CN115196553A

CN115196553A - AGV fork truck for loading and unloading transportation of trays

Info

Publication number: CN115196553A
Application number: CN202210799895.4A
Authority: CN
Inventors: 白海涛; 王铁桩
Original assignee: Avic Baosheng Intelligent Technology Shanghai Co ltd
Current assignee: Avic Baosheng Intelligent Technology Shanghai Co ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2022-10-18

Abstract

The invention discloses an AGV forklift for loading, unloading and transporting disk tools, which belongs to the technical field of logistics transportation, wherein lifting appliances are arranged at two ends of one side of the top of a forklift body, a laser navigation system is fixedly arranged at the middle end of the top of the forklift body, a lifting system is arranged at the front side of the forklift body, a fork frame is arranged on the lifting system arranged on the forklift body, a disk pushing mechanism is arranged in the middle of the front side of the fork frame, a centering camera sensor is arranged at the inner side of the middle of the disk pushing mechanism, the AGV forklift runs, the cable disk tool can be loaded and unloaded on and from a machine table without personnel intervention, manual operation is carried out only when the cable disk tool is fixed and disassembled, and locking screws are tightened or loosened.

Description

AGV fork truck for loading and unloading transportation of trays

Technical Field

The invention belongs to the technical field of logistics carrying, and particularly relates to an AGV forklift for loading, unloading and transporting a disk.

Background

The cable production industry is a labor-intensive industry, a plurality of processes can not be manually participated, although the automation operation of equipment is realized by a plurality of processes from the initial raw material to the finished product output after the improvement of a plurality of years, the process is only a part, and a plurality of processes need to be carried by people and carried by vehicles, especially the loading, unloading and transportation of cable finished product trays are all manually operated by using equipment such as manual carriers, electric carriers and the like. In a cable manufacturing workshop, less than ten cable assembly lines and eight cable assembly lines, more than dozens cable assembly lines, the assembly lines need to transport empty drums to assembly line ends and install on a machine table, when the cables on the drums are fully wound, the drums need to be manually unloaded and transported to a storage position, and meanwhile, the empty drums need to be installed on the empty machine table again, so that the operation is repeated. When the assembly line reaches a quantitative time, must have a large amount of personnel and vehicle to go to repeat this work from top to bottom, transport the dish utensil, the centre can not stop, and the hole on the dish utensil is little with the through axle clearance on the board moreover, and the counterpoint will be accurate just can install, dismantle, this just needs artifical supplementary, causes personnel's fatigue easily to a large amount of manpower and material resources have been occupied.

The transportation of the trays using a manual truck has the following drawbacks:

1. the efficiency is slow, and artifical pulling hand removes the car, because the material loading point is far away to the unloading point distance, artifical marching speed is slow, inefficiency.

2. The beat of the production line cannot be kept up, and a large number of personnel must be invested to keep up.

3. One tray is dozens of kilograms when light and seven-eight-hundred kilograms when heavy, manual transportation is laborious, and the tray is lifted up and down in front of the machine table and needs manual assistance, so that personnel fatigue is caused, and accident potential is increased.

The use of an electric pallet truck transportation tray also has a number of disadvantages:

1. although the electric pallet truck accelerates the travelling speed and reduces the travel time, the electric pallet truck also needs to be driven by a person and still occupies human resources;

2. a plurality of electric pallet trucks work in one workshop simultaneously, which can cause the occurrence of collision accidents.

3. The tray utensil about before the board, because the through axle clearance on tray utensil and the board is little, the loading and unloading needs the counterpoint, just so cause the electronic pallet truck to adjust the gesture back many times, just can install or dismantle the tray utensil, still wasted a large amount of time and personnel's energy.

Therefore, we propose a pallet handling AGV fork truck for this purpose.

Disclosure of Invention

The invention aims to provide an AGV forklift for loading, unloading and transporting disk tools, which aims to solve the existing problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a pallet handling AGV forklift comprising: the forklift comprises a laser navigation system, a lifting appliance, a forklift body, a vehicle control system, an emergency stop switch, an automatic charging device, a laser obstacle avoidance device, a battery pack, a fork frame, a steering lamp, a lifting system, a push disc mechanism, a centering camera sensor, a distance measuring sensor, a rear limit, a two-dimensional code sensor, a fork point sensor, an in-place sensor and a front limit, wherein the forklift body comprises a driving system, a body system, a covering part, a basic electrical system and the like, the lifting appliance is fixedly connected with two ends of one side of the top of the forklift body, the laser navigation system is fixedly mounted at the middle end of one side of the top of the forklift body, the lifting system is arranged on one side of the forklift body, the fork frame is mounted on the lifting system arranged on the forklift body and movably connected with the lifting system, the fork frame comprises a fork frame pitching mechanism, a horizontal swinging mechanism, a side shifting mechanism, a front pushing mechanism and a push disc mechanism, the lifting system comprises a spiral lead screw lifting machine and a linear slide rail, the push disc mechanism is fixedly connected with the middle part of one side of the forklift body, the fork frame far away from the forklift body is mounted on the middle of the fork frame, an electromagnet is arranged on the inner side of the push disc mechanism, and an electromagnet is fixedly mounted on the inner side of the push disc mechanism.

