former is suitable for transferring goods with larger weight in the laser navigation forklift, and the latter is used for transferring goods with smaller weight, the walking part on the existing fixed fork support is mostly a roller wheel and cannot be actively steered, although the problem of follow-up steering can be solved by adopting a universal wheel, when a certain rotation angle is exceeded, the universal wheel can generate moving resistance in the moment of driving the universal wheel to walk, so that the smoothness of steering and moving is influenced, and whichever type is adopted, the walking and steering of the laser navigation forklift are mostly carried out by adopting a single-wheel driven steering wheel assembly, and when the single-wheel driven steering wheel assembly is used for steering at a target angle, the forklift main body provided with the fixed fork support needs to be repeatedly carried out due to the existence of the fixed fork support And adjusting the steering angle.
Disclosure of Invention
The invention aims to provide a positioning system and a positioning method of a laser navigation forklift, which aim to solve the technical problem that in the prior art, a single-wheel driven steering wheel assembly is mostly adopted to walk and steer the laser navigation forklift, and when the single-wheel driven steering wheel assembly steers a target angle, a forklift main body provided with a fixed fork support needs to adjust the steering angle for multiple times due to the existence of the fixed fork support.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
the utility model provides a laser navigation fork truck's positioning system, includes fixed fork support and installs the laser navigation in the fork truck main part, fixed fork support includes the vertical support of fixed connection in the fork truck main part to and install through angle follower mechanism the horizontal support of vertical support bottom, angle follower mechanism receives the target corner location data of the fork truck main part that laser navigation acquireed, drive horizontal support with vertical leg joint department makes the circumferential motion as the center, two horizontal support bottom is provided with the leading wheel, angle follower mechanism passes through angle partial deflector and connects the leading wheel, angle partial deflector is used for driving the leading wheel with horizontal support is the asynchronous corner location rotation of matching the target corner location data.
As a preferred scheme of the invention, the fixed fork support further comprises a tail tray body connected to the bottom of the longitudinal support, one end of the transverse support is rotatably connected with the tail tray body, the edge of the tail tray body is embedded into the surface of the transverse support, and the transverse support is provided with a limiting sliding groove matched with the edge of the tail tray body;
the angle follow-up mechanism comprises a rotating shaft for rotatably connecting the transverse support and the tail disc body, and an angle motor arranged in the longitudinal support and used for driving the rotating shaft to rotate, wherein the angle motor is used for receiving an angle rotation control signal converted from target rotation angle positioning data of the forklift main body acquired by a laser navigation system; the rotating shaft penetrates through the tail end of the transverse support and is connected with the angle deflector, the angle motor drives the rotating shaft to rotate to drive the angle deflector to perform transmission action, and the transverse support is asynchronously driven to perform rotation action.
As a preferable aspect of the present invention, the angle deflector includes a main gear rotatably connected to the rotating shaft, a driven gear fixedly connected to the guide wheel and driving the guide wheel to rotate angularly, and two transmission rods for transmitting torque between the main gear and the driven gear, the main gear and the driven gear are connected in parallel by a spherical hinge, and the rotating shaft drives the main gear to rotate at an increased angular velocity through a speed reducer provided on the transverse bracket.
As a preferable scheme of the present invention, a fork telescopic sleeve slidably connected to the transverse support is disposed at a terminal of the transverse support, guide rails connected to the transverse support are disposed on two sides of the fork telescopic sleeve, the guide wheel is rotatably mounted at an end of the fork telescopic sleeve, and the fork telescopic sleeve linearly moves along the guide rails under synchronous driving of the two transmission rods.
As a preferred scheme of the invention, the guide wheel comprises a movable rotating shaft sleeved with a spring and a roller wheel arranged on the movable rotating shaft through a C-shaped frame, the movable rotating shaft is sleeved with a limit turntable, the fork telescopic sleeve is provided with a limit cavity matched with the limit turntable, and the driven wheel is fixedly sleeved on a shaft body of the movable rotating shaft positioned at the bottom of the limit turntable.
As a preferable scheme of the invention, a sensor for detecting that the tail tray body and the transverse support reach the tail end of the limiting chute is arranged on the tail tray body, the sensor sends acquired data as a feedback signal to the laser navigation system, the laser navigation system generates an instruction signal for controlling two transmission rods to work, and the transmission rods are any one of hydraulic cylinders or pneumatic cylinders.
As a preferable scheme of the present invention, a coupler for coupling the rotation states of the transverse bracket and the driven wheel is disposed on the transverse bracket, and the coupler transmits coupling data to a laser navigation system to form a control signal for controlling the reverse rotation of the angle motor.
The invention provides a positioning method of a positioning system of a laser navigation forklift, which comprises the following steps:
s100, after the laser navigation system obtains target corner positioning data of the forklift main body, splitting the rotation angle of the forklift main body into the rotation angle of a transverse support and the rotation angle of a guide wheel, coupling the rotation states of the transverse support and a driven wheel through a coupler, sending coupling data to the laser navigation system through the coupler to form a control signal for controlling the rotation of an angle motor, and sending the control signal to an angle follow-up mechanism through the laser navigation system;
s200, the angle following mechanism starts to drive the transverse support to rotate until the transverse support rotates to the rotating angle position of the decomposed transverse support, steering positioning of the forklift main body is obtained, and the angle deviation device drives the guide wheel to generate adaptive angle rotation in the process, so that the guide wheel always travels along the tangential direction of a spiral line formed by the end part of the transverse support taking the length of the transverse support as the radius, and continuous guiding and correction are carried out on the steering positioning of the forklift main body.
As a preferred scheme of the invention, after the corner positioning steering is completed, a coupler for coupling the rotation states of the transverse bracket and the driven wheel is arranged on the transverse bracket, the coupler sends coupling data to the laser navigation system to form a control signal for controlling the reverse rotation of the angle motor, and the control signal starts to control the reverse rotation of the angle motor to drive the transverse bracket to move in a corner direction opposite to that of the forklift main body.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, after the target corner positioning data of the forklift body is obtained by the laser navigation system, the rotation angle of the forklift body is split into the rotation angle of the transverse bracket and the rotation angle of the guide wheel, the steering positioning of the forklift body is obtained by using the forklift bracket in a distributed manner, and the guide wheel is driven by the angle deflector to generate adaptive angle rotation in the process, so that the guide wheel always runs along the tangential direction of a spiral line formed by the end part of the transverse bracket taking the length of the transverse bracket as the radius, and the steering positioning of the forklift body is continuously guided and corrected, thereby the forklift body is more stable and smooth in the corner rotating process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic structural view of a fork truck main body with a fixed fork support according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a transverse support provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a code guide wheel mounting structure according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-fixing a fork support; 2-longitudinal support; 3-angle follow-up mechanism; 4-a transverse bracket; 7-a fork telescopic sleeve; 8-a guide rail; 9-a movable rotating shaft; 10-C shaped frame; 11-a roller; 12-a limit turntable; 13-limiting the cavity; 14-a sensor; 15-a coupler;
101-tail tray body; 102-a limiting chute;
301-axis of rotation; 302-angle motor;
601-a main gear; 602-a driven wheel; 603-transmission rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, 2 and 3, the invention provides a positioning system of a laser navigation forklift, which comprises a fixed fork support 1 and a laser navigation system arranged on a forklift main body, and the positioning system is matched with target corner data of the laser navigation system in a navigation walking process to realize self-adaptive corner positioning and navigation of the forklift main body and reduce the pause at a corner position in the walking process of the forklift main body driven by an independent motor.
The existing laser navigation fork truck is distinguished in transferring weight, and comprises a fork truck main body with a variable-pitch fork truck support and a fixed fork truck support, and a fork truck main body only with the variable-pitch fork truck support, wherein the former is suitable for transferring goods with larger weight in the laser navigation fork truck, while the latter is suitable for transferring goods with smaller weight, and whichever the former, a single-wheel driven steering wheel assembly is mostly adopted for walking and steering of the laser navigation fork truck, when the steering wheel assembly of the single-wheel driven steering wheel assembly is used for steering at a target angle, the fork truck main body provided with the fixed fork truck support needs to adjust the steering angle for a plurality of times due to the existence of the fixed fork truck support, and the walking parts on the existing fixed fork truck support are mostly rollers, cannot carry out active steering, although the problem of follow-up steering can be solved by using universal wheels, when a certain rotating angle is exceeded, the universal wheels can generate moving resistance at the moment of driving the universal wheels to walk, and the smoothness of steering and moving is influenced.
For this reason, the embodiment further provides a fixed fork support 1, including the longitudinal support 2 of fixed connection on the fork truck main part, and install the horizontal support 4 in the longitudinal support 2 bottom through angle follower 3, angle follower 3 receives the fork truck main part's that laser navigation system acquireed target corner location data, wherein, target corner location data, the laser scanner that the fork truck main part carried is to the continuous transmission laser in periphery and the light beam of receiving the reflector panel reflection back, obtain the position and the direction of vehicle through the calculation, and confirm the angular position information of target position and current route.