Preferably, the fork frame is equipped with one side both ends that push away a set mechanism and inlays and have a plurality of range finding sensors, the bottom both sides of fork frame are equipped with the fork, the one end of fork has a fork point sensor through inlayed mode fixed mounting, one of them one side of fork is equipped with the two-dimensional code sensor, one side of pushing away a set mechanism is equipped with the sensor that targets in place, the sensor that targets in place is through the installation screw fixed mounting that is equipped with in one side of fork frame.

Preferably, top one side of fork truck body is equipped with car control system, car control system sets up in the top one side of fork truck body through the fixed setting of inlayed mode, car control system comprises software and hardware such as controller, driver, fork truck body top both sides are equipped with emergency stop switch, emergency stop switch is through inlayed mode and fork truck body fixed connection.

Preferably, one side between two the fork is equipped with the back spacing, the opposite side of fork is equipped with preceding spacing.

Preferably, the fork truck body keep away from one side bottom both sides of fork frame and be equipped with laser and keep away the barrier, laser is kept away the barrier and is passed through installation screw fixed mounting in the bottom both sides of fork truck body.

Preferably, one side of the middle part of the bottom of the forklift body is provided with automatic charging, the automatic charging comprises a charging brush plate, a charging pile and an automatic charging machine.

Preferably, the battery pack is arranged on one side, close to the automatic charging, of the forklift body, the battery pack is arranged inside the forklift body in a bolt fixing mode, and the battery pack is a lithium battery.

Compared with the prior art, the invention has the beneficial effects that:

1. the special fork frame and the forklift are installed into a whole, the fork frame has multiple functions of left-right swinging, pitching, side shifting and forward pushing, and the alignment requirements of the tray and the machine table when the tray is moved up and down on the machine table are met; when the plate is used for loading and unloading the machine platform, a bowl-shaped pressure plate is arranged, the special fork frame is provided with a sucker, and the sucker has a telescopic function, so that the bowl-shaped pressure plate can be assembled and disassembled, and the auxiliary labor intensity of personnel is reduced; install camera, distance sensor, displacement sensor on the purpose-built fork frame, be close multiple electronic component such as opening light, supplementary board about the dish utensil, guarantee the counterpoint board that the dish utensil can be accurate, AGV fork truck operation and cable dish utensil about board need not personnel to intervene, manual operation when only needing fixed and dismantling cable dish utensil screws up or loosens locking screw, can be responsible for many equipment like this alone. AGV fork truck operating specification can not be aware of tired continuity of operation, can also guarantee the fork truck of peripheral personnel safety constantly in service, alleviates personnel's burden, reduces enterprise's burden, has more reduced the emergence of harm, has improved work efficiency, guarantees safer, the faster-speed operation development of enterprise.

2. When the AGV forklift receives the wireless signal instruction, the vehicle-mounted controller receives the instruction, after the instruction is subjected to information processing, the vehicle-mounted controller sends a motion instruction to each working unit, the AGV forklift starts to operate, before reaching a station of the machine station, various sensors on the fork frame start to operate to adjust the postures of the vehicle and the fork frame, the alignment requirements of the cable reel and the machine station through shafts are met, loading, unloading, carrying and stacking of the reel are completed, manual intervention is not needed in the whole process, and the automatic operation effect is really achieved.

Drawings

FIG. 1 is a rear isometric view of the present invention;

figure 2 is a front isometric view structural representation of the present invention.

In the figure: 1. a laser navigation system; 2. a hanger; 3. a forklift body; 4. a vehicle control system; 5. an emergency stop switch; 6. automatic charging; 7. obstacle avoidance by laser; 8. a battery pack; 9. a fork carriage; 10. a turn signal light; 11. a hoisting system; 12. a tray pushing mechanism; 13. centering the camera sensor; 14. a distance measuring sensor; 15. rear limiting; 16. a two-dimensional code sensor; 17. a fork tip sensor; 18. an in-place sensor; 19. and front limiting.

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.

Referring to fig. 1-2, the present invention provides a technical solution of a pallet loading and unloading AGV forklift: the method comprises the following steps: the system comprises a laser navigation system 1, a lifting appliance 2, a forklift body 3, a vehicle control system 4, an emergency stop switch 5, an automatic charging 6, a laser obstacle avoidance 7, a battery pack 8, a fork frame 9, a steering lamp 10, a lifting system 11, a push disc mechanism 12, a centering camera sensor 13, a distance measuring sensor 14, a rear limit 15, a two-dimensional code sensor 16, a fork tip sensor 17, an in-place sensor 18 and a front limit 19.