The driving transverse support 4 rotates in a circle by taking the joint with the longitudinal support 2 as a center, guide wheels are arranged at the bottoms of the two transverse supports 4, the angle follow-up mechanism 3 is connected with the guide wheels through an angle deflector, and the angle deflector is used for driving the guide wheels and the transverse support 4 to rotate in an asynchronous corner positioning mode matched with target corner positioning data.
After the laser navigation system acquires the target corner positioning data of the forklift main body, the rotating angle of the forklift main body is split into two parts, one part is the rotating angle of the transverse support 4, the other part is the rotating angle of the guide wheel, wherein the limit position of the rotating angle of the transverse support 4 is as follows: the end part of the transverse bracket 4 after rotation does not exceed the extension line of the side edge of the forklift body.
The embodiment of the invention has the advantages that the transverse support 4 has the function that firstly, after the target corner positioning data is obtained, the forklift body moves to the target position, the angle following mechanism 3 starts to drive the transverse support 4 to rotate until the forklift body rotates to the decomposed position, the steering positioning of the forklift body is obtained, and in the process, the angle deflector drives the guide wheel to generate adaptive angle rotation, so that the guide wheel always runs along the tangential direction of a spiral line formed by the end part of the transverse support 4 taking the length of the transverse support 4 as the radius, the steering positioning of the forklift body is continuously guided and corrected, and the forklift body is more stable and smooth in the corner rotating process.
Furthermore, the transverse support 3 according to the embodiment of the present invention has another function in that the gravity distribution data of the goods on the forklift can be obtained according to the mechanical sensor arranged on the fork support, and the data information is converted into the control signal for driving the angle following mechanism 3, and the angle following mechanism 3 drives the transverse support 4 to rotate angularly, so as to change the mechanical support of the forklift main body.
Furthermore, the rotation angle of the transverse support 4 and the asynchronous phase for driving the guide wheel and the transverse support 4 to match the target rotation angle positioning data can be determined by matching with the gravity distribution data of the mechanical sensor, and the rotation of the guide wheel and the transverse support 4 can be independently controlled in the subsequent improvement process.
Specifically, fixed fork support 1 is still including connecting at the tail tray body 101 of 2 bottoms of vertical support, specific tail tray body 101 is a discoid structure, its edge is provided with the rack with spacing spout 102 matched with, the one end and the tail tray body 101 of horizontal support 4 rotate and be connected, the edge embedding surface of horizontal support 4 of tail tray body 101, be provided with on the horizontal support 4 with tail tray body 101 edge matched with spacing spout 102, spacing arc groove 102 is used for limiting the extension line of the turned angle extreme position limit of horizontal support 4 at the side of fork truck main part.
The angle follow-up mechanism 3 comprises a rotating shaft 301 which is used for rotatably connecting the transverse support 4 and the tail tray body 101, and an angle motor 302 which is arranged in the longitudinal support 2 and used for driving the rotating shaft 301 to rotate, wherein the angle motor 302 is used for receiving an angle rotation control signal converted from target rotation angle positioning data of the forklift body acquired by the laser navigation system.
The rotating shaft 301 penetrates through the end of the transverse support 4 to be connected with the angle deflector, and the angle motor 302 drives the rotating shaft 301 to rotate to drive the angle deflector to perform transmission action and asynchronously drive the transverse support 4 to perform rotation action.
The angular deflector comprises a main gear 601 rotatably connected to the rotating shaft 301, a driven gear 602 fixedly connected to the guide gear and driving the guide gear to rotate angularly, and two transmission rods 603 for transmitting torque between the main gear 601 and the driven gear 602, wherein the main gear 601 and the driven gear 602 are connected in parallel by a spherical hinge, and the rotating shaft 301 drives the main gear 601 to rotate at an increased angular speed through a speed reducer provided on the transverse bracket 4.
Because the storage environment of the goods is complex, the space between the goods shelves can not be kept completely consistent, and when the laser navigation forklift moves with variable diameter, the positioning in the steering process needs to make adaptive adjustment knowledge of the radial length through the transverse support 4 to obtain smoother steering positioning action, wherein the tail end of the transverse support 4 is provided with a fork telescopic sleeve 7 which is connected with the transverse support 4 in a sliding manner, guide rails 8 connected with the transverse support 4 are arranged on two sides of the fork telescopic sleeve 7, guide wheels are rotatably arranged at the end part of the fork telescopic sleeve 7, and under the synchronous driving of the two transmission rods 603, the fork telescopic sleeve 7 moves linearly along the guide rails 8 to prolong or reduce the length of the transverse support 4, so that the turning radius of the forklift main body is increased or reduced, and the turning radius is smaller, so that the rapid movement process of the forklift main body can be realized, the location of the quick realization corner position of fork truck main part.
The guide wheel comprises a movable rotating shaft 9 sleeved with a spring and a roller 11 installed on the movable rotating shaft 9 through a C-shaped frame 10, a limiting rotary table 12 is sleeved on the movable rotating shaft 9, a limiting cavity 13 matched with the limiting rotary table 12 is arranged on the fork telescopic sleeve 7, and a driven wheel 602 is fixedly sleeved on a shaft body of the movable rotating shaft 9 located at the bottom of the limiting rotary table 12.
The tail tray body 101 is provided with a sensor 14 for detecting that the tail tray body 101 and the transverse support 4 reach the tail end of the limiting sliding groove 102, the sensor 14 sends acquired data serving as a feedback signal to a laser navigation system, the laser navigation system generates an instruction signal for controlling the two transmission rods 603 to work, and the transmission rods 603 are any one of hydraulic cylinders or pneumatic cylinders.
In this embodiment, the transmission rod is electrically connected to the laser navigation system, and the working states of the two transmission rods 603 include two types:
firstly, in the process of carrying out diameter-changing movement of the forklift main body, under the synchronous drive of the two transmission rods 603, the fork telescopic sleeve 7 linearly moves along the guide rail 8 to prolong or shorten the length of the transverse support 4;
secondly, when the steering positioning of the forklift body is performed, the two transmission rods 603 stretch asynchronously to realize the rotation of the driven wheel 602, and after the diameter-changing movement process of the forklift body is completed, the asynchronous stretching can be completed to drive the rotation of the driven wheel 602.
The invention provides a positioning method of a positioning system of a laser navigation forklift, which comprises the following steps:
s100, after the laser navigation system obtains target corner positioning data of the forklift main body, splitting the rotation angle of the forklift main body into the rotation angle of a transverse support and the rotation angle of a guide wheel, coupling the rotation states of the transverse support and a driven wheel through a coupler, sending coupling data to the laser navigation system through the coupler to form a control signal for controlling the rotation of an angle motor, and sending the control signal to an angle follow-up mechanism through the laser navigation system;
s200, the angle following mechanism starts to drive the transverse support to rotate until the transverse support rotates to the rotating angle position of the decomposed transverse support, steering positioning of the forklift main body is obtained, and the angle deviation device drives the guide wheel to generate adaptive angle rotation in the process, so that the guide wheel always travels along the tangential direction of a spiral line formed by the end part of the transverse support taking the length of the transverse support as the radius, and continuous guiding and correction are carried out on the steering positioning of the forklift main body.
Furthermore, compared with the traditional fixed forklift support, the fixed forklift support is different in that after the forklift main body completes the positioning of steering, the traditional fixed forklift support moves to a target position along with the forklift main body due to the fact that the traditional fixed forklift support is of a fixed connection structure, in the process, the fixed forklift support travels in an arc curve, and therefore a large part of ground marks in the steering process are shielded, and the laser navigation forklift cannot accurately recognize the ground marks.
Therefore, in the embodiment, the transverse support 4 completes the corner positioning steering before the forklift body, the ground mark is avoided on the traveling path of the forklift body, after the corner positioning steering is completed, the coupler 15 for coupling the rotating states of the transverse support 4 and the driven wheel 602 is arranged on the transverse support 4, the coupler 15 sends coupling data to the laser navigation system, a control signal for controlling the reverse rotation of the angle motor 302 is formed, the control signal starts to control the reverse rotation of the angle motor 302, and then the transverse support 4 is driven to move in the direction opposite to the corner direction of the forklift body, so that the transverse support 4 is kept on a fixed traveling path parallel to the ground mark, and the corner positioning of the forklift body is improved.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
Claims (5)
1. A positioning system of a laser navigation forklift comprises a fixed fork bracket (1) and a laser navigation system arranged on a forklift body, it is characterized in that the fixed fork support (1) comprises a longitudinal support (2) fixedly connected to the forklift body, and a transverse bracket (4) which is arranged at the bottom of the longitudinal bracket (2) through an angle follow-up mechanism (3), the angle follow-up mechanism (3) receives target corner positioning data of the forklift body acquired by a laser navigation system, drives the transverse support (4) to rotate circularly by taking the joint with the longitudinal support (2) as the center, guide wheels are arranged at the bottoms of the two transverse brackets (4), the angle follow-up mechanism (3) is connected with the guide wheels through an angle deflector, the angle deflector is used for driving the guide wheel and the transverse bracket (4) to perform asynchronous corner positioning rotation matched with target corner positioning data;