The laser navigation system 1 is used for realizing the guidance of a forklift running route and the function of guiding a vehicle, the lifting appliance 2 is used for conveniently lifting an AGV forklift, the forklift body 3 is a basic body of the forklift and comprises a driving system, a body system, a covering part, a basic electrical system and the like, the basic running function of the AGV forklift is guaranteed, the lifting appliance is also a carrier of other components, the vehicle control system 4 is a control system for the running and working actions of the vehicle, the vehicle control system 4 comprises a controller, a driver and other software and hardware, is the brain of the AGV forklift, the emergency stop switch 5 is the emergency treatment during the emergency reaction of the vehicle, the emergency stop switch 5 is pressed, the AGV forklift stops all actions, the automatic charging 6 is that when the electric quantity of the AGV falls to a set value, the AGV runs to a charging position for charging without manual intervention, and comprises a charging brush plate, a charging pile, an automatic charger and the like, and the laser obstacle avoidance 7, the device is arranged below two sides of the rear part of an AGV body, barrier information is provided for vehicles through laser induction signals, the vehicles are helped to avoid collision, a battery pack 8 is a lithium battery and provides electric power support for all electric equipment of the vehicles, a fork frame 9 is a special mechanism and is an important component of a tray tool loading and unloading AGV, the device is mainly responsible for bearing and adjusting the posture of a cable tray tool, the central line of the cable tray tool is ensured to be coincident with the central line of a through shaft of a machine table through adjusting the posture, the cable tray tool is pushed onto the machine table, the device comprises a fork frame pitching mechanism, a horizontal swinging mechanism, a side shifting mechanism, a front pushing mechanism and a tray pushing mechanism 12, steering lamps 10 are arranged on the upper parts of two sides of the body and provide steering light warning for the vehicles, a lifting system 11 provides power for lifting and descending of the fork frame 9, and a ball screw elevator is used for ensuring the high-precision AGV achieving the alignment requirement, the pushing disc mechanism 12 is a device for pushing a pressing disc and tightly squeezing the disc after a cable disc penetrates through a machine platform penetrating shaft, the pressing disc is attracted and loosened through an electromagnet, a camera sensor 13 is centered, whether the machine platform penetrating shaft is coincident with the central line of the cable disc is verified through detection of the camera sensor, all attitude adjusting mechanisms of the fork frame 9 make corresponding reactions according to detection information of the attitude adjusting mechanisms, three distance measuring sensors 14 are arranged on the front end face of the fork frame 9 and used for comparing distance measurement with the rear end face of the machine platform penetrating shaft through the three attitude adjusting mechanisms, the vertical end face of the fork frame 9 is ensured to be parallel to the vertical end face of the machine platform, a rear limit 15 is a limit device for limiting the cable disc to move backwards on the fork, a two-dimensional code sensor 16 is pasted on the machine platform, a two-dimensional code sensor 16 on the fork reads two-dimensional code information on the machine platform and is used for sensing the relative position of an AGV and the machine platform, a fork point sensor 17 is detection equipment for ensuring that the cable disc does not collide with the machine platform when the fork advances, a cable in-place sensor 18 is used for sensing the electronic limit device after the cable disc is pushed into the machine platform penetrating shaft, and is successfully locked with the mechanical rear limit device, and the machine platform, and the cable disc can be detached from the machine platform.

Preferably, the laser navigation system 1 may implement unmanned automatic guiding travel of the AGV through automatic route guidance.

Preferably, the vehicle control system 4, which can control all the actions of the AGV vehicle, is the intelligent brain of the AGV.

Preferably, the emergency stop switch 5 is an emergency measure for ensuring safety by pressing the emergency stop switch 5 to stop all actions of the vehicle in case of an emergency situation of the AGV forklift.

Preferably, 6, when the electric quantity of the AGV forklift falls to a set value or no work, the AGV forklift automatically runs to a charging position to be charged, the electric power of the vehicle is sufficient, manual intervention is not needed in the charging work, and the AGV forklift is completely automatic and releases human resources.

Preferably, the laser obstacle avoidance devices 7 are installed below two sides of the rear portion of the vehicle body, each laser obstacle avoidance device supports a scanning angle of 270 degrees, the two laser obstacle avoidance devices can achieve full protection of the driving surface and two sides of the vehicle, and warning, deceleration and stopping of three-layer prevention and control areas are safer.

Preferably, the battery pack 8 is a lithium iron phosphate battery, which is safe, reliable, durable, high in endurance capacity and supports rapid charging with large current.

Preferably, the fork carriage 9 is a specially-made mechanism, has multiple actions of pitching, horizontal swinging, side shifting, forward pushing and the like, and can meet the precise butt joint requirement of the coincidence of a machine platform penetrating shaft and a cable reel center.

Preferably, the centering camera sensor 13 can precisely detect the deviation between the cable reel and the center of the machine platform shaft, and provides a signal basis for adjusting the posture of the fork carriage 9.

Preferably, the two-dimensional code sensor 16 is installed at the front end of the side face of the fork, and positions information of the vehicle is pre-positioned by irradiating the two-dimensional code on the end face of the machine platform, so that a signal is used for detecting the secondary positioning of the AGV forklift.

Preferably, the front stop 19 is a movable swing mechanism, the upper portion of the swing mechanism is close to the upper end face of the fork by gravity when the swing mechanism does not work, the lower portion of the swing mechanism is pressed down when the cable drum is forked, the upper portion of the swing mechanism is tilted, the blocking piece on the upper portion limits the filling of the drum, and the drum is guaranteed not to move back and forth relative to the fork (the rear portion of the drum is provided with a fixed rear stop 15).

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A pallet handling AGV forklift comprising: laser navigation (1), hoist (2), fork truck body (3), car control system (4), scram switch (5), automatic charging (6), barrier (7) are kept away to laser, group battery (8), fork frame (9), indicator (10), play to rise system (11), push away a set mechanism (12), centering image sensor (13), range sensor (14), back spacing (15), two-dimensional code sensor (16), fork point sensor (17), sensor (18) and preceding spacing (19) target in place, its characterized in that: the forklift is characterized in that the forklift body (3) comprises a driving system, a body system, a covering part, a basic electrical system and the like, a lifting tool (2) is fixedly connected to two ends of one side of the top of the forklift body (3), a laser navigation system (1) is fixedly mounted at the middle end of one side of the top of the forklift body (3), a lifting system (11) is arranged on one side of the forklift body (3), a fork frame (9) is mounted on the lifting system (11) arranged on the forklift body (3), the fork frame (9) is movably connected with the lifting system (11), the fork frame (9) comprises a fork frame pitching mechanism, a horizontal swinging mechanism, a side shifting mechanism, a front pushing mechanism and a tray pushing mechanism, the lifting system (11) comprises a spiral lead screw lifter and a linear slide rail, the lifting system (11) is fixedly connected with the forklift body (3), a tray pushing mechanism (12) is mounted in the middle of one side, far away from the forklift body (3), an electromagnet is arranged on the inner side of the tray pushing mechanism (12), and a centering camera shooting sensor (13) is fixedly mounted on the inner side of the tray pushing mechanism (12).

2. The pallet handling AGV fork truck of claim 1, further comprising: one side both ends that fork frame (9) were equipped with push away set mechanism (12) are inlayed and are had a plurality of distance measuring sensor (14), the bottom both sides of fork frame (9) are equipped with the fork, the one end of fork has fork point sensor (17) through inlayed mode fixed mounting, one of them one side of fork is equipped with two-dimensional code sensor (16), one side of push away set mechanism (12) is equipped with sensor (18) that targets in place, sensor (18) that targets in place is through the installation screw fixed mounting who is equipped with in one side of fork frame (9).

3. A pallet handling AGV forklift according to claim 1, characterised in that: top one side of fork truck body (3) is equipped with car control system (4), car control system (4) are fixed to be set up in top one side of fork truck body (3) through the mode of inlaying, car control system (4) comprise software and hardware such as controller, driver, fork truck body (3) top both sides are equipped with emergency stop switch (5), emergency stop switch (5) are through inlayed mode and fork truck body (3) fixed connection.

4. A pallet handling AGV forklift according to claim 2, characterised in that: and one side of each of the two forks is provided with a rear limit (15), and the other side of each fork is provided with a front limit (19).

5. A pallet handling AGV forklift according to claim 1, characterised in that: the forklift is characterized in that both sides of the bottom end of one side, far away from the fork frame (9), of the forklift body (3) are provided with laser obstacle avoidance devices (7), and the laser obstacle avoidance devices (7) are fixedly installed on both sides of the bottom of the forklift body (3) through mounting screws.

6. A pallet handling AGV forklift according to claim 1, characterised in that: one side of the middle part of the bottom of the forklift body (3) is provided with an automatic charging device (6), and the automatic charging device (6) comprises a charging brush plate, a charging pile and an automatic charging machine.

7. A pallet handling AGV fork truck according to claim 6, wherein: one side that fork truck body (3) are close to automatic charging (6) is equipped with group battery (8), group battery (8) set up in the inside of fork truck body (3) through the mode of bolt fastening, group battery (8) are the lithium cell.