the fixed fork support (1) further comprises a tail tray body (101) connected to the bottom of the longitudinal support (2), one end of the transverse support (4) is rotatably connected with the tail tray body (101), the edge of the tail tray body (101) is embedded into the surface of the transverse support (4), and a limiting sliding groove (102) matched with the edge of the tail tray body (101) is formed in the transverse support (4);
the angle follow-up mechanism (3) comprises a rotating shaft (301) for rotationally connecting the transverse support (4) and the tail tray body (101), and an angle motor (302) arranged in the longitudinal support (2) and used for driving the rotating shaft (301) to rotate, wherein the angle motor (302) is used for receiving an angle rotation control signal converted from target rotation angle positioning data of the forklift body acquired by a laser navigation system; the rotating shaft (301) penetrates through the tail end of the transverse support (4) and is connected with the angle deflector, the angle motor (302) drives the rotating shaft (301) to rotate to drive the angle deflector to do transmission action, and the transverse support (4) is asynchronously driven to do rotation action;
the angle deviation guide device comprises a main gear (601) rotationally connected to the rotating shaft (301), a driven wheel (602) fixedly connected to the guide wheel and driving the guide wheel to rotate in an angle, and two transmission rods (603) used for transmitting torque between the main gear (601) and the driven wheel (602), wherein the main gear (601) and the driven wheel (602) are connected in parallel through a spherical hinge, and the rotating shaft (301) drives the main gear (601) to rotate at an increased angular speed through a speed reducer arranged on the transverse bracket (4);
the tail end of the transverse support (4) is provided with a fork telescopic sleeve (7) which is connected with the transverse support (4) in a sliding mode, guide rails (8) which are connected with the transverse support (4) are arranged on two sides of the fork telescopic sleeve (7), the guide wheels are rotatably installed at the end portion of the fork telescopic sleeve (7), and under the synchronous driving of the two transmission rods (603), the fork telescopic sleeve (7) moves linearly along the guide rails (8);
be provided with on tail sabot body (101) and be used for detecting tail sabot body (101) with horizontal support (4) arrive spacing spout (102) terminal sensor (14), just sensor (14) send the data of gathering as feedback signal to laser navigation, laser navigation generates control two the instruction signal of transfer line (603) work, transfer line (603) are the arbitrary one in pneumatic cylinder or the pneumatic cylinder.
2. The positioning system of the laser navigation forklift as recited in claim 1, wherein the guide wheel comprises a movable rotating shaft (9) sleeved with a spring and a roller (11) mounted on the movable rotating shaft (9) through a C-shaped frame (10), the movable rotating shaft (9) is sleeved with a limit turntable (12), the fork telescopic sleeve (7) is provided with a limit cavity (13) matched with the limit turntable (12), and the driven wheel (602) is fixedly sleeved on the shaft body of the movable rotating shaft (9) positioned at the bottom of the limit turntable (12).
3. The positioning system of claim 1, characterized in that a coupler (15) is disposed on the transverse support (4) for coupling the rotation state of the transverse support (4) and the driven wheel (602), and the coupler (15) transmits the coupling data to the laser navigation system to form a control signal for controlling the reverse rotation of the angle motor (302).
4. A positioning method of the positioning system of the laser navigation forklift according to any one of claims 1 to 3, characterized by comprising the steps of:
s100, after the laser navigation system obtains target corner positioning data of the forklift main body, splitting the rotation angle of the forklift main body into the rotation angle of a transverse support and the rotation angle of a guide wheel, coupling the rotation states of the transverse support and a driven wheel through a coupler, sending coupling data to the laser navigation system through the coupler to form a control signal for controlling the rotation of an angle motor, and sending the control signal to an angle follow-up mechanism through the laser navigation system;
s200, the angle follow-up mechanism starts to drive the transverse support to rotate until the transverse support rotates to the position of the rotating angle of the transverse support after the rotating angle of the forklift body is split, steering positioning of the forklift body is obtained, and the angle deviation device drives the guide wheel to rotate at an angle which generates adaptability in the process, so that the guide wheel always moves along the tangential direction of a spiral line formed by the end part of the transverse support taking the length of the transverse support as the radius, and continuous guiding and correction are carried out on the steering positioning of the forklift body.
5. The method as claimed in claim 4, wherein after the steering of the steering angle is completed, the coupler for coupling the rotation state of the lateral bracket and the driven wheel is disposed on the lateral bracket, the coupler transmits the coupling data to the laser navigation system to form a control signal for controlling the reverse rotation of the angle motor, and the control signal starts to control the reverse rotation of the angle motor to drive the lateral bracket to make the reverse rotation of the steering angle relative to the forklift body.
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